Power distribution station intelligent monitoring system and device thereof

Abstract

The invention relates to a power distribution station intelligent monitoring system and device. The system comprises an air monitoring module, an air-ground cooperation module and a wireless monitoring network platform. The air-ground collaboration module is used for acquiring ground data and air data, carrying out air-ground collaboration sensing communication and automatically controlling the unmanned aerial vehicle, and the ground data and the air data are mixed to establish a ladder data combination; the air monitoring module is used for controlling the unmanned aerial vehicle to monitor the power distribution station according to the control of the air-ground cooperation module; and the wireless monitoring network platform is used for carrying out uploading communication and monitoring on data carried by the unmanned aerial vehicle for monitoring the power distribution station, and controlling the power distribution station. According to the invention, an air-ground cooperative sensing communication mode is adopted, and fixed-point flight and autonomous obstacle avoidance are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power distribution station monitoring, and in particular to an intelligent monitoring system and device for a power distribution station. Background Art

[0002] With the development of power grid, the number of distribution stations in various places is also increasing. Regardless of the continuous changes in various complex environments such as urban areas, suburbs, urban areas, and mountainous areas, higher requirements are placed on the management of the areas around distribution stations. It is imperative to establish a more rigorous, precise, intelligent, sustainable, and robust monitoring environment and unmanned inspection environment to scientifically and effectively improve the management level of distribution stations.

[0003] Faced with the problems of difficult data monitoring, omissions in management data, complex engineering construction monitoring technology, and high construction costs, the present invention provides an intelligent monitoring system and device for a distribution station. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent monitoring system and device for a distribution station, to realize AI inspection, AI intelligent tasks, AI cruise flight, and the use of sensor carrying technology, to improve the detection quality, to reduce cruise tasks in blind spot areas, and to realize intelligent and demand-based cruise tasks.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] An intelligent monitoring system for a power distribution station, comprising:

[0007] Aerial monitoring module, air-ground coordination module and wireless monitoring network platform;

[0008] The air-ground coordination module is used to obtain ground data and air data, and to perform air-ground coordinated sensor communication to automatically control the UAV, wherein the ground data and the air data are mixed to build a ladder data combination;

[0009] The aerial monitoring module is used to control the drone to monitor the power distribution station according to the control of the air-ground coordination module;

[0010] The wireless monitoring network platform is used to upload, communicate and monitor the data carried by the drone on the distribution station monitoring, and control the distribution station.

[0011] Optionally, the drone collects data from the distribution station through sensors, and the collected data includes: temperature, humidity, wind speed, rainfall, oxygen, carbon dioxide, hydrogen sulfide, ammonia, methane, and hydrogen.

[0012] Optionally, the air-ground collaboration module includes a wireless control unit, a visual recognition unit and a positioning unit;

[0013] The wireless control unit is used to synchronize the LORA wireless transceiver to complete the synchronization of sending and receiving instructions between the unmanned ground vehicle and the unmanned aerial vehicle, thereby realizing the control of the unmanned aerial vehicle;

[0014] The visual recognition unit is used for unmanned ground vehicles and unmanned aerial vehicles to identify unmanned ground vehicles and unmanned aerial vehicles through a machine vision recognition system, and to control the unmanned aerial vehicles, wherein the machine vision recognition system adopts Opencv algorithm, YOLO target detection and CNN algorithm to realize the recognition function;

[0015] The positioning unit is used for unmanned ground vehicles and unmanned aerial vehicles to realize the coordinate point proximity control algorithm through the positioning system and control the unmanned aerial vehicle.

[0016] Optionally, the drone also combines a machine vision recognition system and a temperature sensor to avoid obstacles.

[0017] Optionally, the wireless monitoring network platform includes: a gateway coordinator networking unit, an embedded processing unit;

[0018] The gateway coordinator networking unit is used to establish a data layer structure from Z2011, Z2012, Z2013, ... Z9099;

[0019] The embedded processing unit is used to modify the networking by adopting an embedded processing structure.

[0020] Optionally, the wireless monitoring network platform further includes a collaborative monitoring unit and a control unit;

[0021] The collaborative monitoring unit is used to mix the ground data and the air data to establish a step data combination;

[0022] The control unit is used for remote IO control and completes the open / closed state control of the multi-channel controller control switch.

[0023] Optionally, the control unit has a remote multi-loop control mode, which is compatible with 8-16 control loops of each gateway controller device.

[0024] Optionally, the system also includes a loop signal state feedback device for implementing a control loop test and a test mode display of the state, wherein the loop signal adopts a 16-channel signal encoding design method.

[0025] The present invention also provides an intelligent monitoring device for a power distribution station, including the intelligent monitoring system for the power distribution station.

[0026] The beneficial effects of the present invention are: through the system and its device, AI inspection, AI intelligent tasks, AI cruise flight, the use of sensor carrying technology, the improvement of detection quality, the reduction of cruise tasks in blind spot areas, the realization of intelligent and demand-based cruise tasks, the sensor has the function of combined linkage alarm, the important task of intelligent robots and sensors to remind management personnel is realized, the detection efficiency of vision and sensing around the distribution station is improved, and the completion of safety tasks is achieved.

[0027] Cruising and inspection break the traditional working mode of manual remote control flight, adopt the "air" and "ground" collaborative sensor communication method, and the technical embodiment of autonomous cruising flight missions, realize fixed-point flight, autonomous obstacle avoidance, and realize the important embodiment of aerial sensors and cruising missions, realize the multi-environment and multi-modal requirements of mountain distribution stations and urban distribution stations, realize follow-up control flight mode, and realize the mission flight direction of deep machine vision inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the communication topology of an air monitoring network according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a network communication topology according to an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of ground-air collaborative networking according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of a one-site, multiple-space collaborative networking according to an embodiment of the present invention;

[0033] Figure 5 The present invention is a schematic diagram of the structure of an intelligent monitoring system for a power distribution station according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Through intelligent sensing and air-ground collaborative sensing, we have an effective solution. Through the development and application of new technologies and the new generation of new technologies, we introduce artificial intelligence technology and use patrol robots in conjunction with sensor networking to achieve the use of intelligent technology in distribution stations. At the same time, we can achieve real-time operation of static sensors and dynamic patrol robots to cruise, inspect and survey complex areas. We can also use vision and sensing, micro-UAV inspections, and AI patrol drones in the construction of intelligent distribution station monitoring systems, which is convenient for monitoring different complex environments around power stations and the realization of safety assurance tasks.

[0037] The implementation of this system will increase the frequency of patrols, improve patrol effectiveness, increase patrol methods, effectively reduce accidents, reduce surrounding problems, and through the implementation of an intelligent monitoring system for distribution stations and its devices, effectively improve patrol methods, patrol sensor collection, patrol visual collection, reduce patrol costs, increase patrol areas, and improve surrounding patrol safety and patrol methods.

[0038] like Figure 5 As shown, this embodiment provides an intelligent monitoring system for a power distribution station, including:

[0039] Aerial monitoring module, air-ground coordination module and wireless monitoring network platform;

[0040] The air-ground coordination module is used to obtain ground data and air data, and conduct air-ground coordinated sensor communication to automatically control the UAV. The ground data and air data are mixed to build a ladder data combination.

[0041] The aerial monitoring module is used to control the drone to monitor the power distribution station according to the control of the air-ground coordination module;

[0042] The wireless monitoring network platform is used to upload, communicate and monitor the data carried by drones on distribution stations, and to control distribution stations.

[0043] Furthermore, the drone collects data from the distribution station through sensors, including temperature, humidity, wind speed, rainfall, oxygen, carbon dioxide, hydrogen sulfide, ammonia, methane, and hydrogen.

[0044] Furthermore, the air-ground collaboration module includes a wireless control unit, a visual recognition unit, and a positioning unit;

[0045] The wireless control unit is used to synchronize the sending and receiving instructions between the unmanned ground vehicle and the UAV by synchronizing the LORA wireless transceiver, thereby realizing the control of the UAV;

[0046] The visual recognition unit is used for unmanned ground vehicles and drones to identify unmanned ground vehicles and drones through a machine vision recognition system, and to control drones. The machine vision recognition system uses Opencv algorithm, YOLO target detection and CNN algorithm to realize the recognition function;

[0047] The positioning unit is used for unmanned ground vehicles and drones to control the drones through the positioning system to implement the coordinate point proximity control algorithm.

[0048] Furthermore, the drone also combines machine vision recognition systems and temperature sensors to avoid obstacles.

[0049] Further, the wireless monitoring network platform includes: a gateway coordinator networking unit, an embedded processing unit;

[0050] Gateway coordinator networking unit, used to establish the data layer structure from Z2011, Z2012, Z2013, ... Z9099;

[0051] The embedded processing unit is used to modify the networking by adopting the embedded processing structure.

[0052] Furthermore, the wireless monitoring network platform also includes a collaborative monitoring unit and a control unit;

[0053] A collaborative monitoring unit is used to mix ground data and air data to create a ladder data combination;

[0054] The control unit is used for remote IO control and completes the open / closed state control of the multi-channel controller control switch.

[0055] Furthermore, the control unit has a remote multi-loop control mode, which is compatible with 8-16 control loops of each gateway controller device.

[0056] Furthermore, the system also includes a loop signal state feedback device for implementing a control loop test and a test mode display of the state, wherein the loop signal adopts a 16-channel signal encoding design method.

[0057] Specifically, the system of this embodiment realizes local deployment, reserves radio frequency network with compatible interface, realizes networking control mode, builds wireless monitoring network platform, and has the functions of networking with multiple wireless signals, using LORA as communication segment, using wifi for data upload communication, using 4G or 5G for data upload communication, and uses drone device to carry sensors for aerial cruise flight, and the flight trajectory is used for cruise point coordinate positioning flight, and stays at the coordinate point for 1 minute to collect data, realizing multi-sensor collection, and after the data cruise is completed, the drone returns, and so on.

[0058] Realize the coordinated monitoring of UAV data and ground data, mix ground data and air data, and establish a ladder data combination from 1, 2, 3, 4, ... N.

[0059] Establish a gateway coordinator networking architecture and implement the data layer structure from Z2011, Z2012, Z2013, ... Z9099, each layer has 0-255 Client node data.

[0060] The sensor collection categories cover temperature, humidity, wind speed, rainfall, oxygen, carbon dioxide, hydrogen sulfide, ammonia, methane, and hydrogen. Different sensors are adapted in different scenarios. There is a fermentation area, and gas sensors such as methane are installed. The ventilation of the distribution station is scientifically controlled by real-time analysis of sensor measurement data. The temperature is set to 25°C and the humidity is 50%. If one of them exceeds the initial preset threshold, that is, exceeds the set value by 1.1 times, medium-speed ventilation is performed; if it exceeds the moderate preset threshold, that is, exceeds the set value by 1.2 times, high-speed ventilation is performed; if it exceeds the high preset threshold, that is, exceeds the set value by 1.3 times, full-speed and full-frequency ventilation is performed. The data can be processed in the cloud data management platform and the local management platform, gateway processing, node processing, the gateway has an independent judgment function, realizes local data upload, establishes effective control comparison, is lower than the set value, is higher than the set value, and has multiple execution action codes, from 000, 001, 010, 011, 100, 101, 110, 111 multiple control state codes, cloud data manual processing, cloud data algorithm automatic processing mode.

[0061] The data control objects cover the control of local fans, lights, and control modules, the data fan control of the power station monitoring room, ventilation management, lighting control, autonomous lighting control, power supply control, air conditioning control and other interfaces. The control method is on the cloud data management platform and the local management platform, and the switch, gateway processing, and node processing of the control objects can be performed. The gateway has an autonomous judgment function to realize local data upload and establish effective control comparison, lower than the set value, higher than the set value, and a variety of execution action codes, from 000, 001, 010, 011, 100, 101, 110, 111 multiple control state codes, cloud data manual processing, cloud data algorithm automatic processing mode, and is also compatible with mobile AGV and aerial drone control objects.

[0062] Establish a multi-dimensional data model to achieve ground data management, air data management, pipe network and underground data collection, covering soil, underground problems and other data for effective collection and feedback, establish a central control screen centered on data configuration, support HDMI output display splicing screen and TV output. Ground data includes: temperature, humidity, wind speed, light intensity, oxygen, carbon dioxide, air pressure parameters, air data includes: optical flow data, air airflow, air ultrasonic obstacles, air pressure parameters.

[0063] Adapt to different environments, such as rain, snow, dry weather and complex weather, adapt to complex environments, increase waterproof, rainproof, and rainfall related sensor integration. Through temperature, temperature, rainfall, light intensity, wind speed, visual feedback, detect different weather conditions, and use fixed monitoring algorithms to achieve monitoring functions, such as vector machine control algorithm, CNN deep learning algorithm.

[0064] The system covers secondary development interfaces, realizes secondary use of database and environment construction, supports the integration of secondary development algorithms for algorithm input and output, establishes a combination of addition and subtraction to realize intelligent design, and has an interface design that can be developed secondary.

[0065] The system compatible interface is reserved for uploading the robot servo control system. The whole system consists of subsystems such as capacitance measurement, differential amplification, phase detection, signal processing, servo control, and motor drive. Since a large amount of plasma will be generated during the movement of the robot, which will introduce serious interference signals, signal processing technologies such as phase-locked amplification technology and wavelet transform are widely used in modern servo systems to improve the reliability of the servo system.

[0066] The filter device with electromagnetic interference device adopts high-voltage anti-interference lightning protection controller isolator module to achieve high-voltage lightning protection control isolation, which is suitable for application in power plants and electromagnetic interference drones, ground robots and other state environments.

[0067] With shielding design structure, voltage placement design is isolated for application.

[0068] It has a low-power design control method and an embedded processing structure, and realizes a modifiable networking method.

[0069] It can effectively complete long-distance IO control, complete the open / closed state control of multi-channel controller control switches, realize the status monitoring of remote energy-consuming equipment, and also has the function of transmitting the closed-loop detection device data of the sensor as well as the signal as information feedback.

[0070] It has a remote multi-loop control mode, compatible with 8-16 control loops of each gateway controller device, and the status adapts from Z2011, Z2012, Z2013, ... Z9099 data layer.

[0071] It has a loop signal status feedback device to realize the control loop test and test mode display of the status, the start status feedback is "1", the stop status feedback is "0", and the signal feedback loop is performed.

[0072] It has a loop signal encoding method and adopts a 16-way signal encoding design. The upper eight bits are xxx00000, and xxx has edges of 000, 001, 010, 011, 100, 101, 110, 111, and multiple data status feedback, representing upload, download, and other protocol methods.

[0073] It has a loop signal encoding method and adopts a 16-way signal encoding design method. The middle eight bits are 000xxx00, and the xxx bits are 000, 001, 010, 011, 100, 101, 110, 111. Multiple data status feedbacks define the communication equipment.

[0074] It has a loop signal encoding method and adopts a 16-way signal encoding design method. The middle eight bits are 000000xx, xx has edges 00, 01, 10, and multiple data status feedback to define the signal status. 00 is initialized, 01 is normal for uploading, 10 is normal for downloading, and 11 represents a data congestion signal.

[0075] It has a design method for remote communication of distribution stations, realizes the alarm status of the distribution station perimeter, and realizes infrared pyroelectric, infrared tube and other methods.

[0076] It has visual perimeter boundary, moving object detection, and perimeter boundary mode. Through visual feedback signals, it establishes an "and" relationship with sensor (human and animal perception sensor) signals, establishes machine vision judgment as 1, and sensor judgment data is summarized as 1, and an effective combination judgment is performed. The temperature judgment is body temperature confirmation as 1, and the machine vision recognizes animals as 1. The comprehensive output is true. If the visual judgment is 1 and the temperature detection is 0, the judgment is false, realizing intelligent sensor monitoring, reducing the problem of false alarms of sensors alone, and achieving intelligent monitoring effects.

[0077] With alarm reminder, the equipment is compatible with national standard video code stream and realizes data graphic encoding.

[0078] With a local server, intranet management is achieved by building a cloud platform.

[0079] It has the functions of realizing acceleration, positioning, and the shaking of objects will produce three-coordinate and six-coordinate measurements of data sensors, effectively judging the azimuth change data, perceiving the management of surrounding dynamic data, pole tower shaking, distribution pole shaking and other data detection functions.

[0080] It has App and network viewing functions, which allows you to view information at any time.

[0081] The inspection robot has autonomous obstacle avoidance function, power distribution detection function, and autonomous cruising function of coordinate points. It can perform autonomous obstacle avoidance during ultrasonic flight. When encountering obstacles, the distance deviation of ultrasonic data can be revised by slight correction of the robot coordinates to finally reach the key coordinates. The inspection robot is a drone.

[0082] The inspection robot has the function of machine vision recognition and feature analysis, and adopts the front-end recognition function of the Opencv algorithm camera. It can be used alone or in combination with other YOLO algorithms.

[0083] The inspection robot has the function of machine vision recognition feature analysis and adopts YOLO target detection and recognition function. It can be used alone or in combination with other Opencv algorithms.

[0084] The inspection robot has the function of machine vision recognition feature analysis and adopts CNN algorithm recognition function. It can be used alone or in combination with other Opencv algorithms.

[0085] The inspection robot has modules that can carry M1, M2, M3...Mn, and has interfaces for accessory modules and customized module designs.

[0086] The "air" and "ground" coordination methods in this embodiment are as follows:

[0087] Method 1: The unmanned ground vehicle (UGV) and the unmanned aerial vehicle (UAE) synchronize the LORA wireless transceiver to complete the synchronization of sending and receiving instructions, realize forward and backward control, and achieve equivalent execution of two-dimensional and three-dimensional communication control transformation.

[0088] Method 2: Unmanned ground vehicles (UGV) and UAVs (Unmanned Aerial Vehicles) use the positioning system to implement the coordinate point proximity control algorithm, and achieve the control task through the proximity communication of air and ground coordinates.

[0089] Method 3: Unmanned ground vehicles (UGV) and UAVs (Unmanned Aerial Vehicles) use machine vision recognition systems to identify UAVs on the ground, search for them, find their location, and request landing instructions.

[0090] Method 4: The unmanned ground vehicle (UGV) and the unmanned aerial vehicle (UAE) use a machine vision recognition system. The UAV searches for the unmanned vehicle logo, conducts a search flight, finds the location of the UGV, and prepares to land.

[0091] like Figure 1 The figure shows a scheme for synthesizing aerial point data with ground data, establishing aerial relay monitoring points, and realizing patrol scanning data processing when data is not laid on the ground over a large area.

[0092] like Figure 2 The figure shows the establishment of a data collection solution from "cloud" data to "data center" and then to "intelligent gateway" to complete data processing, establish aerial relay and ground relay nodes, and realize the industrial Modbus to 485 and current and voltage data conversion process at the collection nodes to achieve intelligent design.

[0093] like Figure 3 The schematic diagram of ground-air collaborative networking shows a control and data collection solution that establishes collaborative air relays and ground data relays, establishes a superior ecological control and collection solution, establishes a solution for successive and similar data to communicate with each other and enter the ecological network, and realizes the autonomous construction of industrial networks and rapid data feedback to the central network.

[0094] like Figure 4 The schematic diagram of one-ground, multi-air collaborative networking shows a fast cluster control solution between one-ground network and multi-air networks, a solution for realizing fast regional networking, a binding solution for the nearest network and number segment, network segment, and physical address, and a network data regression design. With the introduction of artificial intelligence algorithms, CNN algorithms and AI intelligent algorithms are established in recognition, and excellent solutions for machine vision air-ground collaborative processing are established to establish superior air ecology, ground ecology, air-ground collaborative network ecology, and excellent ecological solutions for multi-air and multi-ground. This embodiment also provides an intelligent monitoring device for a distribution station, including an intelligent monitoring system for a distribution station.

[0095] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent monitoring system for a power distribution station, characterized in that: Includes: air monitoring module, air-ground coordination module and wireless monitoring network platform; The air-ground coordination module is used to obtain ground data and air data, and to perform air-ground coordinated sensor communication to automatically control the UAV, wherein the ground data and the air data are mixed to build a ladder data combination; The aerial monitoring module is used to control the drone to monitor the power distribution station according to the control of the air-ground coordination module; The wireless monitoring network platform is used to upload, communicate and monitor the data carried by the drone on the distribution station monitoring, and control the distribution station.

2. The intelligent monitoring system for power distribution stations according to claim 1 is characterized in that: The drone collects data from the distribution station through sensors, and the collected data includes: temperature, humidity, wind speed, rainfall, oxygen, carbon dioxide, hydrogen sulfide, ammonia, methane, and hydrogen.

3. The intelligent monitoring system for power distribution stations according to claim 1 is characterized in that: The air-ground collaboration module includes a wireless control unit, a visual recognition unit and a positioning unit; The wireless control unit is used to synchronize the LORA wireless transceiver to complete the synchronization of sending and receiving instructions between the unmanned ground vehicle and the unmanned aerial vehicle, thereby realizing the control of the unmanned aerial vehicle; The visual recognition unit is used for unmanned ground vehicles and unmanned aerial vehicles to identify unmanned ground vehicles and unmanned aerial vehicles through a machine vision recognition system, and to control the unmanned aerial vehicles, wherein the machine vision recognition system adopts Opencv algorithm, YOLO target detection and CNN algorithm to realize the recognition function; The positioning unit is used for unmanned ground vehicles and unmanned aerial vehicles to realize the coordinate point proximity control algorithm through the positioning system and control the unmanned aerial vehicle.

4. The intelligent monitoring system for power distribution stations according to claim 1, characterized in that: The drone also combines a machine vision recognition system and a temperature sensor to avoid obstacles.

5. The intelligent monitoring system for power distribution stations according to claim 1, characterized in that: The wireless monitoring network platform includes: a gateway coordinator networking unit and an embedded processing unit; The gateway coordinator networking unit is used to establish a data layer structure from Z2011, Z2012, Z2013, ... Z9099; The embedded processing unit is used to modify the networking by adopting an embedded processing structure.

6. The intelligent monitoring system for power distribution station according to claim 1, characterized in that: The wireless monitoring network platform also includes a collaborative monitoring unit and a control unit; The collaborative monitoring unit is used to mix the ground data and the air data to establish a step data combination; The control unit is used for remote IO control and completes the open / closed state control of the multi-channel controller control switch.

7. The intelligent monitoring system for power distribution station according to claim 6, characterized in that: The control unit has a remote multi-loop control mode and is compatible with 8-16 control loops of each gateway controller device.

8. The intelligent monitoring system for power distribution stations according to claim 1, characterized in that: The system also includes a loop signal state feedback device for realizing the control loop test and test mode display of the state, wherein the loop signal adopts a 16-channel signal encoding design method.

9. An intelligent monitoring device for a power distribution station, characterized in that: It comprises the intelligent monitoring system for a power distribution station as described in any one of claims 1 to 8.

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