A GIS foundation settlement monitoring method and system for power substation

Abstract

The present invention discloses a GIS foundation settlement monitoring method and system for power substations. The settlement condition of each GIS is analyzed by comparing the monitoring data with the benchmark data. During the inspection process, the monitoring system obtains the operation data of the settlement monitoring robot and the road surface data, calculates the confidence to analyze whether to adopt the current inspection result, and generates a corresponding control strategy based on the analysis result. When the current inspection result is adopted, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates a corresponding management strategy based on the overall settlement condition of the foundation. The monitoring system can calculate the confidence for the inspection result during the inspection process, thereby ensuring the accuracy of the inspection result, and after the inspection, it can comprehensively evaluate the overall settlement condition of the foundation by integrating the settlement conditions of all GIS, so that the analysis is more comprehensive, and the accuracy of the foundation settlement analysis is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of substation settlement monitoring, and in particular to a GIS foundation settlement monitoring method and system for a power substation. Background Art

[0002] Gas-Insulated-Switchgear (GIS) in power substations is a high-voltage switchgear. It uses closed gas insulation technology and has the advantages of small size, high reliability, and maintenance-free. It is widely used in modern power systems. GIS equipment in substations is usually installed on large infrastructures, including foundations and building structures. The stability of these infrastructures is crucial to the safe operation of GIS equipment.

[0003] The prior art has the following defects:

[0004] 1. The existing monitoring system usually only analyzes the individual data of each GIS, which makes it difficult to form a comprehensive assessment of the entire foundation settlement status and cannot guarantee the accuracy of the overall foundation settlement assessment;

[0005] 2. During the inspection process, the settlement monitoring robot may be affected by uncertain factors such as external environmental factors and equipment status, which may lead to data deviation or error and reduce the accuracy of the inspection results. Summary of the invention

[0006] The purpose of the present invention is to provide a GIS foundation settlement monitoring method and system for power substations, which can calculate the confidence level for the inspection results during the inspection process to ensure the accuracy of the inspection results, and after the inspection, the settlement conditions of all GIS can be comprehensively evaluated to evaluate the overall settlement condition of the foundation, so that the analysis is more comprehensive and the accuracy of foundation settlement analysis is further improved.

[0007] In order to achieve the above object, the present invention provides the following technical solution: a GIS foundation settlement monitoring method for a power substation, the monitoring method comprising the following steps:

[0008] The monitoring system controls the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects the benchmark point data as the baseline data, and obtains the monitoring data of all GIS corresponding monitoring points on the basis, and compares the monitoring data with the benchmark data to analyze the settlement status of each GIS.

[0009] During the inspection process, the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, calculates the confidence level to analyze whether to adopt the current inspection results, and generates corresponding control strategies based on the analysis results;

[0010] When analyzing the current inspection results, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement conditions of the foundation, and generates corresponding management strategies based on the overall settlement conditions of the foundation.

[0011] In a preferred embodiment, during the inspection process, after the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, it calculates the confidence to analyze whether to adopt the current inspection result, and generates a corresponding control strategy based on the analysis result, including the following steps:

[0012] The operation data of the settlement monitoring robot includes the optical axis error index, and the road surface data includes the reference point vibration amplitude and road surface roughness. The optical axis error index, reference point vibration amplitude and road surface roughness are comprehensively calculated to obtain the confidence level.

[0013] The obtained confidence is compared with a preset first confidence threshold and a second confidence threshold, the first confidence threshold is used to analyze whether to adopt the current inspection result, and the second confidence threshold is used to analyze whether to continue the inspection;

[0014] If the confidence is less than or equal to the first confidence threshold, the analysis adopts the current inspection result; if the confidence is greater than the first confidence threshold, and the confidence is less than or equal to the second confidence threshold, the analysis does not adopt the current inspection result; if the confidence is greater than the second confidence threshold, the analysis does not need to continue the inspection;

[0015] When the current inspection results are used in the analysis, the generated control strategy is: control the settlement monitoring robot to continue inspection;

[0016] If the current inspection result is not adopted in the analysis, the generated control strategy is: control the settlement monitoring robot to return to the starting point of the inspection route to re-inspect; if the next inspection shows that the current inspection result is not adopted in the analysis or it is not necessary to continue the inspection, control the settlement monitoring robot to return to the charging station to stop the inspection, and send a warning signal to the administrator, prompting the need for manual inspection of the settlement monitoring robot or the substation;

[0017] If the analysis shows that there is no need to continue the inspection, the settlement monitoring robot is controlled to return to the charging station to stop the inspection, and a warning signal is sent to the administrator, indicating that a manual inspection of the settlement monitoring robot or the substation is required.

[0018] In a preferred embodiment, the optical axis error index, the reference point vibration amplitude and the road surface roughness are comprehensively calculated to obtain the confidence, and the expression is: , where is the confidence level, is the optical axis error index, is the vibration amplitude of the reference point, For road surface unevenness, , , are the adjustment coefficients of the optical axis error index, the reference point vibration amplitude, and the road surface roughness, respectively, and , , Both are greater than 0.

[0019] In a preferred embodiment, when analyzing and using the current inspection results, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates a corresponding management strategy based on the overall settlement condition of the foundation, including the following steps:

[0020] After the monitoring system obtains the height deviation values ​​of all GIS equipment, it establishes a data set, calculates the mean height deviation and the standard deviation of the height deviation in the data set, and evaluates the overall settlement of the foundation by combining the mean height deviation and the standard deviation of the height deviation;

[0021] If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is less than or equal to the standard deviation threshold, the overall condition of the foundation is evaluated to be excellent, with no settlement or warping problems, and no foundation management is required;

[0022] If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is greater than the standard deviation threshold, the overall condition of the foundation is assessed to be good, but some GIS equipment on the foundation has settlement and warping problems. A management strategy is generated for the foundation to increase the inspection frequency of the settlement monitoring robot to twice the original frequency.

[0023] If the mean height deviation is greater than the deviation threshold, the overall condition of the assessment foundation is poor, and a management strategy requiring management and maintenance is generated for the foundation.

[0024] In a preferred embodiment, after the monitoring system obtains the height deviation values ​​of all GIS devices, a data set is established, and the height deviation mean and height deviation standard deviation in the data set are calculated, and the expression is:

[0025] , where is the mean height deviation, is the standard deviation of height deviation, is the number of GIS devices, For the The height deviation value of each GIS device.

[0026] In a preferred embodiment, the vibration amplitude of the reference point is obtained by online monitoring by a vibration sensor arranged at the reference point;

[0027] The calculation expression of the optical axis error index is:

[0028] , where To measure distance, is the optical axis deviation at horizontal angle, is the optical axis deviation from the vertical angle;

[0029] The calculation expression of the road surface roughness is: , where is the total length of the inspection section, is the elevation of the road surface, is the distance traveled along the road, It is the derivative of elevation change with respect to distance, that is, the slope of the longitudinal profile of the road surface.

[0030] In a preferred embodiment, the monitoring data is compared with the baseline data to analyze the settlement conditions at each GIS, including the following steps:

[0031] The settlement monitoring robot uses the total station equipment to collect the calibration height data of the benchmark point at the predetermined benchmark point position. The benchmark calibration height is the height value of the benchmark point when it is initially set, which is used as the reference standard for subsequent monitoring data;

[0032] According to the preset inspection route, the settlement monitoring robot moves to the monitoring point position corresponding to the GIS equipment in turn. At each monitoring point, the settlement monitoring robot uses the total station equipment to collect the calibration height data of the monitoring point. The monitoring calibration height refers to the current height value of each monitoring point, which is used for comparison with the benchmark point data.

[0033] For each monitoring point corresponding to the GIS device, the monitoring system will compare the monitoring calibration height with the benchmark calibration height, obtain the height difference by subtracting the monitoring calibration height from the benchmark calibration height, and take the absolute value of the height difference as the height deviation value.

[0034] A GIS foundation settlement monitoring system for a power substation, comprising a monitoring module, a confidence calculation module, and a foundation settlement analysis module;

[0035] Monitoring module: Control the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects the benchmark point data as the benchmark data, and obtains the monitoring data of all GIS corresponding monitoring points on the basis, and compares the monitoring data with the benchmark data to analyze the settlement status of each GIS;

[0036] Confidence calculation module: During the inspection process, after obtaining the operating data of the settlement monitoring robot and the road surface data, the confidence is calculated to analyze whether to adopt the current inspection results, and the corresponding control strategy is generated based on the analysis results;

[0037] Foundation settlement analysis module: When the current inspection results are used for analysis, for a foundation, the settlement conditions of all GIS on the foundation are integrated to evaluate the overall settlement condition of the foundation, and generate corresponding management strategies based on the overall settlement condition of the foundation.

[0038] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0039] The present invention analyzes the settlement condition of each GIS by comparing the monitoring data with the benchmark data. During the inspection process, after the monitoring system obtains the operation data of the settlement monitoring robot and the road surface data, it calculates the confidence to analyze whether to adopt the current inspection result, and generates a corresponding control strategy based on the analysis result. When the current inspection result is adopted, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates a corresponding management strategy based on the overall settlement condition of the foundation. The monitoring system can calculate the confidence for the inspection result during the inspection process, thereby ensuring the accuracy of the inspection result, and after the inspection, it can comprehensively evaluate the overall settlement condition of the foundation by integrating the settlement conditions of all GIS, so that the analysis is more comprehensive, further improving the accuracy of the foundation settlement analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0041] Figure 1 The figure is a flow chart of the method of the present invention.

[0042] Figure 2 It is a schematic diagram of the working plane of the settlement monitoring robot in the present invention.

[0043] Figure 3 It is a schematic diagram of the working elevation of the settlement monitoring robot in the present invention.

[0044] Figure 4 Schematic diagram of the settlement monitoring robot in the present invention Figure 1 .

[0045] Figure 5 Schematic diagram of the settlement monitoring robot in the present invention Figure 2 . DETAILED DESCRIPTION

[0046] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Example 1: Please refer to Figure 1-Figure 3 As shown, the present embodiment describes a GIS foundation settlement monitoring method for a power substation, the monitoring method comprising the following steps:

[0048] The monitoring system controls the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects benchmark point data as benchmark data, and obtains monitoring data of corresponding monitoring points of all GIS on the foundation, compares the monitoring data with the benchmark data to analyze the settlement conditions of each GIS. During the inspection process, the monitoring system obtains the operating data and road surface data of the settlement monitoring robot, calculates the confidence level to analyze whether to adopt the current inspection result, and generates corresponding control strategies based on the analysis results. When the current inspection result is adopted for the analysis, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates corresponding management strategies based on the overall settlement condition of the foundation.

[0049] This application analyzes the settlement conditions at each GIS by comparing the monitoring data with the benchmark data. During the inspection process, the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, calculates the confidence to analyze whether to adopt the current inspection results, and generates corresponding control strategies based on the analysis results. When the current inspection results are used for analysis, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement conditions of the foundation, and generates corresponding management strategies based on the overall settlement conditions of the foundation. The monitoring system can calculate the confidence for the inspection results during the inspection process, thereby ensuring the accuracy of the inspection results, and after the inspection, it can comprehensively evaluate the overall settlement conditions of the foundation by combining the settlement conditions of all GIS, so that the analysis is more comprehensive, further improving the accuracy of the foundation settlement analysis.

[0050] Embodiment 2: The monitoring system controls the settlement monitoring robot to inspect the substation along a preset driving route, including the following steps:

[0051] Preset route import: The monitoring system will design and preset a driving route based on the structure of the substation, the location of the GIS equipment and the terrain conditions. This route covers all GIS-based areas that need to be monitored in the substation to ensure that all locations where settlement problems may occur are covered.

[0052] Task initialization: When starting the inspection task, the monitoring system transmits the preset driving route and monitoring task parameters (such as inspection frequency, etc.) to the settlement monitoring robot. The system performs self-checks on the robot's battery power, sensor status, and network connection to ensure smooth execution of the inspection task.

[0053] Robot start: The monitoring system sends a start command, and the settlement monitoring robot starts from the starting point according to the preset route and automatically drives along the specified path.

[0054] The settlement monitoring robot collects the benchmark point data as the baseline data, and obtains the monitoring data of all GIS corresponding monitoring points on the basis, compares the monitoring data with the benchmark data, and analyzes the settlement status of each GIS, including the following steps:

[0055] Selection of benchmark points: Before conducting settlement monitoring, you first need to determine the benchmark points in the substation. Benchmark points are usually selected in stable areas, such as places with stable geological structures or areas far away from the GIS foundation and not easily affected by external factors. The selection of benchmark points should meet the monitoring accuracy requirements and serve as reference points for long-term monitoring.

[0056] Collection of benchmark calibration height: The settlement monitoring robot uses the total station equipment to collect the calibration height data of the benchmark point at the predetermined benchmark point position. The benchmark calibration height is usually the height value of the benchmark point when it is initially set, and serves as a reference standard for subsequent monitoring data.

[0057] Benchmark data recording: The collected benchmark calibration height data will be automatically recorded and uploaded to the monitoring system database as the benchmark data for the current monitoring period. The accuracy of the benchmark data is crucial and directly affects the accuracy of subsequent monitoring results.

[0058] Identification and positioning of monitoring points: According to the preset inspection route, the settlement monitoring robot moves to the monitoring point position corresponding to the GIS equipment in sequence. Each monitoring point is pre-set with geographical coordinates or relative position.

[0059] Monitoring calibration height acquisition: At each monitoring point, the robot uses the same total station equipment to collect the calibration height data of the monitoring point. The monitoring calibration height refers to the current height value of each monitoring point, which is used to compare with the benchmark point data to determine the settlement situation.

[0060] Monitoring point data recording and transmission: The calibrated height data of each monitoring point collected by the robot will be uploaded to the monitoring system in real time via the wireless network. The data of each monitoring point not only includes height information, but also records related location information, timestamps, and sensor status, etc., to ensure data integrity and traceability.

[0061] Data alignment and preprocessing: After the monitoring system receives the data from the benchmark point and the monitoring point, it first aligns the data, that is, according to the timestamp and geographic location, ensures that the benchmark point data and the monitoring point data are compared and analyzed at the same time.

[0062] Calculation of settlement difference: For each monitoring point corresponding to the GIS device, the monitoring system will compare the monitoring calibration height with the benchmark calibration height, and obtain the height difference by subtracting the monitoring calibration height from the benchmark calibration height. The absolute value of the height difference is taken as the height deviation value. The larger the height deviation value, the higher or lower the monitoring calibration height is than the benchmark calibration height, indicating that there are problems such as warping or settlement at the GIS device.

[0063] During the inspection process, the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, calculates the confidence level to analyze whether to adopt the current inspection results, and generates a corresponding control strategy based on the analysis results, including the following steps:

[0064] The operating data of the settlement monitoring robot includes the optical axis error index, and the road surface data includes the vibration amplitude of the reference point and the road surface roughness;

[0065] The confidence level is obtained by comprehensively calculating the optical axis error index, the reference point vibration amplitude, and the road surface roughness. The expression is: , where is the confidence level, is the optical axis error index, is the vibration amplitude of the reference point, For road surface unevenness, , , are the adjustment coefficients of the optical axis error index, the reference point vibration amplitude, and the road surface roughness, respectively, and , , All are greater than 0;

[0066] The larger the confidence value, the worse the accuracy of the current inspection result. The obtained confidence is compared with the preset first confidence threshold and second confidence threshold. The first confidence threshold is used to analyze whether to adopt the current inspection result, and the second confidence threshold is used to analyze whether to continue the inspection.

[0067] If the confidence level is less than or equal to the first confidence level threshold, the current inspection result is used for analysis;

[0068] If the confidence is greater than the first confidence threshold and the confidence is less than or equal to the second confidence threshold, the analysis does not use the current inspection result;

[0069] If the confidence level is greater than the second confidence level threshold, the analysis does not need to continue the inspection;

[0070] When the current inspection results are used in the analysis, the generated control strategy is: control the settlement monitoring robot to continue inspection;

[0071] If the current inspection result is not adopted in the analysis, the generated control strategy is: control the settlement monitoring robot to return to the starting point of the inspection route to re-inspect; if the next inspection shows that the current inspection result is not adopted in the analysis or it is not necessary to continue the inspection, control the settlement monitoring robot to return to the charging station to stop the inspection, and send a warning signal to the administrator, prompting the need for manual inspection of the settlement monitoring robot or the substation;

[0072] If the analysis shows that there is no need to continue the inspection, the settlement monitoring robot is controlled to return to the charging station to stop the inspection, and a warning signal is sent to the administrator, indicating that a manual inspection of the settlement monitoring robot or the substation is required.

[0073] The vibration amplitude of the reference point is obtained through online monitoring by the vibration sensor set at the reference point. The larger the vibration amplitude of the reference point, the lower the accuracy of the inspection result. Specifically:

[0074] The greater the vibration amplitude of the reference point, the lower the accuracy of the inspection results. The main reason is that the stability of the reference point is crucial to the accuracy of the measurement. During the inspection of equipment such as total stations and settlement monitoring robots, the reference point is usually used to provide a reference to ensure the accuracy and consistency of the measurement results. If the reference point has a large vibration amplitude, multiple factors in the measurement process will be affected.

[0075] The vibration of the benchmark means that its physical position is constantly changing slightly. The total station or other measuring equipment uses the benchmark as a reference to calibrate the measurement direction, distance and angle. If the benchmark vibrates during the measurement process, its position will be offset, causing the measuring equipment to be unable to accurately lock the reference point, resulting in deviations in the measured data. Horizontal and vertical angle deviations: The vibration of the benchmark will cause errors in the measured angles, especially in the measurement of horizontal and vertical angles. Small changes in the position of the benchmark will cause the angle error to accumulate, thereby reducing the measurement accuracy. When measuring the distance between the benchmark and other monitoring points, the position fluctuation of the vibrating benchmark will lead to inaccurate distance data, especially in high-precision settlement monitoring, where small changes in distance will bring large errors.

[0076] Vibration not only affects the position of the reference point, but may also affect the accuracy of the equipment's sensors. Large vibrations may interfere with the sensor signal acquisition of the total station or monitoring equipment, making it difficult for the equipment to accurately capture data such as angles, distances, or coordinates. Sensor response lag or increased noise: In an environment with large vibrations, the sensor's response may be disturbed, causing lag or signal noise, which in turn affects the measurement accuracy of the equipment. When the vibration amplitude is large, the data output by the sensor may fluctuate greatly, resulting in inconsistent multiple measurement results, increasing data uncertainty, and affecting the reliability of inspection results.

[0077] If the vibration frequency or amplitude of the reference point is large, and the sampling frequency of the inspection system is low, the measurement equipment may not be able to accurately capture the position of the reference point under vibration. This will cause the collected reference point data to deviate from its actual position. During the inspection process, when the vibration cycle of the reference point is not synchronized with the measurement cycle, the equipment may sample at the peak or valley position of the vibration of the reference point, resulting in increased error in the measurement result. If the equipment cannot accurately monitor the state of the reference point vibration, the measurement error will gradually accumulate as the inspection progresses, further reducing the accuracy of the entire inspection process.

[0078] In an automated inspection system, vibrations may be mistakenly identified as changes in the position of the reference point, which in turn affects the control system's judgment. The device may mistakenly believe that the reference point position has changed, and thus adjust the measurement strategy, which further increases the measurement error. The automatic control system relies on the data of the reference point to decide whether to adjust the measurement parameters. If the vibration of the reference point causes deviations in the data, the system may make incorrect feedback adjustments, further affecting the measurement results. Vibration may also cause the device sensor to receive unstable reference point signals, especially in complex measurement environments. The system may misjudge the vibration of the reference point as an abnormality, affecting subsequent inspection steps.

[0079] The greater the vibration amplitude of the reference point, the lower the accuracy of the inspection results. The main reason is that the vibration makes the position of the reference point unstable, affecting the angle, distance, and position measurement of the total station or settlement monitoring equipment, and the accuracy of the sensor data collection is disturbed. In addition, vibration can also cause the system to make wrong decisions or misjudgments, resulting in unstable measurement results or error accumulation, which greatly reduces the accuracy of the inspection results.

[0080] The calculation expression of the optical axis error index is:

[0081] , where To measure distance, is the optical axis deviation at horizontal angle, The optical axis deviation of the vertical angle, the optical axis deviation of the horizontal angle and the optical axis deviation of the vertical angle are detected by the horizontal angle sensor and the vertical angle sensor inside the total station to detect the deviation of the optical axis from the theoretical reference. The larger the optical axis error index, the larger the optical axis deviation of the horizontal angle and the optical axis deviation of the vertical angle, which will lead to lower accuracy of the inspection results. Specifically:

[0082] The larger the optical axis error index is, the greater the optical axis deviation of the total station (including the deviation of the horizontal angle and the vertical angle), which will directly affect the accuracy of the inspection results. The main reasons are as follows:

[0083] Optical axis deviation refers to the angular deviation between the actual optical axis of the total station and the ideal optical axis. The greater the optical axis deviation, the lower the accuracy of the measured direction.

[0084] When measuring, if there is a significant deviation in the optical axis, the instrument cannot accurately point to the target point, resulting in an error in the measurement direction. This will directly lead to inaccurate measurement data. In measurement, all angles and distances rely on the accurate alignment of the optical axis. The greater the deviation, the more significant errors will appear in the calculation results of geometric relationships (such as distances and coordinates). Optical axis deviation will cause an increase in the overall measurement error of the system.

[0085] If the optical axis deviation is large, the measurement of horizontal and vertical angles may produce large errors, which will cause deviations in the calculation of height and position. If the optical axis deviation is not effectively controlled during each measurement, the difference between the measured results will increase, resulting in unstable inspection results. The increase in the optical axis error index directly leads to a decrease in the measurement accuracy of the total station. During continuous measurement, small optical axis deviations will gradually accumulate, resulting in a larger gap between the final measurement result and the actual value. If the optical axis deviation is large during the measurement process, the system's judgment of the measurement results and subsequent decisions may no longer be reliable, affecting the credibility of the inspection results.

[0086] During the automated inspection process, optical axis deviation may also lead to system misjudgment. Optical axis deviation may cause the total station to mistakenly believe that the point position has changed when measuring certain points, resulting in the system making incorrect decisions in the inspection results. If the system incorrectly adjusts the measurement strategy based on the deviation, it may lead to further measurement errors and data confusion.

[0087] The larger the optical axis error index is, the greater the optical axis deviation is for the horizontal and vertical angles, which will lead to a decrease in the accuracy of the inspection results, mainly reflected in inaccurate measurement direction, increased error, decreased measurement accuracy, complicated data processing, and misjudgment of the automation system. Optical axis deviation not only affects individual measurement results, but also affects the reliability and effectiveness of the overall inspection through multiple cumulative measurements. Therefore, during the inspection process, the optical axis deviation must be regularly monitored and corrected to ensure the accuracy and reliability of the measurement.

[0088] The calculation expression of road roughness is: , where is the total length of the inspection section, is the elevation of the road surface, is the distance traveled along the road, It is the derivative of elevation change with respect to distance, that is, the slope of the longitudinal section of the road surface. The greater the road surface roughness, the lower the accuracy of the inspection results. Specifically:

[0089] The greater the unevenness of the road surface, the less accurate the inspection results may be. During inspections, equipment (such as total stations, settlement monitoring robots, etc.) usually need to be set up and operated on a relatively flat surface. If the road surface is uneven, the equipment may be disturbed, resulting in reduced measurement stability. Uneven roads can cause vibrations or shakes in the equipment, especially when moving. This vibration can affect the sensor readings and the stability of the optical axis. It is difficult for the equipment to remain level on uneven roads, making it difficult to calibrate the optical axis, which affects the accuracy of the measurement.

[0090] Uneven roads can cause irregular measurement paths, especially when conducting mobile inspections, where the device may not be able to measure along the predetermined path. When the device is traveling on uneven roads, it cannot maintain a straight or horizontal path, causing the actual position of the measurement point to deviate from the predetermined coordinates, resulting in data errors. On uneven roads, it may become difficult to select suitable measurement points, resulting in reduced representativeness of the measurement results. Road surface unevenness may cause the sensor to receive unstable or noisy signals, affecting the measurement results. When the device is traveling on uneven roads, the sensor may be affected by noise, resulting in unstable signals and increased measurement errors. Uneven roads may affect the reflection and refraction characteristics of laser or optical sensors, resulting in inaccurate measurement data.

[0091] The greater the unevenness of the road surface, the lower the accuracy of the inspection results. The main reasons include affected equipment stability, measurement path deviation, sensor signal interference, increased data analysis complexity, and misjudgment of automated decision-making. In order to improve the accuracy of the inspection, it is recommended to choose a flat road surface before the inspection, or take additional stabilization measures on uneven roads to ensure the accuracy of the equipment and measurement points.

[0092] When analyzing the current inspection results, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates corresponding management strategies based on the overall settlement condition of the foundation, including the following steps:

[0093] After the monitoring system obtains the height deviation values ​​of all GIS devices, it establishes a data set and calculates the height deviation mean and height deviation standard deviation in the data set. The expression is:

[0094] , where is the mean height deviation, is the standard deviation of height deviation, is the number of GIS devices, For the The height deviation value of each GIS device;

[0095] The overall settlement of the foundation is evaluated by combining the mean height deviation and the standard deviation of height deviation;

[0096] If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is less than or equal to the standard deviation threshold, the overall condition of the foundation is evaluated to be excellent, with no settlement or warping problems, and no foundation management is required;

[0097] If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is greater than the standard deviation threshold, the overall condition of the foundation is assessed to be good, but some GIS equipment on the foundation has settlement and warping problems. A management strategy is generated for the foundation to increase the inspection frequency of the settlement monitoring robot to twice the original frequency.

[0098] If the mean height deviation is greater than the deviation threshold, the overall condition of the assessment foundation is poor, and a management strategy requiring management and maintenance is generated for the foundation.

[0099] Embodiment 3: A GIS foundation settlement monitoring system for a power substation described in this embodiment includes a monitoring module, a confidence calculation module, and a foundation settlement analysis module;

[0100] Monitoring module: Control the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects the benchmark point data as the benchmark data, and obtains the monitoring data of all the corresponding monitoring points of the basic GIS. The monitoring data is compared with the benchmark data to analyze the settlement status of each GIS. The settlement status analysis results of each GIS are sent to the basic settlement analysis module;

[0101] Confidence calculation module: During the inspection process, after obtaining the operation data of the settlement monitoring robot and the road surface data, the confidence is calculated to analyze whether to adopt the current inspection result, and the corresponding control strategy is generated based on the analysis result. The current inspection result adopts the analysis result and is sent to the basic settlement analysis module;

[0102] Foundation settlement analysis module: When the current inspection results are used for analysis, for a foundation, the settlement conditions of all GIS on the foundation are integrated to evaluate the overall settlement condition of the foundation, and generate corresponding management strategies based on the overall settlement condition of the foundation.

[0103] Example 4: Please refer to Figure 3-Figure 5 As shown, the settlement monitoring robot 1 includes a walking mechanism 1-1, a main body 1-2, a lifting mechanism 1-3, and a detection instrument 1-4;

[0104] The walking mechanism 1-1 is located at the lower part of the settlement monitoring robot 1, and includes a driving motor, a transmission mechanism, a brake control and four wheels, and travels on the road surface of the substation;

[0105] The main body 1-2 is provided with a walking mechanism 1-1 at the bottom, a wireless communication device 4, a controller 5 and monitoring software are installed inside, and a lifting mechanism 1-3 is installed at the top. The outer shell of the main body 1-2 is provided with an anti-collision reflective strip;

[0106] The lifting mechanism 1-3 is installed on the main body 1-2 and is mainly hydraulically controlled, and can drive the detection instrument 1-4 to move up and down;

[0107] The main part of the detection instrument 1-4 is a total station with an accuracy of not less than 0.5″ and a full-view data automatic acquisition function. The outer part is a protective shell. The detection instrument 1-4 is installed on the top of the lifting mechanism 1-3 and moves up and down with the extension and retraction of the lifting mechanism 1-3.

[0108] The wireless communication device 4 is a communication device installed on the settlement monitoring robot 1;

[0109] The monitoring software is an automatic tunnel monitoring software with monitoring, calculation, analysis and alarm functions;

[0110] The settlement monitoring robot 1 is driven by the power supply module 6 to travel on the substation road surface to a predetermined position and then stops, measures the monitoring point 3 to collect data such as distance, angle, height difference, etc., communicates with the controller 5 through the wireless communication device 4, receives instructions and sends back the collected data, and the monitoring software analyzes and calibrates the data received by the controller 5 and generates a detection report.

[0111] The detection instruments 1-4 installed on the settlement monitoring robot 1 are total stations with an accuracy of not less than 0.5″ and a full-view data automatic acquisition function, a rotatable automatic leveling base equipped with a motor, and an automatic target recognition function;

[0112] The settlement monitoring robot 1 travels on the road surface of the substation, and when the settlement monitoring robot 1 determines its own coordinates through the reference point 2, the distance between the settlement monitoring robot 1 and the reference point 2 is less than 100m.

[0113] Benchmark point 2 uses a circular prism. According to the surface building layout, at least two benchmark points 2 should be arranged every 100 meters, or the number can be increased according to actual needs, and benchmark point 2 should be set in an area away from deformation.

[0114] Monitoring point 3 uses a small prism, and the prism is oriented perpendicular to the substation road surface, and the mirror faces the settlement monitoring robot 1; monitoring point 3 is mainly used for settlement monitoring of the power substation GIS foundation; monitoring point 3 is installed on the power substation GIS foundation.

[0115] The wireless communication device 4 is used for two-way communication between the settlement monitoring robot 1 and the controller 5 to complete the reception and delivery of instructions and the transmission of data;

[0116] The power supply module 6 is used to provide power to the settlement monitoring robot 1. The power supply module 6 is composed of a battery and is charged through a wired connection or using a portable replaceable battery;

[0117] The power supply module 6 is installed in the main body 1 - 2 of the settlement monitoring robot 1 ;

[0118] The rear hatch of the settlement monitoring robot 1 can be opened to facilitate maintenance and replacement of the power supply module 6 or other components.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0120] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A GIS foundation settlement monitoring method for a power substation, characterized in that: The monitoring method comprises the following steps: The monitoring system controls the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects the benchmark point data as the baseline data, and obtains the monitoring data of all GIS corresponding monitoring points on the basis, and compares the monitoring data with the benchmark data to analyze the settlement status of each GIS. During the inspection process, the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, calculates the confidence level to analyze whether to adopt the current inspection results, and generates corresponding control strategies based on the analysis results; When the current inspection results are used for analysis, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement conditions of the foundation, and generates corresponding management strategies based on the overall settlement conditions of the foundation; During the inspection process, the monitoring system obtains the operating data of the settlement monitoring robot and the road surface data, calculates the confidence level to analyze whether to adopt the current inspection results, and generates a corresponding control strategy based on the analysis results, including the following steps: The operation data of the settlement monitoring robot includes the optical axis error index, and the road surface data includes the reference point vibration amplitude and road surface roughness. The optical axis error index, reference point vibration amplitude and road surface roughness are comprehensively calculated to obtain the confidence level. The obtained confidence is compared with a preset first confidence threshold and a second confidence threshold, the first confidence threshold is used to analyze whether to adopt the current inspection result, and the second confidence threshold is used to analyze whether to continue the inspection; If the confidence is less than or equal to the first confidence threshold, the analysis adopts the current inspection result; if the confidence is greater than the first confidence threshold, and the confidence is less than or equal to the second confidence threshold, the analysis does not adopt the current inspection result; if the confidence is greater than the second confidence threshold, the analysis does not need to continue the inspection; When the current inspection results are used in the analysis, the generated control strategy is: control the settlement monitoring robot to continue inspection; If the current inspection result is not adopted in the analysis, the generated control strategy is: control the settlement monitoring robot to return to the starting point of the inspection route to re-inspect; if the next inspection shows that the current inspection result is not adopted in the analysis or it is not necessary to continue the inspection, control the settlement monitoring robot to return to the charging station to stop the inspection, and send a warning signal to the administrator, prompting the need for manual inspection of the settlement monitoring robot or the substation; If the analysis shows that it is not necessary to continue the inspection, the settlement monitoring robot is controlled to return to the charging station to stop the inspection, and a warning signal is sent to the administrator, indicating that a manual inspection of the settlement monitoring robot or the substation is required; The confidence level is obtained by comprehensively calculating the optical axis error index, the reference point vibration amplitude, and the road surface roughness. The expression is: , where is the confidence level, is the optical axis error index, is the vibration amplitude of the reference point, For road surface unevenness, , , are the adjustment coefficients of the optical axis error index, the reference point vibration amplitude, and the road surface roughness, respectively, and , , Both are greater than 0.

2. A GIS foundation settlement monitoring method for a power substation according to claim 1, characterized in that: When analyzing the current inspection results, for a foundation, the monitoring system integrates the settlement conditions of all GIS on the foundation, evaluates the overall settlement condition of the foundation, and generates corresponding management strategies based on the overall settlement condition of the foundation, including the following steps: After the monitoring system obtains the height deviation values ​​of all GIS equipment, it establishes a data set, calculates the mean height deviation and the standard deviation of the height deviation in the data set, and evaluates the overall settlement of the foundation by combining the mean height deviation and the standard deviation of the height deviation; If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is less than or equal to the standard deviation threshold, the overall condition of the foundation is evaluated to be excellent, with no settlement or warping problems, and no foundation management is required; If the height deviation mean is less than or equal to the deviation threshold, and the height deviation standard deviation is greater than the standard deviation threshold, the overall condition of the foundation is good, but some GIS equipment on the foundation has settlement and warping problems. A management strategy is generated for the foundation to increase the inspection frequency of the settlement monitoring robot to twice the original frequency. If the mean height deviation is greater than the deviation threshold, the overall condition of the assessment foundation is poor, and a management strategy requiring management and maintenance is generated for the foundation.

3. A GIS foundation settlement monitoring method for a power substation according to claim 2, characterized in that: After the monitoring system obtains the height deviation values ​​of all GIS devices, it establishes a data set and calculates the height deviation mean and height deviation standard deviation in the data set. The expression is: , where is the mean height deviation, is the standard deviation of height deviation, is the number of GIS devices, For the The height deviation value of each GIS device.

4. A GIS foundation settlement monitoring method for a power substation according to claim 3, characterized in that: The vibration amplitude of the reference point is obtained by online monitoring through a vibration sensor arranged at the reference point; The calculation expression of the optical axis error index is: , where To measure distance, is the optical axis deviation at horizontal angle, is the optical axis deviation from the vertical angle; The calculation expression of the road surface roughness is: , where is the total length of the inspection section, is the elevation of the road surface, is the distance traveled along the road, It is the derivative of elevation change with respect to distance, that is, the slope of the longitudinal profile of the road surface.

5. A GIS foundation settlement monitoring method for a power substation according to claim 4, characterized in that: The monitoring data were compared with the baseline data to analyze the settlement conditions at each GIS, including the following steps: The settlement monitoring robot uses the total station equipment to collect the calibration height data of the benchmark point at the predetermined benchmark point position. The benchmark calibration height is the height value of the benchmark point when it is initially set, which is used as the reference standard for subsequent monitoring data; According to the preset inspection route, the settlement monitoring robot moves to the monitoring point position corresponding to the GIS equipment in turn. At each monitoring point, the settlement monitoring robot uses the total station equipment to collect the calibration height data of the monitoring point. The monitoring calibration height refers to the current height value of each monitoring point, which is used for comparison with the benchmark point data. For each monitoring point corresponding to the GIS device, the monitoring system will compare the monitoring calibration height with the benchmark calibration height, obtain the height difference by subtracting the monitoring calibration height from the benchmark calibration height, and take the absolute value of the height difference as the height deviation value.

6. A GIS foundation settlement monitoring system for a power substation, used to implement the monitoring method according to any one of claims 1 to 5, characterized in that: Including monitoring module, confidence calculation module and foundation settlement analysis module; Monitoring module: Control the settlement monitoring robot to inspect the substation along the preset driving route. The settlement monitoring robot collects the benchmark point data as the benchmark data, and obtains the monitoring data of all GIS corresponding monitoring points on the basis, and compares the monitoring data with the benchmark data to analyze the settlement status of each GIS; Confidence calculation module: During the inspection process, after obtaining the operating data of the settlement monitoring robot and the road surface data, the confidence is calculated to analyze whether to adopt the current inspection results, and the corresponding control strategy is generated based on the analysis results; Foundation settlement analysis module: When the current inspection results are used for analysis, for a foundation, the settlement conditions of all GIS on the foundation are integrated to evaluate the overall settlement condition of the foundation, and generate corresponding management strategies based on the overall settlement condition of the foundation.

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