Transformer substation robot inspection system and inspection method thereof

Abstract

The invention relates to the technical field of substation robot inspection systems, in particular to a substation robot inspection system and an inspection method thereof. The technical problems are as follows: the conventional transformer substation robot inspection system generally has relatively simple data processing, mainly depends on experience and judgment of inspection personnel, and possibly cannot find potential faults in time, so that the faults are not processed in time; according to the technical scheme, the transformer substation robot inspection system comprises a data analysis module; compared with a traditional transformer substation robot inspection system, general data processing is relatively simple and mainly depends on experience and judgment of inspection personnel, potential faults possibly cannot be found in time, and consequently fault processing is not timely, the transformer substation robot inspection system can provide detailed fault positioning information through arrangement of the data analysis module, and the fault positioning accuracy is improved. Accurate fault processing guidance is provided for operation and maintenance personnel, through intelligent analysis, the accuracy and reliability of inspection results are improved, and the false alarm rate and the missing report rate are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of substation robot inspection systems, and in particular to a substation robot inspection system and an inspection method thereof. Background Art

[0002] The substation robot inspection system is an intelligent inspection solution designed specifically for substations to replace or assist manual regular equipment inspections to improve inspection efficiency, accuracy and safety.

[0003] The existing substation robot inspection system generally has relatively simple data processing, mainly focusing on the collection of inspection data and basic recording functions. The fault prediction and diagnosis capabilities are relatively weak, and mainly rely on the experience and judgment of the inspection personnel. Potential faults may not be discovered in time, resulting in untimely fault handling.

[0004] In view of the problem that the existing substation robot inspection system may not be able to detect potential faults in time, resulting in untimely fault handling, the substation robot inspection system can provide detailed fault location information by setting up a data analysis module, provide accurate fault handling guidance for operation and maintenance personnel, and improve the accuracy and reliability of inspection results through intelligent analysis, and reduce false alarm and missed alarm rates. Summary of the invention

[0005] In order to overcome the problem that the existing substation robot inspection system generally has relatively simple data processing, mainly focuses on the collection of inspection data and basic recording functions, and has relatively weak fault prediction and diagnosis capabilities. It mainly relies on the experience and judgment of the inspection personnel and may not be able to detect potential faults in time, resulting in untimely fault handling.

[0006] The technical solution of the present invention is: a substation robot inspection system, comprising:

[0007] Data acquisition module: used for real-time acquisition of multiple data inside the substation;

[0008] Data transmission module: used to transmit the data collected by the data acquisition module;

[0009] Data preprocessing module: used to preprocess the data transmitted by the data transmission module;

[0010] Autonomous navigation module: used to plan the robot inspection route;

[0011] Infrared thermal imaging module: used to capture the operation status of substation equipment;

[0012] Data analysis module: used for real-time analysis of substation internal data transmitted by each module;

[0013] Power supply and energy management module: used to provide stable power supply for the robot.

[0014] Preferably, the data acquisition module includes a high-definition camera, a sound collector and a gas monitor. The high-definition camera is used to capture images and videos of equipment inside the substation, the sound collector is used to capture sound signals inside the substation, and the gas monitor is used to monitor the air quality inside the substation in real time, detect leaks of harmful gases, and prevent safety accidents caused by gas leaks.

[0015] Preferably, the data transmission module includes a 3G information transmission module, a 4G signal transmission module, a Bluetooth transmission module and a GPS signal module. The data transmission module makes an intelligent judgment on the signal strength, uses the 3G information transmission module, the 4G signal transmission module, the Bluetooth transmission module and the GPS signal module to establish a stable signal transmission chain, and transmits the data collected by the data acquisition module to the data preprocessing module.

[0016] Preferably, the data preprocessing module is used to preprocess and analyze the data transmitted by the data transmission module, including steps such as denoising, contrast enhancement, edge detection, etc. Through image processing technology, key features in the image data can be extracted.

[0017] Preferably, the autonomous navigation module is responsible for providing the inspection robot with accurate positioning and path planning capabilities. By integrating GPS, inertial navigation system, lidar, ultrasonic sensor or visual recognition technology, the robot can autonomously navigate in the complex environment of the substation, avoid obstacles, and conduct inspections according to preset or real-time optimized routes.

[0018] Preferably, the autonomous navigation module enables the inspection robot to independently plan the inspection route without human intervention, thereby significantly improving the inspection efficiency. The robot can automatically select the optimal path for inspection based on the preset inspection tasks or the real-time detected equipment status. At the same time, there are dangerous factors such as high voltage and high temperature in the substation. The inspection robot replaces humans to enter these dangerous areas for inspection, which greatly reduces the safety risks faced by inspection personnel.

[0019] Preferably, the infrared thermal imaging module is used to capture the temperature distribution image of the substation equipment through an infrared thermal imager for non-contact temperature measurement. By analyzing the temperature data, overheating areas of the equipment can be discovered, potential failures or thermal stress problems can be warned, and a basis for preventive maintenance can be provided.

[0020] Preferably, the data analysis module is used to upload the received sensor data of each module to the built-in big data analysis platform, and through deep mining and intelligent analysis of the data collected by the inspection robot, identify potential operating risks, predict equipment life, and provide maintenance recommendations.

[0021] Preferably, the data analysis module can automatically receive and process large amounts of data collected by the inspection robot. Through real-time data analysis, the system can promptly detect equipment abnormalities, improve the response speed and processing efficiency of inspections, and use image recognition and infrared temperature measurement to perform intelligent analysis of equipment status. It can accurately identify equipment defects and potential failures, and issue early warning signals.

[0022] Preferably, the power supply and energy management module includes multiple battery packs, solar charging panels and wireless charging panels. The power supply and energy management module is used to provide a stable and reliable power supply for the inspection robot, optimize energy consumption through the energy management system, extend the robot's working time, and ensure the continuity and efficiency of the inspection task.

[0023] A substation robot inspection method comprises the following steps:

[0024] S11: The technician sets the inspection route and inspection tasks for the inspection robot in the control system, including the inspection time interval, inspection points and inspection contents;

[0025] S12: The inspection robot automatically starts from the charging point or designated location and starts inspection according to the set time and task;

[0026] S13: The robot uses laser guidance, visual recognition and other technologies to walk along the set route and collect data at each monitoring point;

[0027] S14: The robot will use infrared thermal imagers and other equipment to measure the temperature of the equipment to detect abnormal temperature of the equipment;

[0028] S15: The robot processes and analyzes the collected data in real time and feeds the results back to the monitoring center. If an abnormal situation is found, the robot will send an alarm signal according to the preset alarm mechanism to alert the operator;

[0029] S16: After the inspection task is completed, the robot will automatically return to the charging point to charge and prepare for the next inspection.

[0030] Preferably, when the substation inspection robot is remotely controlled, the following method is included:

[0031] S21: The technician establishes a connection with the inspection robot through a remote control device or a control system to achieve remote control of the robot;

[0032] S22: The technician observes the working status and surrounding environment of the robot in real time through the monitoring system, and uses the remote control device to navigate the robot to the designated inspection point;

[0033] S23: Under the control of technicians, the robot performs inspection tasks and can adjust the inspection route and inspection content according to actual conditions to meet specific inspection needs;

[0034] S24: The robot transmits the collected data to the technician in real time, and the technician processes and analyzes the data and makes corresponding processing decisions based on the analysis results;

[0035] S25: After the inspection task is completed, the technician can remotely control the robot to return to the charging point or designated location to end the inspection.

[0036] Beneficial effects of the present invention:

[0037] 1. Compared with the traditional substation robot inspection system, the general data processing is relatively simple, mainly focusing on the collection of inspection data and basic recording functions, and the fault prediction and diagnosis capabilities are relatively weak. It mainly relies on the experience and judgment of the inspection personnel, and may not be able to detect potential faults in time, resulting in untimely fault handling. The substation robot inspection system can provide detailed fault location information and provide accurate fault handling guidance for operation and maintenance personnel by setting up a data analysis module. Through intelligent analysis, it can improve the accuracy and reliability of inspection results and reduce false alarm and missed alarm rates;

[0038] 2. The data analysis module can automatically receive and process a large amount of data collected by the inspection robot. Through real-time data analysis, the system can promptly detect equipment anomalies, improve the inspection response speed and processing efficiency, and use image recognition and infrared temperature measurement to conduct intelligent analysis of equipment status, accurately identify equipment defects and potential failures, and issue early warning signals;

[0039] 3. The autonomous navigation module enables the inspection robot to plan the inspection route autonomously without human intervention, thereby significantly improving the inspection efficiency. The robot can automatically select the optimal path for inspection based on the preset inspection tasks or the real-time detected equipment status. At the same time, there are dangerous factors such as high voltage and high temperature in the substation. The inspection robot replaces manual inspection to enter these dangerous areas for inspection, which greatly reduces the safety risks faced by inspection personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 What is shown is a schematic diagram of the workflow of a substation robot inspection method of the present invention;

[0041] Figure 2 What is shown is a schematic diagram of the remote control workflow of a substation robot inspection method of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] See also Figure 1-2 The present invention provides an embodiment: a substation robot inspection system, comprising:

[0044] Data acquisition module: used for real-time acquisition of multiple data inside the substation;

[0045] Data transmission module: used to transmit the data collected by the data acquisition module;

[0046] Data preprocessing module: used to preprocess the data transmitted by the data transmission module;

[0047] Autonomous navigation module: used to plan the robot inspection route;

[0048] Infrared thermal imaging module: used to capture the operation status of substation equipment;

[0049] Data analysis module: used for real-time analysis of substation internal data transmitted by each module;

[0050] Power supply and energy management module: used to provide stable power supply for the robot.

[0051] Preferably, the data acquisition module includes a high-definition camera, a sound collector and a gas monitor. The high-definition camera is used to capture images and videos of equipment inside the substation, the sound collector is used to capture sound signals inside the substation, and the gas monitor is used to monitor the air quality inside the substation in real time, detect leaks of harmful gases, and prevent safety accidents caused by gas leaks.

[0052] Preferably, the data transmission module includes a 3G information transmission module, a 4G signal transmission module, a Bluetooth transmission module and a GPS signal module. The data transmission module makes an intelligent judgment on the signal strength, uses the 3G information transmission module, the 4G signal transmission module, the Bluetooth transmission module and the GPS signal module to establish a stable signal transmission chain, and transmits the data collected by the data acquisition module to the data preprocessing module.

[0053] Preferably, the data preprocessing module is used to preprocess and analyze the data transmitted by the data transmission module, including steps such as denoising, contrast enhancement, edge detection, etc. Through image processing technology, key features in the image data can be extracted.

[0054] Preferably, the autonomous navigation module is responsible for providing the inspection robot with accurate positioning and path planning capabilities. By integrating GPS, inertial navigation system, lidar, ultrasonic sensor or visual recognition technology, the robot can autonomously navigate in the complex environment of the substation, avoid obstacles, and conduct inspections according to preset or real-time optimized routes.

[0055] Preferably, the autonomous navigation module enables the inspection robot to independently plan the inspection route without human intervention, thereby significantly improving the inspection efficiency. The robot can automatically select the optimal path for inspection based on the preset inspection tasks or the real-time detected equipment status. At the same time, there are dangerous factors such as high voltage and high temperature in the substation. The inspection robot replaces humans to enter these dangerous areas for inspection, which greatly reduces the safety risks faced by inspection personnel.

[0056] Preferably, the infrared thermal imaging module is used to capture the temperature distribution image of the substation equipment through an infrared thermal imager for non-contact temperature measurement. By analyzing the temperature data, overheating areas of the equipment can be discovered, potential failures or thermal stress problems can be warned, and a basis for preventive maintenance can be provided.

[0057] Preferably, the data analysis module is used to upload the received sensor data of each module to the built-in big data analysis platform, and through deep mining and intelligent analysis of the data collected by the inspection robot, identify potential operating risks, predict equipment life, and provide maintenance recommendations.

[0058] Preferably, the data analysis module can automatically receive and process large amounts of data collected by the inspection robot. Through real-time data analysis, the system can promptly detect equipment abnormalities, improve the response speed and processing efficiency of inspections, and use image recognition and infrared temperature measurement to perform intelligent analysis of equipment status. It can accurately identify equipment defects and potential failures, and issue early warning signals.

[0059] Preferably, the power supply and energy management module includes multiple battery packs, solar charging panels and wireless charging panels. The power supply and energy management module is used to provide a stable and reliable power supply for the inspection robot, optimize energy consumption through the energy management system, extend the robot's working time, and ensure the continuity and efficiency of the inspection task.

[0060] A substation robot inspection method comprises the following steps:

[0061] S11: The technician sets the inspection route and inspection tasks for the inspection robot in the control system, including the inspection time interval, inspection points and inspection contents;

[0062] S12: The inspection robot automatically starts from the charging point or designated location and starts inspection according to the set time and task;

[0063] S13: The robot uses laser guidance, visual recognition and other technologies to walk along the set route and collect data at each monitoring point;

[0064] S14: The robot will use infrared thermal imagers and other equipment to measure the temperature of the equipment to detect abnormal temperature of the equipment;

[0065] S15: The robot processes and analyzes the collected data in real time and feeds the results back to the monitoring center. If an abnormal situation is found, the robot will send an alarm signal according to the preset alarm mechanism to alert the operator;

[0066] S16: After the inspection task is completed, the robot will automatically return to the charging point to charge and prepare for the next inspection.

[0067] Preferably, when the substation inspection robot is remotely controlled, the following method is included:

[0068] S21: The technician establishes a connection with the inspection robot through a remote control device or a control system to achieve remote control of the robot;

[0069] S22: The technician observes the working status and surrounding environment of the robot in real time through the monitoring system, and uses the remote control device to navigate the robot to the designated inspection point;

[0070] S23: Under the control of technicians, the robot performs inspection tasks and can adjust the inspection route and inspection content according to actual conditions to meet specific inspection needs;

[0071] S24: The robot transmits the collected data to the technician in real time, and the technician processes and analyzes the data and makes corresponding processing decisions based on the analysis results;

[0072] S25: After the inspection task is completed, the technician can remotely control the robot to return to the charging point or designated location to end the inspection.

[0073] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A substation robot inspection system; characterized in that: Included are: Data acquisition module: used for real-time acquisition of multiple data inside the substation; Data transmission module: used to transmit the data collected by the data acquisition module; Data preprocessing module: used to preprocess the data transmitted by the data transmission module; Autonomous navigation module: used to plan the robot inspection route; Infrared thermal imaging module: used to capture the operation status of substation equipment; Data analysis module: used for real-time analysis of substation internal data transmitted by each module; Power supply and energy management module: used to provide stable power supply for the robot.

2. A substation robot inspection system according to claim 1, characterized in that: The data acquisition module includes a high-definition camera, a sound collector and a gas monitor. The high-definition camera is used to capture images and videos of equipment inside the substation. The sound collector is used to capture sound signals inside the substation. The gas monitor is used to monitor the air quality inside the substation in real time, detect leaks of harmful gases, and prevent safety accidents caused by gas leaks.

3. A substation robot inspection system according to claim 1, characterized in that: The data transmission module includes a 3G information transmission module, a 4G signal transmission module, a Bluetooth transmission module and a GPS signal module. The data transmission module makes an intelligent judgment on the signal strength, uses the 3G information transmission module, the 4G signal transmission module, the Bluetooth transmission module and the GPS signal module to establish a stable signal transmission chain, and transmits the data collected by the data acquisition module to the data preprocessing module.

4. A substation robot inspection system according to claim 1, characterized in that: The data preprocessing module is used to preprocess and analyze the data transmitted by the data transmission module, including steps such as denoising, contrast enhancement, and edge detection. Through image processing technology, key features in the image data can be extracted.

5. A substation robot inspection system according to claim 1, characterized in that: The autonomous navigation module is responsible for providing the inspection robot with accurate positioning and path planning capabilities. By integrating GPS, inertial navigation system, lidar, ultrasonic sensor or visual recognition technology, the robot can autonomously navigate in the complex environment of the substation, avoid obstacles, and conduct inspections according to preset or real-time optimized routes.

6. A substation robot inspection system according to claim 1, characterized in that: The infrared thermal imaging module is used to capture the temperature distribution image of substation equipment through an infrared thermal imager for non-contact temperature measurement. By analyzing the temperature data, overheating areas of the equipment can be discovered, potential failures or thermal stress problems can be warned, and a basis for preventive maintenance can be provided.

7. A substation robot inspection system according to claim 1, characterized in that: The data analysis module is used to upload the received sensor data of each module to the built-in big data analysis platform. By deeply mining and intelligently analyzing the data collected by the inspection robot, it can identify potential operating risks, predict equipment life, and provide maintenance recommendations.

8. A substation robot inspection system according to claim 1, characterized in that: The power and energy management module includes multiple battery packs, solar charging panels and wireless charging panels. The power and energy management module is used to provide a stable and reliable power supply for the inspection robot. Through the energy management system, it optimizes energy consumption, extends the robot's working time, and ensures the continuity and efficiency of the inspection task.

9. A substation robot inspection method, characterized in that: The following steps are included: S11: The technician sets the inspection route and inspection tasks for the inspection robot in the control system, including the inspection time interval, inspection points and inspection contents; S12: The inspection robot automatically starts from the charging point or designated location and starts inspection according to the set time and task; S13: The robot uses laser guidance, visual recognition and other technologies to walk along the set route and collect data at each monitoring point; S14: The robot will use infrared thermal imagers and other equipment to measure the temperature of the equipment to detect abnormal temperature of the equipment; S15: The robot processes and analyzes the collected data in real time and feeds the results back to the monitoring center. If an abnormal situation is found, the robot will send an alarm signal according to the preset alarm mechanism to alert the operator; S16: After the inspection task is completed, the robot will automatically return to the charging point to charge and prepare for the next inspection.

10. A substation robot inspection method according to claim 9, characterized in that: When remotely controlling the substation inspection robot, the following methods are included: S21: The technician establishes a connection with the inspection robot through a remote control device or a control system to achieve remote control of the robot; S22: The technician observes the working status and surrounding environment of the robot in real time through the monitoring system, and uses the remote control device to navigate the robot to the designated inspection point; S23: Under the control of technicians, the robot performs inspection tasks and can adjust the inspection route and inspection content according to actual conditions to meet specific inspection needs; S24: The robot transmits the collected data to the technician in real time, and the technician processes and analyzes the data and makes corresponding processing decisions based on the analysis results; S25: After the inspection task is completed, the technician can remotely control the robot to return to the charging point or designated location to end the inspection.

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