An offshore booster station robot automatic inspection system and method

Abstract

The present invention relates to the technical field of electric power inspection, and discloses an automatic inspection system and method of an offshore booster station robot, the system comprising: a rail-mounted robot device, a track sub-device, a communication power supply device, and a background monitoring device; the rail-mounted robot device is arranged on the track sub-device, the rail-mounted robot device is connected to the background monitoring device through the communication power supply device, the rail-mounted robot device, the track sub-device, and the communication power supply device are arranged in the offshore booster station, and the background monitoring device is arranged in the onshore centralized control center. The present invention realizes automatic inspection of the offshore booster station, and improves the intelligent inspection level of the offshore wind power booster station.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power inspection, and in particular to an automatic inspection system and method for an offshore booster station robot. Background Art

[0002] As the electricity collection center of offshore wind farms, the inspection and operation of offshore substations are crucial to ensuring the safe production and efficiency improvement of offshore wind farms. As offshore wind farms develop further into the deep sea, the safety risks, operation and maintenance costs, inspection efficiency and other issues brought about by the manual offshore inspection mode continue to become prominent, and the demand for intelligent inspection of offshore wind farms has increased dramatically.

[0003] For offshore wind power booster station scenarios, due to the deep sea environment in which they are located, the inspection system faces limitations such as high salt fog, strong electromagnetics, and narrow passages. Therefore, most inspections of offshore wind power booster stations rely on manual inspections, and the inspection quality and efficiency are low, resulting in a low level of intelligent inspection of offshore wind power booster stations. Summary of the invention

[0004] In view of this, the present invention provides an offshore booster station robot automatic inspection system and method to solve the problem of low intelligence level in the inspection of offshore wind power booster stations.

[0005] In a first aspect, the present invention provides an offshore booster station robot automatic inspection system, comprising: a rail-mounted robot device, a track sub-device, a communication power supply device, an offshore optical fiber transceiver, an onshore optical fiber transceiver, and a background monitoring device; the rail-mounted robot device is arranged on the track sub-device, the rail-mounted robot device is connected to the communication power supply device, the communication power supply device is connected to the offshore optical fiber transceiver, the offshore optical fiber transceiver is connected to the onshore optical fiber transceiver through a submarine optical cable, the onshore optical fiber transceiver is connected to the background monitoring device, the rail-mounted robot device, the track sub-device, the communication power supply device, and the offshore optical fiber transceiver are arranged in the offshore booster station, and the onshore optical fiber transceiver and the background monitoring device are arranged in the onshore centralized control center;

[0006] The background monitoring device is used to obtain the inspection tasks of the offshore booster station, and send the inspection tasks of the offshore booster station to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence;

[0007] The rail-mounted robot device is used to control the robot to move along the walking track corresponding to the track sub-device based on the inspection task of the offshore booster station, collect the inspection data of the target detection point, and transmit the inspection data of the target detection point to the background monitoring device through the communication power supply device, the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence;

[0008] The background monitoring device is also used to analyze the inspection data of the target detection points and obtain the automatic inspection report of the offshore substation robot.

[0009] The present embodiment provides a robot automatic inspection system for an offshore substation, in which a rail-mounted robot device and a track sub-device are installed at the offshore substation to collect inspection data of target detection points, thereby effectively improving the inspection efficiency. The system also communicates with a background monitoring device installed at an onshore centralized control center via a communication power supply device, thereby realizing automatic inspection of the offshore substation and improving the inspection intelligence level of the offshore wind power substation.

[0010] In an optional embodiment, the rail-mounted robot device includes: a detection component control module, a walking control module, a lifting control module and a pan-tilt control module; the detection component control module is connected to the walking control module, the lifting control module and the pan-tilt control module respectively, and the lifting control module is connected to the pan-tilt control module;

[0011] Walking control module, used to control the robot to move along the walking track to the target detection point based on the inspection task of the offshore booster station;

[0012] The lifting control module is used to control the robot's pan / tilt to move vertically to the target detection point based on the offshore booster station inspection task;

[0013] The pan-tilt control module is used to control the pan-tilt to perform pitch and rotation movements respectively during the vertical movement of the robot;

[0014] The detection component control module is used to select the detection component sensor based on the offshore substation inspection task, use the detection component sensor to collect the inspection data of the target detection point in the offshore substation during the movement of the robot, and transmit the inspection data of the target detection point to the offshore optical fiber transceiver through the communication power supply device.

[0015] The present embodiment provides an offshore substation robot automatic inspection system, in which a walking control module and a lifting control module respectively control the movement of the robot in the horizontal and vertical directions, and a pan / tilt control module controls the robot to perform pitch and rotation movements, thereby expanding the robot's inspection range and improving the robot's accuracy in identifying inspection targets at lower positions. In addition, the detection component control module can select detection component sensors according to the offshore substation inspection tasks, thereby realizing the modularization and lightweight requirements of the robot's automatic inspection system.

[0016] In an optional implementation, the detection component control module includes:

[0017] A visible light detection unit, used to collect visible light image data of a target detection point, and transmit the visible light image data to an offshore optical fiber transceiver through a communication power supply device;

[0018] An infrared detection unit is used to collect thermal imaging image data of the target detection point and transmit the thermal imaging image data to the offshore optical fiber transceiver through a communication power supply device;

[0019] The partial discharge detection unit is used to collect the discharge data of the live equipment in the offshore booster station and transmit the discharge data of the live equipment to the offshore optical fiber transceiver through the communication power supply device;

[0020] A sound detection unit, used to collect voiceprint data of the target detection point and receive voice data sent by the offshore optical fiber transceiver;

[0021] The temperature and humidity detection unit is used to collect the temperature and humidity data in the offshore booster station room, and transmit the temperature and humidity data in the offshore booster station room to the offshore optical fiber transceiver through the communication power supply device.

[0022] A robot automatic inspection system for an offshore substation provided in this embodiment integrates a visible light detection unit, an infrared detection unit, a partial discharge detection unit, a sound detection unit and a temperature and humidity detection unit through a detection component control module, thereby realizing the collection of multi-source data such as visible light-infrared-partial discharge-sound-temperature and humidity corresponding to the offshore substation, and realizing all-round, multi-angle and multi-means status monitoring of the offshore substation.

[0023] In an optional implementation, the background monitoring device includes:

[0024] The inspection task management module is used to obtain and display the inspection tasks of the offshore booster station, and send the inspection tasks of the offshore booster station to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence;

[0025] The inspection data analysis module is used to receive the inspection data of the target detection point, and perform intelligent analysis on the inspection data of the target detection point to obtain the inspection data analysis results;

[0026] The inspection data management module is connected to the inspection data analysis module, and is used to generate an automatic inspection report of the offshore substation robot based on the inspection data analysis results, and display the automatic inspection report of the offshore substation robot.

[0027] The present embodiment provides an offshore substation robot automatic inspection system, which realizes the automatic acquisition of offshore substation inspection tasks through the inspection task management module, and realizes the intelligent analysis of the inspection data of the target detection points through the inspection data analysis module and the inspection data management module, as well as the automatic generation of the offshore substation robot automatic inspection report, thereby improving the inspection quality and efficiency of the offshore substation.

[0028] In an optional implementation manner, the background monitoring device further includes:

[0029] The robot management module is connected to the inspection task management module, and is used to set the robot inspection points, robot maintenance areas and robot permissions, generate offshore substation inspection tasks based on the robot inspection points, robot maintenance areas and robot permissions, and transmit the offshore substation inspection tasks to the inspection task management module.

[0030] The present embodiment provides an offshore substation robot automatic inspection system, which realizes real-time monitoring and management of the movement process of the rail-mounted robot device through the robot management module, laying a foundation for the robot management module to accurately collect inspection data.

[0031] In an optional implementation, it also includes:

[0032] The integrated power supply control device is installed in the offshore booster station and is respectively connected to the communication power supply device and the offshore optical fiber transceiver. It is used to control the power supply of the rail-mounted robot device through the communication power supply device, collect the robot operation data of the rail-mounted robot device, and transmit the robot operation data to the offshore optical fiber transceiver.

[0033] The present embodiment provides an offshore substation robot automatic inspection system, which controls the power supply of the rail-mounted robot device through an integrated power supply control device, and collects the robot's operating data, thereby ensuring the normal operation of the rail-mounted robot device.

[0034] In an optional embodiment, the integrated power supply control device includes: a power supply module, a circuit switch and protection module, and an environmental monitoring host; the power supply module is arranged in a control cabinet, and the power supply module and the environmental monitoring host are connected to the rail-mounted robot device through a communication power supply device;

[0035] A power module, used to provide working power to the rail-mounted robot device through a communication power supply device;

[0036] Circuit switch and protection module, used to protect the rail-mounted robot device from overvoltage;

[0037] The environmental monitoring host is used to monitor the robot operation data of the rail-mounted robot device, and send the robot operation data to the background monitoring device through the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence.

[0038] The present embodiment provides an offshore substation robot automatic inspection system, which ensures the normal operation of the rail-mounted robot device through a power supply module and a circuit switch and protection module, and realizes real-time detection of the operating status data of the rail-mounted robot through an environmental monitoring host.

[0039] In an optional implementation, the communication power supply device includes:

[0040] A power conversion module is connected to the power module and the rail-mounted robot device, respectively, and is used to receive the working power transmitted by the power module, convert the alternating current corresponding to the working power into direct current, and provide direct current for the rail-mounted robot device;

[0041] The carrier communication module is connected to the offshore optical fiber transceiver and the rail-mounted robot device respectively, and is used to receive the network signal sent by the offshore optical fiber transceiver, convert the network signal into a carrier signal, and send the carrier signal to the rail-mounted robot.

[0042] The present embodiment provides an offshore substation robot automatic inspection system, which realizes power conversion and signal conversion through a communication power supply device, thereby ensuring data interaction between the rail-mounted robot device and the background monitoring device.

[0043] In an optional embodiment, the track sub-device adopts a suspended track or a side-hanging track.

[0044] In a second aspect, the present invention provides an offshore booster station robot automatic inspection method, which is applied to the offshore booster station robot automatic inspection system of the first aspect or any corresponding embodiment thereof, and the method comprises:

[0045] The background monitoring device obtains the inspection task of the offshore substation, and sends the inspection task of the offshore substation to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence;

[0046] The rail-mounted robot device is based on the inspection task of the offshore booster station. It controls the robot to move along the walking track corresponding to the track sub-device, collects the inspection data of the target detection point, and transmits the inspection data of the target detection point to the background monitoring device through the communication power supply device, the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence;

[0047] The background monitoring device analyzes the inspection data of the target detection points and obtains the automatic inspection report of the offshore substation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a structural block diagram of an offshore booster station robot automatic inspection system according to an embodiment of the present invention;

[0050] Figure 2 2. It is a schematic diagram of the inspection process of the automatic inspection system of the offshore booster station robot according to an embodiment of the present invention;

[0051] Figure 3 It is a flow chart of an automatic inspection method of an offshore booster station robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0053] Related robot automatic inspection technology proposes an automatic inspection system for an electric power inspection robot. The system structure includes an inspection robot terminal, and a background center connected to the inspection robot terminal for monitoring, collecting inspection information, and controlling the inspection robot terminal, and a track unit for providing an inspection route for the inspection robot terminal. The system can realize autonomous inspection operations in power production scenarios.

[0054] The above-mentioned robot automatic inspection technology focuses on traditional power industries such as substations, transmission lines, and distribution networks, and the technology is relatively mature. However, for offshore wind power booster station scenarios, due to its deep sea environment, the inspection system is limited by factors such as high salt fog, strong electromagnetics, and narrow passages, and there is a lack of mature offshore booster station robot automatic inspection systems. In view of these environmental factors, the designed robot inspection system needs to meet requirements such as corrosion resistance and electromagnetic resistance. In addition, in the face of the inspection needs of multiple equipment in offshore booster stations, the robot needs to have multi-functional inspection requirements, and the structure needs to meet the requirements of miniaturization, lightweight, and modularization.

[0055] In order to solve the above problems, an embodiment of the present invention provides an offshore booster station robot automatic inspection system.

[0056] In this embodiment, a robot automatic inspection system for an offshore substation is provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0057] This embodiment provides an offshore booster station robot automatic inspection system, such as Figure 1As shown, it includes: a rail-mounted robot device 101, a track sub-device 102, a communication power supply device 103, an offshore optical fiber transceiver 104, an onshore optical fiber transceiver 105 and a background monitoring device 106; the rail-mounted robot device 101 is arranged on the track sub-device 102, the rail-mounted robot device 101 is connected to the communication power supply device 103, the communication power supply device 103 is connected to the offshore optical fiber transceiver 104, the offshore optical fiber transceiver 104 is connected to the onshore optical fiber transceiver 105 through a submarine optical cable, the onshore optical fiber transceiver 105 is connected to the background monitoring device 106, the rail-mounted robot device 101, the track sub-device 102, the communication power supply device 103 and the offshore optical fiber transceiver 104 are arranged in an offshore booster station, and the onshore optical fiber transceiver 105 and the background monitoring device 106 are arranged in an onshore centralized control center;

[0058] The background monitoring device 106 is used to obtain the inspection tasks of the offshore substation, and send the inspection tasks of the offshore substation to the rail-mounted robot device 101 through the onshore optical fiber transceiver 105, the offshore optical fiber transceiver 104 and the communication power supply device 103 in sequence.

[0059] Specifically, the fiber optic transceiver is a transceiver device for communication between sea and land, and is used in pairs, one is installed in the background monitoring device 106 (i.e., the onshore fiber optic transceiver 105) in the onshore centralized control center, and the other is installed in the integrated power control box of the offshore booster station (i.e., the offshore fiber optic transceiver 104). The fiber optic transceivers between sea and land communicate through submarine optical cables, and the fiber optic transceiver and router in the offshore booster station are simultaneously installed in the integrated power control box and connected through a network cable, which is used for communication and data transmission of the robot in the offshore booster station.

[0060] The track-mounted robot device 101 is used to control the robot to move along the walking track corresponding to the track sub-device 102 based on the offshore substation inspection task, and collect the inspection data of the target detection point, and transmit the inspection data of the target detection point to the background monitoring device 106 through the communication power supply device 103, the offshore optical fiber transceiver 104 and the onshore optical fiber transceiver 105 in sequence.

[0061] Specifically, the track sub-device 102 adopts a suspended track or a side-hanging track; wherein, the track in the track sub-device 102 is designed as an I-shaped structure, and the track-hanging robot device 101 is provided with a driving wheel and an auxiliary wheel, the driving wheel is connected to the rack on the track to provide power in the direction of movement, the auxiliary wheel is used to be stuck in the groove under the track to fix the track-hanging robot, and the upper part of the track is punched for hanging on the top of the machine room or the pipe gallery.

[0062] Furthermore, the rail-mounted robot device 101 and the track sub-device 102 are designed for environmental protection from aspects such as material selection, surface treatment of structural parts, and three-proof treatment of road plates, so as to realize the corrosion resistance of the offshore substation robot automatic inspection system in the high salt fog environment of the offshore substation; and, when designing the functional modules, a miniaturized and compact design is carried out from aspects such as structural design, material selection, and line layout, so as to realize the adaptability of the robot system in the narrow environment of the offshore substation.

[0063] Furthermore, the rail-mounted robot device 101 is the actuator of the offshore substation robot automatic inspection system, which is used to complete the tasks issued by the background monitoring device 106. The robot follows the pre-set track to reach the task point to take visible light / infrared photos or complete partial discharge detection, audio collection and other tasks; the track sub-device 102 is the carrier of the rail-mounted robot device 101. The robot can move along the suspended track and can complete linear motion, curved motion and climbing motion.

[0064] The background monitoring device 106 is also used to analyze the inspection data of the target detection point to obtain the automatic inspection report of the offshore booster station robot.

[0065] Specifically, the background monitoring device 106 is a user operation interface for displaying the status of the robot in real time and controlling the robot.

[0066] Furthermore, the background monitoring device 106 is provided with a server host, which is a hardware carrier for running the background monitoring device 106 .

[0067] The present embodiment provides a robot automatic inspection system for an offshore substation, in which a rail-mounted robot device and a track sub-device are installed at the offshore substation to collect inspection data of target detection points, thereby effectively improving the inspection efficiency. The system also communicates with a background monitoring device installed at an onshore centralized control center via a communication power supply device, thereby realizing automatic inspection of the offshore substation and improving the inspection intelligence level of the offshore wind power substation.

[0068] In some optional embodiments, the rail-mounted robot device 101 includes: a detection component control module 107, a walking control module 108, a lifting control module 109 and a pan-tilt control module 110; the detection component control module 107 is connected to the walking control module 108, the lifting control module 109 and the pan-tilt control module 110 respectively, and the lifting control module 109 is connected to the pan-tilt control module 110;

[0069] The walking control module 108 is used to control the robot to move along the walking track to the target detection point based on the offshore booster station inspection task.

[0070] Specifically, the walking control module 108 is provided with a walking motor, a walking reducer unit, a walking control unit, a walking anti-collision unit and a walking position detection unit, wherein the walking control unit obtains a walking instruction according to the inspection task of the offshore substation, and controls the walking motor and the walking reducer unit according to the walking instruction to drive the robot to move in a straight line or in a curve in the horizontal direction, and during the movement of the robot, the position information of the robot is detected in real time according to the walking position detection unit, obstacles on the motion path are detected according to the walking anti-collision unit, and the safe distance of the robot is judged. If an obstacle is encountered in front of the path, the robot immediately activates the anti-collision protection measure, and continues to perform the inspection task after the obstacle is removed.

[0071] Furthermore, the walking track can be arranged horizontally, vertically and in a climbing manner.

[0072] The lifting control module 109 is used to control the robot's pan / tilt platform to vertically lift and move to a target detection point based on an offshore booster station inspection mission.

[0073] Specifically, the lifting control module 109 is provided with a lifting motor, a lifting reducer unit, a lifting control unit, a lifting anti-collision unit and a lifting position detection unit, wherein the lifting control unit obtains a lifting instruction according to the offshore substation inspection task, and uses the lifting instruction to control the lifting motor and the lifting reducer unit to drive the robot to a specified height. The lifting position detection unit detects the lifting height in real time, and the lifting anti-collision module detects the distance of obstacles of the robot during the lifting process.

[0074] The pan-tilt control module 110 is used to control the pan-tilt to perform pitch motion and rotation motion respectively during the vertical movement of the robot.

[0075] Specifically, one side of the gimbal control module 110 is integrated with an optical pitch motor and a reducer for controlling the pitch movement of the optical detection module; the other side of the gimbal control module 110 is integrated with a partial discharge pitch motor and a reducer for controlling the pitch and telescopic movements of the partial discharge detection module; wherein the gimbal control module 110 is connected to the lifting control module 109, which controls the left and right rotation movement of the azimuth motor and the reducer according to the azimuth instruction, and the gimbal control module 110 detects the azimuth angle of the gimbal in real time during the movement.

[0076] The detection component control module 107 is used to select the detection component sensor based on the offshore substation inspection task, use the detection component sensor to collect the inspection data of the target detection point in the offshore substation during the movement of the robot, and transmit the inspection data of the target detection point to the offshore optical fiber transceiver 104 through the communication power supply device 103.

[0077] Specifically, the detection component control module 107 controls the detection component sensor to perform pitch, telescopic, zoom and magnification movements, thereby collecting inspection data of the target detection point during the movement.

[0078] The present embodiment provides an offshore substation robot automatic inspection system, in which a walking control module and a lifting control module respectively control the movement of the robot in the horizontal and vertical directions, and a pan / tilt control module controls the robot to perform pitch and rotation movements, thereby expanding the robot's inspection range and improving the robot's accuracy in identifying inspection targets at lower positions. In addition, the detection component control module can select detection component sensors according to the offshore substation inspection tasks, thereby realizing the modularization and lightweight requirements of the robot's automatic inspection system.

[0079] In some optional implementations, the detection component control module 107 includes:

[0080] The visible light detection unit 111 is used to collect visible light image data of the target detection point, and transmit the visible light image data to the offshore optical fiber transceiver 104 through the communication power supply device 103 .

[0081] Specifically, the visible light detection unit 111 is integrated with a visible light camera for collecting visible light images and video data of the power station.

[0082] The infrared detection unit 112 is used to collect thermal imaging image data of the target detection point and transmit the thermal imaging image data to the offshore optical fiber transceiver 104 through the communication power supply device 103 .

[0083] Specifically, the infrared detection unit 112 is integrated with an infrared thermal imager for collecting thermal imaging images and video data of the power station.

[0084] The partial discharge detection unit 113 is used to collect discharge data of live equipment in the offshore booster station, and transmit the discharge data of the live equipment to the offshore optical fiber transceiver 104 through the communication power supply device 103.

[0085] Specifically, the partial discharge detection unit 113 integrates a partial discharge detector, and the partial discharge detection unit has a telescopic function and is used to detect discharge data of energized equipment.

[0086] The sound detection unit 114 is used to collect the voiceprint data of the target detection point and receive the voice data sent by the offshore optical fiber transceiver 104.

[0087] Specifically, the sound detection unit 114 integrates a microphone and a speaker to collect the sound of the offshore booster station equipment and realize the real-time voice intercom function with the monitoring background.

[0088] The temperature and humidity detection unit 115 is used to collect temperature and humidity data in the offshore booster station room, and transmit the temperature and humidity data in the offshore booster station room to the offshore optical fiber transceiver 104 through the communication power supply device 103.

[0089] A robot automatic inspection system for an offshore substation provided in this embodiment integrates a visible light detection unit, an infrared detection unit, a partial discharge detection unit, a sound detection unit and a temperature and humidity detection unit through a detection component control module, thereby realizing the collection of multi-source data such as visible light-infrared-partial discharge-sound-temperature and humidity corresponding to the offshore substation, and realizing all-round, multi-angle and multi-means status monitoring of the offshore substation.

[0090] In some optional implementations, the background monitoring device 106 includes:

[0091] The inspection task management module 116 is used to obtain and display the inspection tasks of the offshore substation, and send the inspection tasks of the offshore substation to the rail-mounted robot device 101 through the onshore optical fiber transceiver 105, the offshore optical fiber transceiver 104 and the communication power supply device 103 in sequence.

[0092] Specifically, the inspection task management module 116 sends the offshore booster station inspection tasks such as comprehensive inspection, routine inspection, special inspection, and custom tasks to the rail-mounted robot device 101 .

[0093] Furthermore, the inspection task management module 116 can perform real-time monitoring of the rail-mounted robot device 101, for example, video surveillance, map display, inspection message viewing, and robot control.

[0094] The inspection data analysis module 117 is used to receive the inspection data of the target detection point, and perform intelligent analysis on the inspection data of the target detection point to obtain the inspection data analysis results.

[0095] Specifically, the inspection data analysis module 117 parses the inspection tasks of the offshore substation, extracts key information from the inspection tasks of the offshore substation, and uses it to fill in the inspection information description fields in the inspection report. The main analysis contents include inspection point analysis, inspection content analysis, and inspection component analysis. The specific analysis includes: automatically parsing inspection points according to the inspection tasks issued by the inspection task management module; automatically parsing inspection contents according to inspection points; parsing detection component categories according to inspection contents, and determining the data analysis algorithm to be used for the inspection points according to the detection component categories, target detection tasks, and the corresponding intelligent analysis algorithm mapping table.

[0096] Furthermore, the inspection data analysis module 117 performs intelligent analysis on the inspection data of the target detection point, including data analysis algorithm selection, recognition result comparison and inspection result judgment, specifically including: starting the corresponding data analysis algorithm according to the detection component category, including visible light analysis algorithm, infrared temperature measurement algorithm, voiceprint monitoring algorithm, etc.; matching and comparing the data analysis results with the inspection content standard value; judging whether there are any abnormalities in the inspection results based on the comparison content, and recording the inspection results (i.e., the inspection data analysis results).

[0097] Among them, data analysis algorithms include visible light analysis algorithm, infrared temperature measurement algorithm, voiceprint monitoring algorithm, etc.; visible light analysis algorithm can be divided into meter status recognition, equipment defect recognition and environmental monitoring recognition. The infrared temperature measurement algorithm mainly monitors the temperature information of equipment and facilities, and alarms when it exceeds the threshold. The voiceprint monitoring algorithm monitors the operating sound of the equipment and predicts equipment failure based on the voiceprint characteristics. Taking visible light image equipment defect detection as an example, the image defect detection processing flow is as follows: image acquisition, collecting defect-free appearance images and defective appearance images of offshore substation equipment and facilities, and constructing positive and negative examples; defect expansion, manually annotating defective images and extracting defect features, randomly fusion the extracted defect features on the positive example images, and expanding the defect data set; constructing a defect detection algorithm based on a convolutional neural network. This type of defect detection algorithm can be a target detection algorithm or a target segmentation algorithm; testing under expanded data and real scene data, model optimization and evaluation, and model compression for lightweight application deployment.

[0098] The inspection data management module 118 is connected to the inspection data analysis module 117, and is used to generate an automatic inspection report of the offshore booster station robot based on the inspection data analysis results, and display the automatic inspection report of the offshore booster station robot.

[0099] Specifically, the inspection data management module 118 performs alarm query confirmation, main connection display, interval display, inspection result browsing and inspection report generation according to the inspection data analysis results.

[0100] Furthermore, the format of the automatic inspection report of the offshore substation robot includes inspection point records, inspection content records, analysis result records, inspection result records, and inspection time records; at the same time, according to the inspection result record column in the automatic inspection report of the offshore substation robot, the inspection abnormality column is selected to generate a separate inspection result abnormality report, which is convenient for operation and maintenance personnel to quickly locate abnormal points.

[0101] The present embodiment provides an offshore substation robot automatic inspection system, which realizes the automatic acquisition of offshore substation inspection tasks through the inspection task management module, and realizes the intelligent analysis of the inspection data of the target detection points through the inspection data analysis module and the inspection data management module, as well as the automatic generation of the offshore substation robot automatic inspection report, thereby improving the inspection quality and efficiency of the offshore substation.

[0102] In some optional implementations, the background monitoring device 106 further includes:

[0103] The robot management module 119 is connected to the inspection task management module 116, and is used to set the robot inspection points, robot maintenance areas and robot permissions, generate offshore substation inspection tasks based on the robot inspection points, robot maintenance areas and robot permissions, and transmit the offshore substation inspection tasks to the inspection task management module 116.

[0104] Specifically, the robot management module 119 can also perform alarm threshold setting, authority management, typical inspection point library maintenance, inspection point setting and maintenance area setting in the offshore substation inspection task.

[0105] Furthermore, the robot management module 119 can also perform robot system debugging and maintenance, such as inspection map maintenance, software settings, and robot settings.

[0106] The present embodiment provides an offshore substation robot automatic inspection system, which realizes real-time monitoring and management of the movement process of the rail-mounted robot device through the robot management module, laying a foundation for the robot management module to accurately collect inspection data.

[0107] In some optional embodiments, the method further comprises:

[0108] The integrated power supply control device 120 is arranged at the offshore booster station and is respectively connected to the communication power supply device 103 and the offshore optical fiber transceiver 104. It is used to control the power supply of the rail-mounted robot device 101 through the communication power supply device 103, collect the robot operation data of the rail-mounted robot device 101, and transmit the robot operation data to the offshore optical fiber transceiver 104.

[0109] Specifically, the integrated power supply control device 120 is an auxiliary device of the rail-mounted robot device 101, and its main functions are to communicate with the background monitoring device 106, control indoor lighting, monitor operating parameters, control the total power supply, etc.

[0110] The present embodiment provides an offshore substation robot automatic inspection system, which controls the power supply of the rail-mounted robot device through an integrated power supply control device, and collects the robot's operating data, thereby ensuring the normal operation of the rail-mounted robot device.

[0111] In some optional embodiments, the integrated power control device 120 includes: a power module 121, a circuit switch and protection module 122 and an environment monitoring host 123; the power module 121 is arranged in the control cabinet, and the power module 121 and the environment monitoring host 123 are connected to the rail-mounted robot device 101 through the communication power supply device 103;

[0112] The power module 121 is used to provide working power to the rail-mounted robot device 101 through the communication power supply device 103.

[0113] Specifically, the power modules 121 are uniformly placed in a control cabinet, and the control cabinet is mounted on a wall through a rigid connection.

[0114] Furthermore, the power module 121 is a power adapter of the rail-mounted robot device 101 and is a main power control module of the robot inspection system.

[0115] The circuit switch and protection module 122 is used to protect the rail-mounted robot device 101 from overvoltage.

[0116] Specifically, when the voltage of the rail-mounted robot device 101 is too high, the circuit breaker and the protection module automatically cut off the power for protection.

[0117] The environment monitoring host 123 is used to monitor the robot operation data of the rail-mounted robot device 101, and send the robot operation data to the background monitoring device 106 via the offshore optical fiber transceiver 104 and the onshore optical fiber transceiver 105 in sequence.

[0118] Specifically, the environmental monitoring host 123 monitors the operating status data of modules such as the walking control module 108, the lifting control module 109, the pan-tilt control module 110 and the detection component control module 107 in the rail-mounted robot device 101 in real time, so that the background monitoring device 106 can analyze and promptly discover the safety hazards and intelligent alarms of the inspection system in the offshore substation to ensure the normal operation of the equipment.

[0119] The present embodiment provides an offshore substation robot automatic inspection system, which ensures the normal operation of the rail-mounted robot device through a power supply module and a circuit switch and protection module, and realizes real-time detection of the operating status data of the rail-mounted robot through an environmental monitoring host.

[0120] In some optional implementations, the communication power supply device 103 includes:

[0121] The power conversion module 124 is connected to the power module 121 and the rail-mounted robot device 101 respectively, and is used to receive the working power transmitted by the power module 121, convert the AC power corresponding to the working power into DC power, and provide DC power for the rail-mounted robot device 101.

[0122] Specifically, the power conversion module 124 converts 220V AC power into 24V DC power used by the rail-mounted robot device 101 .

[0123] The carrier communication module 125 is connected to the offshore optical fiber transceiver 104 and the rail-mounted robot device 101 respectively, and is used to receive the network signal sent by the offshore optical fiber transceiver 104, convert the network signal into a carrier signal, and send the carrier signal to the rail-mounted robot.

[0124] Specifically, the network signal is sent from the background monitoring device 106 to the offshore optical fiber transceiver 104 via the onshore optical fiber transceiver 105. The network signal may be a signal of an offshore booster station inspection task or a robot movement adjustment signal.

[0125] Furthermore, the carrier communication module 125 is a modulation and demodulation device for transmitting network signals in a DC 24V power supply, and is used to convert network signals into carrier signals for communication by the rail-mounted robot device 101 .

[0126] The present embodiment provides an offshore substation robot automatic inspection system, which realizes power conversion and signal conversion through a communication power supply device, thereby ensuring data interaction between the rail-mounted robot device and the background monitoring device.

[0127] The following is a specific example to illustrate the automatic inspection process of an offshore booster station robot automatic inspection system.

[0128] Embodiment 1:

[0129] like Figure 2 As shown, an automatic inspection process of an offshore booster station robot automatic inspection system includes the following steps:

[0130] The background monitoring device sends the inspection task to the integrated power supply control device through the inspection task management module via the optical cable;

[0131] The integrated power supply control device distributes the inspection tasks to the rail-mounted robot device, and the rail-mounted robot device automatically generates robot inspection control instructions according to the inspection tasks;

[0132] The walking control module controls the horizontal movement of the robot, the lifting control module controls the lifting and lowering movement of the robot, the PTZ control module controls the rotation of the PTZ, and the detection component control module determines the detection component sensor to be used according to the inspection task, and controls the pitch, extension, zoom and magnification movement of the detection component, and then transmits the collected inspection data back to the background monitoring system;

[0133] The inspection data analysis module in the background monitoring device performs intelligent analysis on the inspection data and generates an inspection report. The inspection report and historical inspection data can be viewed through the inspection management module.

[0134] In the above-mentioned embodiment 1, the offshore substation robot automatic inspection system can effectively reduce the equipment maintenance cost, improve the quality, efficiency and intelligence level of equipment inspection, provide new technical detection means and reliable safety guarantee for smart grid and unmanned operation, have huge social, economic and safety benefits, and have broad market application prospects.

[0135] In this embodiment, a method for automatic inspection of an offshore booster station robot is also provided, which can be used for the above-mentioned automatic inspection system of an offshore booster station robot. Figure 3 FIG. 1 is a flow chart of an automatic inspection method of an offshore booster station robot according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0136] Step S301, the background monitoring device obtains the inspection task of the offshore substation, and sends the inspection task of the offshore substation to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence.

[0137] Step S302, the rail-mounted robot device controls the robot to move along the walking track corresponding to the track sub-device based on the offshore substation inspection task, and collects the inspection data of the target detection point, and transmits the inspection data of the target detection point to the background monitoring device through the communication power supply device, the offshore fiber optic transceiver and the onshore fiber optic transceiver in sequence.

[0138] Step S303: the background monitoring device analyzes the inspection data of the target detection point to obtain an automatic inspection report of the offshore booster station robot.

[0139] The automatic inspection method of an offshore booster station robot of this embodiment is applied to Figure 1 The embodiment shown is an offshore booster station robot automatic inspection system, so the specific implementation of step S301 and step S303 can refer to the above Figure 1 The corresponding description of the illustrated embodiment will not be repeated here.

[0140] It is understandable that the effects and beneficial effects of the method of this embodiment are similar to those of Figure 1 The functions and beneficial effects of an offshore booster station robot automatic inspection system in the illustrated embodiment correspond to each other and will not be described in detail here.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0142] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0143] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0146] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0147] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An offshore booster station robot automatic inspection system, characterized in that: include: A rail-mounted robot device, a track sub-device, a communication power supply device, an offshore optical fiber transceiver, an onshore optical fiber transceiver and a background monitoring device; the rail-mounted robot device is arranged on the track sub-device, the rail-mounted robot device is connected to the communication power supply device, the communication power supply device is connected to the offshore optical fiber transceiver, the offshore optical fiber transceiver is connected to the onshore optical fiber transceiver through a submarine optical cable, the onshore optical fiber transceiver is connected to the background monitoring device, the rail-mounted robot device, the track sub-device, the communication power supply device and the offshore optical fiber transceiver are arranged in an offshore booster station, and the onshore optical fiber transceiver and the background monitoring device are arranged in an onshore centralized control center; The background monitoring device is used to obtain the inspection task of the offshore substation, and send the inspection task of the offshore substation to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence; The rail-mounted robot device is used to control the robot to move along the walking track corresponding to the track sub-device based on the offshore booster station inspection task, and collect the inspection data of the target detection point, and transmit the inspection data of the target detection point to the background monitoring device through the communication power supply device, the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence; The background monitoring device is also used to analyze the inspection data of the target detection point to obtain an automatic inspection report of the offshore booster station robot; The rail-mounted robot device comprises: a detection component control module, a walking control module, a lifting control module and a pan-tilt control module; the detection component control module is connected to the walking control module, the lifting control module and the pan-tilt control module respectively, and the lifting control module is connected to the pan-tilt control module; The walking control module is used to control the robot to move along the walking track to the target detection point based on the inspection task of the offshore booster station; the walking control module is provided with a walking motor, a walking reducer unit, a walking control unit, a walking anti-collision unit and a walking position detection unit; The lifting control module is used to control the vertical lifting and moving of the robot's pan / tilt to the target detection point based on the offshore booster station inspection task; the lifting control module is provided with a lifting motor, a lifting reducer unit, a lifting control unit, a lifting anti-collision unit and a lifting position detection unit; The pan-tilt control module is used to control the pan-tilt to perform pitch and rotation movements respectively during the vertical movement of the robot; one side of the pan-tilt control module is integrated with an optical pitch motor and a reducer to control the pitch movement of the optical detection module; the other side of the pan-tilt control module is integrated with a partial discharge pitch motor and a reducer to control the pitch and telescopic movements of the partial discharge detection module; wherein the pan-tilt control module is connected to the lifting control module, and controls the azimuth motor and the reducer to rotate left and right according to the azimuth instruction, and the pan-tilt control module detects the azimuth angle of the pan-tilt in real time during the movement; The detection component control module is used to select a detection component sensor based on the offshore booster station inspection task, use the detection component sensor to collect inspection data of the target detection point in the offshore booster station during the movement of the robot, and transmit the inspection data of the target detection point to the offshore optical fiber transceiver through the communication power supply device; The detection component control module comprises: A visible light detection unit, used for collecting visible light image data of the target detection point, and transmitting the visible light image data to the marine optical fiber transceiver through the communication power supply device; An infrared detection unit, used for collecting thermal imaging image data of the target detection point, and transmitting the thermal imaging image data to the marine optical fiber transceiver through the communication power supply device; A partial discharge detection unit, used for collecting discharge data of live equipment in the offshore booster station, and transmitting the discharge data of the live equipment to the offshore optical fiber transceiver through the communication power supply device; A sound detection unit, used for collecting voiceprint data of the target detection point and receiving voice data sent by the offshore optical fiber transceiver; The temperature and humidity detection unit is used to collect the temperature and humidity data in the offshore booster station room, and transmit the temperature and humidity data in the offshore booster station room to the offshore optical fiber transceiver through the communication power supply device.

2. The system according to claim 1, characterized in that The background monitoring device comprises: An inspection task management module is used to obtain and display the inspection tasks of the offshore booster station, and send the inspection tasks of the offshore booster station to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence; An inspection data analysis module is used to receive the inspection data of the target detection point, and perform intelligent analysis on the inspection data of the target detection point to obtain an inspection data analysis result; The inspection data management module is connected to the inspection data analysis module, and is used to generate an automatic inspection report of the offshore substation robot based on the inspection data analysis result, and display the automatic inspection report of the offshore substation robot.

3. The system according to claim 2, characterized in that The background monitoring device also includes: The robot management module is connected to the inspection task management module, and is used to set the robot inspection points, robot maintenance areas and robot permissions, generate the offshore substation inspection tasks based on the robot inspection points, robot maintenance areas and robot permissions, and transmit the offshore substation inspection tasks to the inspection task management module.

4. The system according to claim 1, characterized in that Also includes: An integrated power supply control device is arranged at the offshore booster station and is respectively connected to the communication power supply device and the offshore optical fiber transceiver. It is used to control the power supply of the rail-mounted robot device through the communication power supply device, collect robot operation data of the rail-mounted robot device, and transmit the robot operation data to the offshore optical fiber transceiver.

5. The system according to claim 4, characterized in that The integrated power supply control device comprises: a power supply module, a circuit switch and protection module and an environment monitoring host; the power supply module is arranged in a control cabinet, and the power supply module and the environment monitoring host are connected to the rail-mounted robot device through the communication power supply device; The power supply module is used to provide working power to the rail-mounted robot device through the communication power supply device; The circuit switch and protection module is used to protect the rail-mounted robot device from overvoltage; The environmental monitoring host is used to monitor the robot operation data of the rail-mounted robot device, and send the robot operation data to the background monitoring device through the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence.

6. The system according to claim 5, characterized in that The communication power supply device comprises: a power conversion module, connected to the power module and the rail-mounted robot device, respectively, for receiving the working power transmitted by the power module, converting the alternating current corresponding to the working power into direct current, and providing direct current for the rail-mounted robot device; The carrier communication module is respectively connected to the offshore optical fiber transceiver and the rail-mounted robot device, and is used to receive the network signal sent by the offshore optical fiber transceiver, convert the network signal into a carrier signal, and send the carrier signal to the rail-mounted robot.

7. The system according to claim 1, characterized in that The track sub-device adopts a suspended track or a side-hanging track.

8. A method for automatic inspection of offshore booster stations by robots, characterized in that: Applied to the automatic inspection system of an offshore booster station robot according to any one of claims 1 to 7, the method comprising: The background monitoring device obtains the inspection task of the offshore substation, and sends the inspection task of the offshore substation to the rail-mounted robot device through the onshore optical fiber transceiver, the offshore optical fiber transceiver and the communication power supply device in sequence; The rail-mounted robot device controls the robot to move along the walking track corresponding to the track sub-device based on the inspection task of the offshore booster station, and collects the inspection data of the target detection point, and transmits the inspection data of the target detection point to the background monitoring device through the communication power supply device, the offshore optical fiber transceiver and the onshore optical fiber transceiver in sequence; The background monitoring device analyzes the inspection data of the target detection point to obtain an automatic inspection report of the offshore substation robot.

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