Transformer substation inspection processing method based on robot

Abstract

The invention provides a transformer substation inspection processing method based on a robot, and belongs to the technical field of robots, and the method specifically comprises the steps: determining the inspection period of the manual inspection of a transformer substation through the fault influence ranges of different identification deviation power equipment, and carrying out the inspection of the transformer substation in the inspection period of the manual inspection of the transformer substation; on the basis of analysis results of the matched inspection images of the different power devices in a preset time period, when it is determined that the inspection processing reliability of the transformer substation does not meet requirements, weather data in the preset time period and abnormal operation data of the different power devices under the weather data are obtained, and the inspection processing types of the different electrical equipment are determined by combining the identified deviation electrical equipment, and the manual inspection processing of the electrical equipment in the transformer substation is performed according to the inspection processing types, so that the reliability of the inspection processing of the transformer substation is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a robot-based substation inspection and processing method. Background Art

[0002] In the existing technical solutions, when conducting inspections of substations, the inspections of electrical equipment in substations are often carried out in the form of manual inspections, which makes the inspection processing difficulty and reliability unable to meet the requirements. In the invention patent application CN202410668126.X "A Substation Inspection Robot and Its Operation Method", the 360° panoramic image data obtained by the inspection robot is effectively processed to improve the inspection arrangement accuracy of the model, which not only reduces the cost of manual inspections, but also assists operation and maintenance personnel in planning inspection routes. However, there are the following technical problems: When conducting inspections of substations, due to differences in the equipment parameters of the inspection robots, there may be certain blind spots or unreliable inspection points. At the same time, external environmental factors will also have a certain degree of impact on the robot's inspection images. Therefore, if differentiated manual inspection strategies cannot be generated based on the inspection data of the inspection robots, the reliability of the substation's inspections cannot be guaranteed.

[0003] In response to the above technical problems, the present application specifically provides a robot-based substation inspection and processing method. Summary of the invention

[0004] To achieve the purpose of the present invention, the present invention adopts the following technical solutions: According to one aspect of the present invention, a robot-based substation inspection and processing method is provided.

[0005] A robot-based substation inspection and processing method specifically includes: S1 determines the false detection data and missed detection data of different power equipment in the substation by the robot based on the historical inspection data of the robot in the substation, and determines the identification deviation power equipment in the substation in combination with the historical inspection images of different power equipment; S2 determines the fault impact range of different identification deviation power equipment according to the type of identification deviation power equipment in the substation, and determines the inspection cycle of manual inspection of the substation by using the fault impact range of different identification deviation power equipment; S3, during the inspection cycle of the manual inspection of the substation, when it is determined that the inspection processing reliability of the substation does not meet the requirements based on the analysis results of the matching inspection images of different power equipment within a preset time period, proceed to the next step; S4 obtains weather data within a preset time period and abnormal operation data of different power equipment under the weather data, and determines the inspection processing type of different power equipment in combination with the identification of deviation power equipment, and performs manual inspection processing of the power equipment in the substation according to the inspection processing type.

[0006] The beneficial effects of the present invention are: Based on the analysis results of the matching inspection images of different power equipment within a preset time period, it is determined whether the inspection processing reliability of the substation meets the requirements, thereby avoiding the technical problem of insufficient reliability of the substation inspection processing caused by the use of a fixed inspection cycle. The analysis results of the matching inspection images of the power equipment are used to screen out power equipment in the substation with deviations in the image clarity of the matching inspection images, thereby realizing the determination of differentiated manual inspection processing strategies based on differences in the inspection processing reliability of the substation.

[0007] The weather data within a preset time period and the abnormal operation data of different power equipment under the weather data are used to determine the inspection and processing types of different power equipment. The abnormal probability of different power equipment within the preset time period is fully considered, and the inspection and processing type is determined based on the abnormal probability, which ensures the reliability of the inspection and processing, and also ensures the reliability of the identification and processing of deviation power equipment.

[0008] A further technical solution is that the historical inspection data includes historical inspection images and fault inspection results corresponding to different power equipment.

[0009] A further technical solution is that the false detection data includes the number of false detections of the electric power equipment and the false detection processing time for different false detection numbers.

[0010] A further technical solution is that the missed detection data includes the number of missed detections of the electric power equipment and the missed detection processing time for different missed detection numbers.

[0011] A further technical solution is that the method for determining the identification deviation power equipment in the substation is: Determine the percentage of false detections and missed detections of the power equipment in the substation based on the false detection data and missed detection data of the power equipment by the robot; Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the recognition deviation coefficient based on the proportion of the image size in the historical inspection images; The comprehensive identification deviation coefficient of the electric power equipment is determined according to the false detection ratio, the missed detection ratio and the identification deviation coefficient, and the comprehensive identification deviation coefficient is used to determine whether the electric power equipment is an identification deviation electric power equipment.

[0012] A further technical solution is that the inspection processing types of the power equipment include attention inspection processing types, key inspection processing types and general inspection processing types.

[0013] A further technical solution is to perform manual inspection of the power equipment in the substation according to the inspection processing type, specifically including: Different inspection and processing strategies for electric power equipment are determined according to the inspection and processing types of electric power equipment, and manual inspection and processing of electric power equipment in the substation is performed according to the different inspection and processing strategies for electric power equipment.

[0014] Other features and advantages will be described in the following description, and partly become apparent from the description, or understood by practicing the invention. The purpose and other advantages of the invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, preferred embodiments are specifically described below in detail with reference to the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0017] Figure 1 It is a flow chart of a robot-based substation inspection processing method; Figure 2 is a flow chart of a method for identifying a deviation power device in a substation; Figure 3 It is a flow chart of a method for determining an inspection cycle of manual inspection of a substation; Figure 4 It is a flow chart to determine that the inspection processing reliability of the substation does not meet the requirements. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0019] To solve the above problems, according to one aspect of the present invention, Figure 1According to one aspect of the present invention, a robot-based substation inspection processing method is provided, which specifically includes: S1 determines the false detection data and missed detection data of different power equipment in the substation by the robot based on the historical inspection data of the robot in the substation, and determines the identification deviation power equipment in the substation in combination with the historical inspection images of different power equipment; Furthermore, the historical inspection data includes historical inspection images and fault inspection results corresponding to different power equipment.

[0020] Optionally, the false detection data includes the number of false detections of the power equipment and the false detection processing time for different false detection numbers.

[0021] Specifically, the missed detection data includes the number of missed detections of the electric power equipment and the missed detection processing time for different missed detection numbers.

[0022] It should be noted that if Figure 2 As shown, the method for determining the identification deviation power equipment in the substation is: Determine the percentage of false detections and missed detections of the power equipment in the substation based on the false detection data and missed detection data of the power equipment by the robot; Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the recognition deviation coefficient based on the proportion of the image size in the historical inspection images; The comprehensive identification deviation coefficient of the electric power equipment is determined according to the false detection ratio, the missed detection ratio and the identification deviation coefficient, and the comprehensive identification deviation coefficient is used to determine whether the electric power equipment is an identification deviation electric power equipment.

[0023] Further, the comprehensive identification deviation coefficient of the electric power equipment is determined according to the false detection frequency ratio, the missed detection frequency ratio and the identification deviation coefficient, specifically including: The comprehensive identification deviation coefficient of the electric power equipment is determined by the product of the false detection frequency ratio and the identification deviation coefficient and the sum of the missed detection frequency ratio and the identification deviation coefficient.

[0024] Optionally, when the comprehensive identification deviation coefficient of the power equipment is greater than a preset deviation coefficient threshold, the power equipment is determined to be an identification deviation power equipment.

[0025] In another embodiment, the method for determining the identified deviation power equipment in the substation is: S11 determines the false detection and missed detection ratios of the power equipment in the substation by the robot, and determines the recognition abnormality coefficient of the power equipment in combination with the false detection and missed detection ratios of the power equipment; S12 determines the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determines the recognition deviation coefficient based on the proportion of the image size in the historical inspection images; S13 determines a comprehensive identification deviation coefficient of the electric power equipment according to the identification abnormality coefficient and the identification deviation coefficient, and uses the comprehensive identification deviation coefficient to determine whether the electric power equipment is an identification deviation electric power equipment.

[0026] S2 determines the fault impact range of different identification deviation power equipment according to the type of identification deviation power equipment in the substation, and determines the inspection cycle of manual inspection of the substation by using the fault impact range of different identification deviation power equipment; Further, the fault impact range of the identified deviation power equipment is determined according to the power supply range affected when the identified deviation power equipment fails.

[0027] Specifically, Figure 3 As shown, the method for determining the inspection cycle of the manual inspection of the substation is: Determine the power users affected by the failure of the power equipment with different identification deviations according to the failure impact range of the power equipment with different identification deviations; Determine the total number of power users affected by the fault according to the power users affected by the fault of the power equipment with different identification deviations; An inspection cycle of manual inspection of the substation is determined based on the total number of the power users.

[0028] Furthermore, the inspection cycle of the manual inspection of the substation is determined according to a preset inspection cycle corresponding to the total number of the power users.

[0029] It should also be noted that the method for determining the inspection cycle of the manual inspection of the substation is: S21 determines power users affected by the faults of different identification deviation power devices according to the fault impact ranges of different identification deviation power devices, and regards them as power users affected by the faults; Optionally, the above step S21 includes the following contents: S211 determines the power users affected by the fault of different identification deviation power devices according to the fault impact range of different identification deviation power devices, and uses them as the power users affected by the fault. When the total number of power users affected by the fault is greater than the preset user number threshold, the preset inspection cycle is used to determine the inspection cycle of the manual inspection of the substation. When the total number of power users affected by the fault is not greater than the preset user number threshold, the process proceeds to step S212. S212: When it is determined that there is a power device whose fault affects power users greater than the preset identification deviation of power users according to different identification deviations of power devices, the process goes to step S213; when there is no power device whose fault affects power users greater than the preset identification deviation of power users, the process goes to step S22; S213 uses the identified deviation power equipment whose fault affects more power users than the preset fault impact users as the screening deviation power equipment. When the number of the screened deviation power equipment does not meet the requirement, the preset inspection cycle is used to determine the inspection cycle of the manual inspection of the substation. When the number of the screened deviation power equipment meets the requirement, proceed to step S22.

[0030] S22 determines the abnormal weight coefficients of different fault-affected power users according to the number of identification deviation power devices corresponding to different fault-affected power users; Optionally, the above step S22 includes the following contents: S221 determines the abnormal weight coefficients of different fault-affected power users according to the number of identification deviation power devices corresponding to different fault-affected power users, and when there are fault-affected power users whose abnormal weight coefficients do not meet the requirements, proceeds to step S222; when there are no fault-affected power users whose abnormal weight coefficients do not meet the requirements, proceeds to step S23; S222: The fault-affected power users whose abnormal weight coefficients do not meet the requirements are regarded as abnormal power users. When the number of the abnormal power users does not meet the requirements, the inspection cycle of the manual inspection of the substation is determined by using the preset inspection cycle. When the number of the abnormal power users meets the requirements, the process proceeds to step S223. S223 determines the sum of the abnormal weight coefficients of different abnormal power users based on the abnormal weight coefficients of the abnormal power users. When the sum of the abnormal weight coefficients of the abnormal power users does not meet the requirements, the preset inspection cycle is used to determine the inspection cycle of the manual inspection of the substation. When the sum of the abnormal weight coefficients of the abnormal power users meets the requirements, proceed to step S23.

[0031] S23 determines the abnormal weight coefficient sum based on the abnormal weight coefficients of different faults affecting power users, and uses the abnormal weight coefficient sum to determine the inspection cycle of manual inspection of the substation.

[0032] S3, during the inspection cycle of the manual inspection of the substation, when it is determined that the inspection processing reliability of the substation does not meet the requirements based on the analysis results of the matching inspection images of different power equipment within a preset time period, proceed to the next step; Further, such as Figure 4 As shown, it is determined that the inspection processing reliability of the substation does not meet the requirements, specifically including: Determine the image clarity of the matching inspection images of different power equipment within the preset time period based on the matching inspection images of different power equipment within the preset time period; According to the image clarity of the inspection images matched by different power equipment in a preset time period, determine the power equipment whose number of inspection images matched by image clarity within the preset clarity range accounts for a preset proportion interval, and use it as the inspection deviation power equipment; Whether the inspection processing reliability of the substation meets the requirements is determined according to the number of the inspection deviation power equipment.

[0033] Optionally, the matching inspection image is an inspection image in which the electric power equipment exists.

[0034] Specifically, when the number of the inspection deviation power equipment does not meet the requirement, it is determined that the inspection processing reliability of the substation does not meet the requirement.

[0035] Optionally, determining that the inspection processing reliability of the substation does not meet the requirement specifically includes: Using the matching inspection images of different electric power equipment within a preset time period, determine the image clarity of the matching inspection images of different electric power equipment within the preset time period, and use the matching inspection images whose image clarity is within a preset clarity range as clarity deviation images; When the proportion of the definition deviation images in the matching inspection images is greater than the proportion of the preset images, it is determined that the inspection processing reliability of the substation does not meet the requirements; When the proportion of the definition deviation images in the matching inspection images is not greater than the proportion of the preset images: Determine a basic deviation coefficient based on the proportion of the definition deviation images in the matching inspection images and the image clarity of different definition deviation images; when the basic deviation coefficient does not meet the requirement, determine that the inspection processing reliability of the substation does not meet the requirement; When the basic deviation coefficient meets the requirements: Obtaining the number ratio of clarity deviation images of different power equipment, and using the number ratio to determine that there is no inspection deviation power equipment in the power equipment, it is determined that the inspection processing reliability of the substation meets the requirements; When determining that there is inspection deviation power equipment in the power equipment by using the quantity ratio: When the number of the inspection deviation power equipment does not meet the requirement, it is determined that the inspection processing reliability of the substation does not meet the requirement; When the number of inspection deviation power equipment meets the requirements: Determine the equipment identification deviation coefficients of different electric equipment based on the proportion of the number of definition deviation images of different electric equipment and the image clarity of different matching inspection images. When the number of electric equipment whose equipment identification deviation coefficients do not meet the requirements is greater than the preset number of equipment, it is determined that the inspection processing reliability of the substation does not meet the requirements. When the number of power equipment that does not meet the requirements of the equipment identification deviation coefficient is not greater than the preset number of equipment, The equipment identification reliability coefficient is determined based on the equipment identification deviation coefficient of different power equipment, and the equipment identification reliability coefficient is used to determine whether the inspection processing reliability of the substation meets the requirements.

[0036] Further, when the equipment identification reliability coefficient is less than a preset reliability coefficient threshold, it is determined that the inspection processing reliability of the substation does not meet the requirements.

[0037] It should also be noted that when the inspection processing reliability of the substation meets the requirements, there is no need to perform manual inspection processing of the power equipment in the substation until the inspection processing reliability of the substation does not meet the requirements or the inspection cycle of manual inspection of the substation is reached.

[0038] S4 obtains weather data within a preset time period and abnormal operation data of different power equipment under the weather data, and determines the inspection processing type of different power equipment in combination with the identification of deviation power equipment, and performs manual inspection processing of the power equipment in the substation according to the inspection processing type.

[0039] Specifically, the method for determining the inspection processing type of the power equipment is: When the electric power equipment is an identification deviation electric power equipment, determining the inspection processing type of the electric power equipment as a concerned inspection processing type; When the electric equipment does not belong to the identification deviation electric equipment: Based on the weather data in the preset time period, determine the time proportions of different weather types; According to the abnormal operation data under different weather types, determine the number of failures of different power equipment under different weather types; The number of corrections of the electric equipment is determined by the product of the proportion of the divided time under different weather types and the number of faults under different weather types, and the inspection processing type of the electric equipment is determined according to the number of corrections.

[0040] Furthermore, the inspection processing types of the power equipment include attention inspection processing types, key inspection processing types and general inspection processing types.

[0041] It can be understood that the inspection processing type of the electric power equipment is determined according to the preset inspection processing type corresponding to the correction number.

[0042] Specifically, the weather types include rain, snow and haze.

[0043] It should also be noted that the manual inspection process of the power equipment in the substation is performed according to the inspection process type, specifically including: Different inspection and processing strategies for electric power equipment are determined according to the inspection and processing types of electric power equipment, and manual inspection and processing of electric power equipment in the substation is performed according to the different inspection and processing strategies for electric power equipment.

[0044] Optionally, the above step S11 includes the following contents: S111 determines the number of false detections and missed detections of the power equipment in the substation by the robot, and when any one of the number of false detections and missed detections of the power equipment does not meet the requirements, the power equipment is determined to be an identification deviation power equipment, and when both the number of false detections and missed detections of the power equipment meet the requirements, proceed to step S112; S112 determines the false detection abnormality coefficient of the power equipment based on the false detection frequency ratio and the false detection frequency of the power equipment. When the false detection abnormality coefficient of the power equipment does not meet the requirements, the power equipment is determined to be an identification deviation power equipment. When the false detection abnormality coefficient of the power equipment meets the requirements, the process proceeds to step S113. S113 determines the missed detection abnormality coefficient of the power equipment based on the missed detection times ratio and the missed detection times of the power equipment. When the missed detection abnormality coefficient of the power equipment does not meet the requirements, the power equipment is determined to be an identification deviation power equipment. When the missed detection abnormality coefficient of the power equipment meets the requirements, the process proceeds to step S114. S114 determines the identification abnormality coefficient of the electric equipment through the missed detection abnormality coefficient and the false detection abnormality coefficient of the electric equipment. When the identification abnormality coefficient of the electric equipment does not meet the requirements, the electric equipment is determined to be an identification deviation electric equipment. When the identification abnormality coefficient of the electric equipment meets the requirements, it goes to step S12.

[0045] Optionally, the above step S12 includes the following contents: S121 determines the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, determines the recognition deviation coefficient based on the size ratio of the image size in the historical inspection images, and when the recognition deviation coefficient does not meet the requirements, determines that the power equipment is a recognition deviation power equipment, and when the recognition deviation coefficient of the power equipment meets the requirements, proceeds to step S122; S122: When the identification deviation coefficient of the electric device is within the preset deviation coefficient interval, the process proceeds to step S123; when the identification deviation coefficient of the electric device is not within the preset deviation coefficient interval, the process proceeds to step S13; S123: When the identification abnormality coefficient of the electric power equipment is within the preset abnormality coefficient interval, the electric power equipment is determined to be an identification deviation electric power equipment; when the identification abnormality coefficient of the electric power equipment is not within the preset abnormality coefficient interval, the process proceeds to step S13.

[0046] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0047] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0048] The above description is only one or more embodiments of this specification and is not intended to limit this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of this specification.

Claims

1. A robot-based substation inspection and processing method, characterized in that: Specifically include: Determine the false detection data and missed detection data of different power equipment in the substation by using the historical inspection data of the robot in the substation, and determine the identification deviation power equipment in the substation in combination with the historical inspection images of different power equipment; Determine the fault impact range of different identification deviation power equipment according to the type of identification deviation power equipment in the substation, and determine the inspection cycle of manual inspection of the substation by using the fault impact range of different identification deviation power equipment; In the inspection cycle of the manual inspection of the substation, when it is determined that the inspection processing reliability of the substation does not meet the requirements based on the analysis results of the matching inspection images of different power equipment within a preset time period, proceed to the next step; Acquire weather data within a preset time period and abnormal operation data of different power equipment under the weather data, determine the inspection processing type of different power equipment in combination with the identification of deviation power equipment, and perform manual inspection processing of the power equipment in the substation according to the inspection processing type.

2. A robot-based substation inspection and processing method as claimed in claim 1, characterized in that: The historical inspection data includes historical inspection images and fault inspection results corresponding to different power equipment.

3. A robot-based substation inspection and processing method as claimed in claim 1, characterized in that: The false detection data includes the false detection times of the electric power equipment and the false detection processing time lengths for different false detection times.

4. A robot-based substation inspection and processing method as claimed in claim 1, characterized in that: The method for determining the identification deviation power equipment in the substation is: Determine the percentage of false detections and missed detections of the power equipment in the substation based on the false detection data and missed detection data of the power equipment by the robot; Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the recognition deviation coefficient based on the proportion of the image size in the historical inspection images; The comprehensive identification deviation coefficient of the electric power equipment is determined according to the false detection ratio, the missed detection ratio and the identification deviation coefficient, and the comprehensive identification deviation coefficient is used to determine whether the electric power equipment is an identification deviation electric power equipment.

5. A robot-based substation inspection and processing method as claimed in claim 4, characterized in that: Determining the comprehensive identification deviation coefficient of the electric power equipment according to the false detection frequency ratio, the missed detection frequency ratio and the identification deviation coefficient specifically includes: The comprehensive identification deviation coefficient of the electric power equipment is determined by the product of the false detection frequency ratio and the identification deviation coefficient and the sum of the missed detection frequency ratio and the identification deviation coefficient.

6. A robot-based substation inspection and processing method as claimed in claim 1, characterized in that: The fault impact range of the identified deviation power equipment is determined according to the power supply range affected when the identified deviation power equipment fails.

7. A robot-based substation inspection and processing method as claimed in claim 1, characterized in that: The method for determining the inspection processing type of the power equipment is: When the electric power equipment is an identification deviation electric power equipment, determining the inspection processing type of the electric power equipment as a concerned inspection processing type; When the electric equipment does not belong to the identification deviation electric equipment: Based on the weather data in the preset time period, determine the time proportions of different weather types; According to the abnormal operation data under different weather types, determine the number of failures of different power equipment under different weather types; The number of corrections of the electric equipment is determined by the product of the proportion of the divided time under different weather types and the number of faults under different weather types, and the inspection processing type of the electric equipment is determined according to the number of corrections.

8. A robot-based substation inspection and processing method as claimed in claim 7, characterized in that: The inspection processing types of the electric power equipment include a concerned inspection processing type, a key inspection processing type and a general inspection processing type.

9. A robot-based substation inspection and processing method as claimed in claim 7, characterized in that: The inspection processing type of the electric power equipment is determined according to the preset inspection processing type corresponding to the correction number.

10. A robot-based substation inspection and processing method as claimed in claim 7, characterized in that: The weather types include rain, snow and haze.

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