Intelligent inspection and early warning system for substation equipment

Abstract

The invention discloses an intelligent inspection and early warning system for substation equipment, and relates to the technical field of intelligent inspection and early warning of substation equipment. The system comprises a transformer substation digital model building module, an appearance data acquisition and analysis module, an operation data acquisition and analysis module, an environment data and cooling data acquisition and analysis module, an environment equipment and cooling equipment data acquisition and analysis module and an exception handling module. Operation data of each power transformation device in the transformer substation is acquired and analyzed, and environment data and cooling data of each power transformation device with abnormal operation are analyzed, so that the problem of limitation in the current transformer substation device intelligent inspection development feasibility analysis process is solved; and the actual operation data of the environment equipment and the cooling equipment are analyzed to solve the equipment problem, so that the robot inspects again and performs early warning on abnormity.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent inspection and early warning of substation equipment, and specifically to an intelligent inspection and early warning system for substation equipment. Background Art

[0002] With the development of science and technology, there are more and more types of electrical appliances, and people rely more and more on smart appliances in their lives. As a result, people need more electricity, and substations, as transit base stations, are of utmost importance and cannot be disclosed at all.

[0003] Prior art, such as the invention application patent with announcement number: CN117034174A discloses a method and system for detecting abnormality of substation equipment. The method includes: specifying substation equipment classification, main transformer equipment detection, switch equipment detection and analysis, power electronic equipment identification and judgment, and abnormal operating equipment screening and control. The present invention detects the mechanical operating parameters of the main transformer equipment and considers the oil quality parameters of the main transformer equipment tank in detail. It can not only accurately provide more scientific data support for the subsequent analysis of the abnormal operating conditions of the overall main transformer equipment, but also ensure the reliability and operation stability of the substation equipment to a certain extent. At the same time, by determining the abnormal operating degree index of each power electronic equipment, it can effectively reflect the actual situation of the abnormal operating conditions of the power electronic equipment, and ensure the stable operation of the substation power system to a certain extent.

[0004] With respect to the above scheme, the inventors of the present application have found that the above technology has at least the following technical problems: 1. There is currently a lack of digital modeling of substations, and thus it is impossible to obtain a visualized substation, each device in the substation, and the data corresponding to the equipment, so that it is impossible to more accurately understand the actual situation of the current substation, and it is also impossible to guarantee the comprehensiveness and authenticity of the feasibility analysis process of each substation equipment, and thus it is impossible to guarantee the reference and accuracy of the analysis results, and it is also impossible to provide a reliable basis for substation early warning.

[0005] 2. Currently, there is a lack of first inspection of each substation equipment in the substation, and thus it is impossible to first analyze the operating data of each substation equipment in the substation, so it is impossible to obtain each abnormal operating substation equipment. At the same time, it is impossible to design a robot inspection route for each abnormal operating substation equipment, resulting in the inability to obtain the environmental data and cooling data of each abnormal operating substation equipment, and the inability to truly display the situation of each abnormal substation equipment. There is no visual early warning in the substation data model, which reduces the early warning effect of the substation to a certain extent. Summary of the invention

[0006] In view of the above-mentioned technical deficiencies, the purpose of this application is to provide an intelligent inspection and early warning system for substation equipment.

[0007] To solve the above technical problems, the present application adopts the following technical solutions: The present application provides an intelligent inspection and early warning system for substation equipment, including the following modules: a substation digital model building module, which is used to obtain the modeling data of the substation, firstly perform two-dimensional modeling of the substation and each equipment in the substation, and then construct a three-dimensional model of each equipment in the substation, perform parameterization, modeling verification and generate a visual view, and finally obtain the digital model of the substation.

[0008] The appearance data acquisition and analysis module is used for the robot to collect images and videos of each substation equipment in the substation according to the inspection route, and then obtain the appearance data of each substation equipment, and update the appearance data of each substation equipment in the substation digital model, so as to determine whether the appearance data of each substation equipment meets the standards, and obtain each questionable substation equipment.

[0009] The operation data acquisition and analysis module is used to acquire the operation data of each questionable substation equipment, and then analyze and obtain the operation evaluation coefficient of each questionable substation equipment, so as to determine whether the operation of each questionable substation equipment is abnormal, and obtain each substation equipment with abnormal operation, and at the same time, mark each substation equipment with abnormal operation as abnormal in the substation digital model.

[0010] The environmental data and cooling data acquisition and analysis module is used to acquire the external environmental data and internal cooling data of each abnormal operation substation equipment in the substation, and then analyze and obtain the external environmental data evaluation coefficient and internal cooling data evaluation coefficient of each abnormal operation substation equipment, so as to determine whether the external environmental data and internal cooling data of each abnormal operation substation equipment are abnormal, and thereby acquire each abnormal operation environment equipment and each abnormal operation cooling equipment.

[0011] The environmental equipment and cooling equipment data acquisition and analysis module is used for the robot to patrol and obtain the actual environmental operation data of the environmental equipment of each operating environment abnormality equipment and the actual cooling operation data of the cooling equipment of each operating cooling abnormality equipment when each operating environment abnormality equipment is performing environmental adjustment and each operating cooling abnormality equipment is performing cooling adjustment, and then determine whether the operation of the environmental equipment of each operating environment abnormality equipment is abnormal, and at the same time determine whether the operation of the cooling equipment of each operating cooling abnormality equipment is abnormal.

[0012] The exception handling module is used to perform exception handling when each device with abnormal working environment completes environmental adjustment and each device with abnormal working cooling completes cooling adjustment.

[0013] The beneficial effects of the present application are: 1. The present application provides an intelligent inspection and early warning system for substation equipment, which first builds a digital model of the substation, then acquires and analyzes the operating data of each substation equipment in the substation, and analyzes the environmental data and cooling data of each substation equipment with abnormal operation, thereby solving the limitations existing in the feasibility analysis process of the current intelligent inspection of substation equipment, and then analyzes the actual operating data of the environmental equipment and cooling equipment to solve equipment problems, so that the robot can inspect again and issue early warnings for abnormalities.

[0014] 2. This application visualizes the equipment and equipment data in the substation by establishing a digital model of the substation, which enables the staff to discover any abnormalities in the substation at the first time, thereby improving the safety of the substation to a certain extent. At the same time, it also visualizes the robot inspection process. During the inspection process, the robot can timely update the data of each substation equipment in the substation, and the digital model of the substation is also updated accordingly, ensuring the validity of the data in the digital model of the substation.

[0015] 3. When the present application detects an abnormality in the substation equipment, it acquires the environmental data and cooling data of the substation equipment, thereby reducing the waste of resources. Because the substation equipment rarely has major machine problems, machine overheating, environmental overheating, excessive environmental humidity, or excessive environmental dust concentration are common problems of substation equipment abnormalities. Therefore, the environmental data and cooling data of the substation equipment are first acquired and analyzed, and then the environmental equipment and cooling equipment of the substation equipment are analyzed. This can detect the abnormal points of the substation more quickly and obtain the true situation of the substation equipment in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the system structure connection for this application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] See also Figure 1 As shown, the present application provides an intelligent inspection and early warning system for substation equipment, including a substation digital model building module, an appearance data acquisition and analysis module, an operation data acquisition and analysis module, an environmental data and cooling data acquisition and analysis module, an environmental equipment and cooling equipment data acquisition and analysis module, and an abnormality handling module.

[0020] The substation digital model building module is used to obtain the modeling data of the substation. First, the substation and each equipment in the substation are modeled in two dimensions, and then a three-dimensional model of each equipment in the substation is constructed. Parameterization, modeling verification and generation of visual views are performed to finally obtain the digital model of the substation.

[0021] It should be noted that the process of obtaining the digital model of the substation is as follows: A1, importing the CAD layout of the substation as the background image, performing two-dimensional modeling on the substation and the equipment in the substation, drawing the basic framework of the substation, using straight line, circle and polygon tools to draw the basic outer frame of the substation and the position of each equipment, marking the size and distance, placing each equipment on the drawn substation plan according to the actual installation position and direction of each equipment, and using the alignment and distribution tools to place the equipment neatly, adjusting the size of each equipment according to the actual size and technical parameters, and using lines of different colors to draw high-voltage, low-voltage and grounding lines, and marking electrical parameters at the line connections, thereby completing the substation. A2. Build a three-dimensional model of each device in the substation based on the completed two-dimensional drawings. First, convert the two-dimensional drawings into three-dimensional views, adjust the height and position of each device in the substation, and use three-dimensional modeling tools to refine the model depth; perform parameterization and modeling verification. First, define the parameters, enter the property management area of ​​the equipment, enter the performance parameters of the equipment, and then perform simulation tests. Run the simulation tool to complete the verification of the model, use the rendering tool to add materials and colors to the model, create visual images and animations from different perspectives, and associate them with the actual substation operation data to finally obtain the substation digital model.

[0022] It should be noted that the modeling data includes the CAD layout diagram, equipment list, electrical connection diagram, etc. of the substation; it also includes the actual size, appearance, technical parameters and functional description of the equipment used in the substation.

[0023] It is important to note that dimensions and distances such as equipment spacing and aisle widths.

[0024] It should be noted that electrical parameters include voltage level, rated current, etc.

[0025] It should be noted that the two-dimensional modeling was completed using AutoCAD; the three-dimensional modeling was done using Civil3D software.

[0026] It should be noted that in-depth refinement includes adding equipment housing, brackets and fixtures.

[0027] It should be noted that performance parameters include capacity, overload capacity, cooling method or operating voltage, etc.

[0028] It should be noted that the simulation tool completes the model verification including load flow analysis and short circuit analysis.

[0029] This application visualizes the equipment and equipment data in the substation by establishing a digital model of the substation, which enables the staff to discover any abnormalities in the substation at the first time, thereby improving the safety of the substation to a certain extent. At the same time, it also visualizes the process of robot inspection. During the inspection process, the robot can timely update the data of each substation equipment in the substation, and the digital model of the substation is also updated accordingly, ensuring the validity of the data in the digital model of the substation.

[0030] The appearance data acquisition and analysis module is used for the robot to collect images and videos of each substation equipment in the substation according to the inspection route, and then obtain the appearance data of each substation equipment, update the appearance data of each substation equipment in the substation digital model, so as to determine whether the appearance data of each substation equipment meets the standard, and obtain each substation equipment in question;

[0031] It should be noted that the inspection route is to inspect each substation equipment one by one according to the order of the substation equipment.

[0032] In a specific embodiment, the appearance data of each substation equipment is updated in the digital model of the substation to determine whether the appearance data of each substation equipment meets the standards. The specific judgment process is as follows: B1. The robot inspects according to the inspection route, and obtains image sets and video sets of each substation equipment during the inspection process, and uploads the image sets and video sets of each substation equipment to the main control center. The visual analysis technology of the main control center analyzes the image sets and video sets of each substation equipment, and then obtains the appearance data of each substation equipment. The main control center synchronizes the appearance data of each substation equipment to the corresponding substation equipment in the digital model of the substation.

[0033] B2. Compare the appearance data of each substation with the standard range value of the appearance data of each substation in the database. When the appearance data of a certain substation does not meet the standard range value of the appearance data of the substation in the database, it is judged that the appearance data of the substation does not meet the standard, and the substation is recorded as a questionable substation, thereby obtaining each questionable substation.

[0034] The operation data acquisition and analysis module is used to acquire the operation data of each questionable substation equipment, and then analyze and obtain the operation evaluation coefficient of each questionable substation equipment, so as to determine whether the operation of each questionable substation equipment is abnormal, and obtain each substation equipment with abnormal operation, and at the same time, mark each substation equipment with abnormal operation as abnormal in the substation digital model.

[0035] It should be noted that the operating data, including the power efficiency, voltage and current of the substation equipment, are all collected by a digital multimeter.

[0036] In a specific embodiment, the analysis obtains the operation evaluation coefficient of each questionable substation equipment. The specific analysis process is as follows: each operation data of each questionable substation equipment is recorded as P iz , where i represents the number corresponding to each questionable substation, i=1,2,......,n, n represents the total number of questionable substations, and n is a natural integer greater than or equal to 2; z represents the number corresponding to each operation data, z=1,2,......,f, f represents the total number of operation data, and f is a natural integer greater than or equal to 2.

[0037] According to the calculation formula Obtain the operational evaluation coefficient of each questionable substation equipment Where P′ z It is represented as the reference value of each operation data of the questionable substation equipment in the database, ΔP z It is represented by the allowable floating value of each operation data of the questionable substation equipment in the database, σ z It is expressed as the correction factor corresponding to each operation data of the questionable substation equipment in the database.

[0038] It should be noted that 0<σ z <1.

[0039] It should be noted that the correction factor corresponding to the power of the substation equipment is to compensate for the error of the power of the substation equipment, and the digital factor multiplied by the uncorrected measurement result is obtained by the existing correction factor analysis technology.

[0040] In a specific embodiment, the determination of whether the operation of each substation is abnormal and obtaining each substation with abnormal operation, the specific determination process is as follows: the operation evaluation coefficient of each questionable substation is compared with the operation evaluation coefficient threshold in the database, when the operation evaluation coefficient of a questionable substation is greater than or equal to the operation evaluation coefficient threshold in the database, it is determined that the operation of the questionable substation is not abnormal, otherwise it is determined that the operation of the questionable substation is abnormal, thereby obtaining each substation with abnormal operation.

[0041] The environmental data and cooling data acquisition and analysis module is used to acquire the external environmental data and internal cooling data of each abnormal operation substation equipment in the substation, and then analyze and obtain the external environmental data evaluation coefficient and internal cooling data evaluation coefficient of each abnormal operation substation equipment, so as to determine whether the external environmental data and internal cooling data of each abnormal operation substation equipment are abnormal, and thereby acquire each abnormal operation environment equipment and each abnormal operation cooling equipment.

[0042] It should be noted that the external environmental data include the shell temperature, humidity, internal temperature and internal dust concentration of each abnormal operation substation equipment; the cooling data include the oil quantity and operating loudness of the submersible oil pump of each abnormal operation substation equipment, as well as the water pressure, oil content in water, oil temperature and oil pressure of the oil cooler.

[0043] It should be noted that the amount of oil in the submersible oil pump cannot exceed the set value nor be less than one third; the oil pressure in the oil cooler must be greater than the water pressure, and there must be no oil in the water.

[0044] It should be noted that the shell temperature, internal temperature and ambient temperature are collected by temperature sensors; the humidity is obtained by humidity sensors; and the internal dust concentration is collected by dust sensors.

[0045] In a specific embodiment, the analysis obtains the external environment data evaluation coefficient and the internal cooling data evaluation coefficient of each abnormal operation substation. The specific analysis process is as follows: the external environment data and the internal cooling data of each abnormal operation substation are respectively recorded as H jl and Q jl , where j represents the number corresponding to each abnormal operation substation, j=1,2,......,m, m represents the total number of abnormal operation substation, and m is a natural integer greater than or equal to 2; l represents the number corresponding to each external environment data, l=1,2,......,b, b represents the total number of external environment data, and b is a natural integer greater than or equal to 2; t represents the number corresponding to each internal cooling data, t=1,2,......,d, d represents the total number of external and internal cooling data, and d is a natural integer greater than or equal to 2.

[0046] According to the calculation formula Evaluation coefficient λ of each external environment data of each abnormal substation equipment jl , where H′ l and ΔH l They are respectively represented as the reference value of each external environmental data in the database and the allowable floating value of each external environmental data. It is expressed as the correction factor corresponding to each external environment data in the database.

[0047] According to the calculation formula Evaluation coefficient α of each internal cooling data of each abnormal operation substation equipment jt , where Q′ t and ΔQ t Respectively represent the reference value of each internal cooling data in the database and the allowable floating value of each internal cooling data, τ t It is expressed as the correction factor corresponding to each internal cooling data in the database.

[0048] It should be noted that the correction factor corresponding to each external environmental data is a digital factor multiplied by the error calculated for each external environmental data and the uncorrected measurement result; the correction factor corresponding to each internal cooling data is a digital factor multiplied by the error calculated for each internal cooling data and the uncorrected measurement result, both of which are obtained by existing correction factor analysis technology.

[0049] In a specific embodiment, the determination of whether the external environmental data of each abnormal operation substation is abnormal is carried out as follows: comparing the external environmental data evaluation coefficients of each abnormal operation substation with the standard range values ​​of the external environmental data evaluation coefficients in the database; when the external environmental data evaluation coefficient of a certain abnormal operation substation belongs to the standard range value of the external environmental data evaluation coefficient in the database, it is determined that the external environmental data of the abnormal operation substation is not abnormal; otherwise, it is determined that the external environmental data of the abnormal operation substation is abnormal, and the abnormal operation substation is recorded as an abnormal operation environment device; at the same time, the environmental operation data of the environmental device corresponding to the external environmental data of the abnormal operation environment device is obtained at the main control center, and the main control center sends the environmental operation data of the environmental device to the environmental device in the abnormal operation environment device for environmental adjustment; at the same time, the external environmental data abnormality and environmental adjustment of the abnormal operation environment device are marked in the digital model of the substation.

[0050] In a specific embodiment, the determination of whether the internal cooling data of each abnormal operation substation is abnormal is carried out as follows: comparing the internal cooling data evaluation coefficients of each abnormal operation substation with the standard range values ​​of the internal cooling data evaluation coefficients in the database; when the internal cooling data evaluation coefficient of a certain abnormal operation substation belongs to the standard range value of the internal cooling data evaluation coefficient in the database, it is determined that the internal cooling data of the abnormal operation substation is not abnormal; otherwise, it is determined that the internal cooling data of the abnormal operation substation is abnormal, and the abnormal operation substation is recorded as an abnormal operation cooling device; at the same time, the cooling operation data of the cooling device corresponding to the internal cooling data of the abnormal operation cooling device is obtained in the main control center, and the main control center sends the cooling operation data of the cooling device to the cooling device in the abnormal operation cooling device for cooling adjustment; at the same time, the internal cooling data abnormalities and cooling adjustments are marked in the digital model of the substation.

[0051] It should be noted that, for example, when the ambient temperature is too high, the central control center sends the environmental equipment operation data instruction (cooling to the set temperature) to the environmental equipment in the abnormally operating substation, and the environmental equipment performs operations such as ventilation and supplying cold air to cool the environment.

[0052] The environmental equipment and cooling equipment data acquisition and analysis module is used for, when each operating environment abnormality equipment performs environmental adjustment and each operating cooling abnormality equipment performs cooling adjustment, the robot performs inspection to obtain the actual environmental operation data of the environmental equipment of each operating environment abnormality equipment and the actual cooling operation data of the cooling equipment of each operating cooling abnormality equipment, and then judges whether the operation of the environmental equipment of each operating environment abnormality equipment is abnormal, and at the same time judges whether the operation of the cooling equipment of each operating cooling abnormality equipment is abnormal;

[0053] In a specific embodiment, the judgment of whether the operation of the environmental equipment of each operating environment abnormality device is abnormal, and at the same time, the judgment of whether the operation of the cooling equipment of each operating cooling abnormality device is abnormal, the specific judgment process is as follows: D1, the actual operation data of the environmental equipment of each operating environment abnormality device is compared with the environmental operation data of the environmental equipment of each operating environment abnormality device. When the actual operation data of the environmental equipment of a certain operating environment abnormality device is the same as the environmental operation data of the environmental equipment of the operating environment abnormality device, it is judged that the operation of the environmental equipment of the operating environment abnormality device is not abnormal. Otherwise, it is judged that the operation of the environmental equipment of the operating environment abnormality device is abnormal, and the environmental equipment abnormality is marked in the digital model of the substation to prompt the staff to perform maintenance.

[0054] D2. Compare the actual operation data of the cooling equipment of each operation abnormal cooling equipment with the cooling operation data of the cooling equipment of each operation abnormal cooling equipment. When the actual operation data of the cooling equipment of a certain operation abnormal cooling equipment is the same as the cooling operation data of the cooling equipment of the operation abnormal cooling equipment, it is judged that the operation of the cooling equipment of the operation abnormal cooling equipment is normal. Otherwise, it is judged that the operation of the cooling equipment of the operation abnormal cooling equipment is abnormal, and the cooling equipment abnormality is marked in the digital model of the substation to prompt the staff to perform maintenance.

[0055] When an abnormality in a substation is detected, the present application obtains environmental data and cooling data of the substation, thereby reducing waste of resources. Because major machine problems rarely occur in substations, machine overheating, environmental overheating, excessive environmental humidity, or excessive environmental dust concentration are common problems of substation abnormalities. Therefore, the environmental data and cooling data of the substation are first obtained and analyzed, and then the environmental equipment and cooling equipment of the substation are analyzed. This can detect abnormal points of the substation more quickly and obtain the true situation of the substation in a timely manner.

[0056] The exception handling module is used to perform exception handling when each device with abnormal working environment completes environmental adjustment and each device with abnormal working cooling completes cooling adjustment.

[0057] In a specific embodiment, when each device with an abnormal operating environment completes environmental adjustment, exception processing is performed, and the specific processing process is as follows: when each device with an abnormal operating environment completes environmental adjustment, the robot performs inspection, obtains the environmental data and operating data of each device with an abnormal operating environment again, and analyzes and judges the environmental data and operating data. When the environment and operation of a device with an abnormal operating environment are not abnormal, all abnormal labels of the device with an abnormal operating environment are removed. When the environment or operation of a device with an abnormal operating environment is abnormal, an early warning prompt is issued in the digital model of the substation.

[0058] It should be noted that the analysis and judgment of the environmental data and the operating data are the same as the analysis and judgment process of the operating data acquisition and analysis module and the environmental data and cooling data acquisition and analysis module.

[0059] In a specific embodiment, when each operation cooling abnormality equipment completes cooling adjustment, exception processing is performed, and the specific processing process is as follows: when each operation cooling abnormality equipment completes cooling adjustment, the robot performs inspection, obtains cooling data and operation data of each operation cooling abnormality equipment again, and analyzes and judges the cooling data and operation data. When the cooling and operation of a certain operation cooling abnormality equipment are not abnormal, all abnormal markings of the operation cooling abnormality equipment are removed. When the cooling or operation of a certain operation cooling abnormality equipment is abnormal, an early warning prompt is issued in the digital model of the substation.

[0060] It should be noted that the analysis and judgment of the cooling data and the operating data are the same as the analysis and judgment process of the operating data acquisition and analysis module and the environmental data and cooling data acquisition and analysis module.

[0061] The present application provides an intelligent inspection and early warning system for substation equipment. The system first builds a digital model of the substation, then acquires and analyzes the operating data of each substation equipment in the substation, and analyzes the environmental data and cooling data of each substation equipment with abnormal operation, thereby solving the limitations existing in the feasibility analysis process of the current intelligent inspection of substation equipment, and then analyzes the actual operating data of the environmental equipment and cooling equipment to solve equipment problems, so that the robot can conduct another inspection and issue early warnings for abnormalities.

[0062] The above contents are merely examples and explanations of the concept of the present application. The technical personnel in the relevant technical field may make various modifications or supplements to the specific embodiments described, or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined in this specification, they shall all fall within the protection scope of the present application.

Claims

1. An intelligent inspection and early warning system for substation equipment, characterized in that: include: The substation digital model building module is used to obtain the modeling data of the substation. First, the substation and each device in the substation are modeled in two dimensions, and then a three-dimensional model of each device in the substation is constructed. Parameterization, modeling verification and generation of visualization views are performed to finally obtain the substation digital model. The appearance data acquisition and analysis module is used for the robot to collect images and videos of each substation equipment in the substation according to the inspection route, and then obtain the appearance data of each substation equipment, update the appearance data of each substation equipment in the substation digital model, so as to determine whether the appearance data of each substation equipment meets the standard, and obtain each substation equipment in question; The operation data acquisition and analysis module is used to acquire the operation data of each suspected substation equipment, and then analyze and obtain the operation evaluation coefficient of each suspected substation equipment, so as to determine whether the operation of each suspected substation equipment is abnormal, and obtain each abnormal operation substation equipment, and at the same time, mark each abnormal operation substation equipment in the digital model of the substation as abnormal; The environment data and cooling data acquisition and analysis module is used to acquire the external environment data and internal cooling data of each abnormal operation substation equipment in the substation, and then analyze and obtain the external environment data evaluation coefficient and internal cooling data evaluation coefficient of each abnormal operation substation equipment, so as to determine whether the external environment data and internal cooling data of each abnormal operation substation equipment are abnormal, and thereby acquire each abnormal operation environment equipment and each abnormal operation cooling equipment; The environmental equipment and cooling equipment data acquisition and analysis module is used for, when each operating environment abnormality equipment performs environmental adjustment and each operating cooling abnormality equipment performs cooling adjustment, the robot performs inspection to obtain the actual environmental operation data of the environmental equipment of each operating environment abnormality equipment and the actual cooling operation data of the cooling equipment of each operating cooling abnormality equipment, and then judges whether the operation of the environmental equipment of each operating environment abnormality equipment is abnormal, and at the same time judges whether the operation of the cooling equipment of each operating cooling abnormality equipment is abnormal; The exception handling module is used to perform exception handling when each device with abnormal working environment completes environmental adjustment and each device with abnormal working cooling completes cooling adjustment.

2. According to claim 1, a substation equipment intelligent inspection and early warning system is characterized in that: The appearance data of each substation equipment is updated in the substation digital model, so as to determine whether the appearance data of each substation equipment meets the standard. The specific determination process is as follows: B1. The robot conducts inspections along the inspection route and obtains image sets and video sets of each substation equipment during the inspection process. The image sets and video sets of each substation equipment are uploaded to the main control center. The visual analysis technology of the main control center analyzes the image sets and video sets of each substation equipment, and then obtains the appearance data of each substation equipment. The main control center then synchronizes the appearance data of each substation equipment to the corresponding substation equipment in the digital model of the substation. B2. Compare the appearance data of each substation with the standard range value of the appearance data of each substation in the database. When the appearance data of a certain substation does not meet the standard range value of the appearance data of the substation in the database, it is judged that the appearance data of the substation does not meet the standard, and the substation is recorded as a questionable substation, thereby obtaining each questionable substation.

3. According to claim 2, a substation equipment intelligent inspection and early warning system is characterized in that: The analysis above yields the operational assessment coefficients of each suspected substation equipment. The specific analysis process is as follows: The operation data of each questionable substation equipment is recorded as P iz , where i represents the number corresponding to each suspected substation equipment, i=1,2,......,n, n represents the total number of suspected substation equipment, and n is a natural integer greater than or equal to 2; z represents the number corresponding to each operation data, z=1,2,......,f, f represents the total number of operation data, and f is a natural integer greater than or equal to 2; According to the calculation formula Obtain the operational evaluation coefficient of each questionable substation equipment Where P z ′ represents the reference value of each operation data of the questionable substation equipment in the database, ΔP z It is represented by the allowable floating value of each operation data of the questionable substation equipment in the database, σ z It is expressed as the correction factor corresponding to each operation data of the questionable substation equipment in the database.

4. The intelligent inspection and early warning system for substation equipment according to claim 3 is characterized in that: The specific judgment process of judging whether the operation of each substation equipment is abnormal and obtaining each substation equipment with abnormal operation is as follows: The operation evaluation coefficient of each questionable substation is compared with the operation evaluation coefficient threshold in the database. When the operation evaluation coefficient of a questionable substation is greater than or equal to the operation evaluation coefficient threshold in the database, it is judged that there is no abnormality in the operation of the questionable substation. Otherwise, it is judged that there is an abnormality in the operation of the questionable substation, thereby obtaining each substation with abnormal operation.

5. The intelligent inspection and early warning system for substation equipment according to claim 4 is characterized in that: The analysis results in the evaluation coefficients of each external environment data and each internal cooling data of each abnormal operation substation equipment. The specific analysis process is as follows: The external environment data and internal cooling data of each abnormal operation substation equipment are recorded as H jl and Q jl , where j represents the number corresponding to each abnormal operation substation, j = 1, 2, ..., m, m represents the total number of abnormal operation substations, and m is a natural integer greater than or equal to 2; l represents the number corresponding to each external environment data, l = 1, 2, ..., b, b represents the total number of external environment data, and b is a natural integer greater than or equal to 2; t represents the number corresponding to each internal cooling data, t = 1, 2, ..., d, d represents the total number of external and internal cooling data, and d is a natural integer greater than or equal to 2; According to the calculation formula Evaluation coefficient λ of each external environment data of each abnormal substation equipment jl , where H′ l and ΔH l They are respectively represented as the reference value of each external environmental data in the database and the allowable floating value of each external environmental data. It is expressed as the correction factor corresponding to each external environment data in the database; According to the calculation formula Evaluation coefficient α of each internal cooling data of each abnormal operation substation equipment jt , where Q′ t and ΔQ t Respectively represent the reference value of each internal cooling data in the database and the allowable floating value of each internal cooling data, τ t It is expressed as the correction factor corresponding to each internal cooling data in the database.

6. The intelligent inspection and early warning system for substation equipment according to claim 5 is characterized in that: The specific judgment process of judging whether the external environment data of each abnormal operation substation equipment is abnormal is as follows: The external environment data evaluation coefficients of each abnormal operation substation are compared with the standard range values ​​of the external environment data evaluation coefficients in the database. When the external environment data evaluation coefficient of a certain abnormal operation substation belongs to the standard range value of the external environment data evaluation coefficient in the database, it is judged that the external environment data of the abnormal operation substation is not abnormal. Otherwise, it is judged that the external environment data of the abnormal operation substation is abnormal, and the abnormal operation substation is recorded as an abnormal operation environment device. At the same time, the environmental operation data of the environmental equipment corresponding to the external environment data of the abnormal operation environment device is obtained in the main control center, and the main control center sends the environmental operation data of the environmental equipment to the environmental equipment in the abnormal operation environment device for environmental adjustment. At the same time, the external environment data abnormality and environmental adjustment of the abnormal operation environment device are marked in the digital model of the substation.

7. The intelligent inspection and early warning system for substation equipment according to claim 6 is characterized in that: The specific judgment process of judging whether each internal cooling data of each abnormal operation substation equipment is abnormal is as follows: The internal cooling data evaluation coefficients of each abnormal operation substation are compared with the standard range values ​​of the internal cooling data evaluation coefficients in the database. When the internal cooling data evaluation coefficient of a certain abnormal operation substation belongs to the standard range value of the internal cooling data evaluation coefficient in the database, it is judged that the internal cooling data of the abnormal operation substation is not abnormal. Otherwise, it is judged that the internal cooling data of the abnormal operation substation is abnormal, and the abnormal operation substation is recorded as an abnormal operation cooling device. At the same time, the cooling operation data of the cooling device corresponding to the internal cooling data of the abnormal operation cooling device is obtained in the main control center, and the main control center sends the cooling operation data of the cooling device to the cooling device in the abnormal operation cooling device for cooling adjustment. At the same time, the internal cooling data abnormality and cooling adjustment are marked in the substation digital model.

8. The intelligent inspection and early warning system for substation equipment according to claim 7 is characterized in that: The specific judgment process of judging whether the operation of the environment equipment of each operation environment abnormality equipment is abnormal and judging whether the operation of the cooling equipment of each operation cooling abnormality equipment is abnormal is as follows: D1. Compare the actual operation data of the environmental equipment of each abnormal working environment device with the environmental operation data of the environmental equipment of each abnormal working environment device. When the actual operation data of the environmental equipment of a certain abnormal working environment device is the same as the environmental operation data of the environmental equipment of the abnormal working environment device, it is judged that the operation of the environmental equipment of the abnormal working environment device is normal. Otherwise, it is judged that the operation of the environmental equipment of the abnormal working environment device is abnormal, and the abnormal environmental equipment is marked in the digital model of the substation to prompt the staff to perform maintenance; D2. Compare the actual operation data of the cooling equipment of each operation abnormal cooling equipment with the cooling operation data of the cooling equipment of each operation abnormal cooling equipment. When the actual operation data of the cooling equipment of a certain operation abnormal cooling equipment is the same as the cooling operation data of the cooling equipment of the operation abnormal cooling equipment, it is judged that the operation of the cooling equipment of the operation abnormal cooling equipment is normal. Otherwise, it is judged that the operation of the cooling equipment of the operation abnormal cooling equipment is abnormal, and the cooling equipment abnormality is marked in the digital model of the substation to prompt the staff to perform maintenance.

9. The intelligent inspection and early warning system for substation equipment according to claim 8, characterized in that: When each device with abnormal working environment completes the environment adjustment, the abnormality processing is performed, and the specific processing process is as follows: When each device with abnormal operating environment completes environmental adjustment, the robot conducts inspections, obtains the environmental data and operating data of each device with abnormal operating environment again, and analyzes and judges the environmental data and operating data. When the environment and operation of a device with abnormal operating environment are not abnormal, all abnormal labels of the device with abnormal operating environment are removed. When the environment or operation of a device with abnormal operating environment is abnormal, an early warning prompt is issued in the digital model of the substation.

10. The intelligent inspection and early warning system for substation equipment according to claim 9, characterized in that: When each operation cooling abnormal equipment completes cooling adjustment, abnormal processing is performed, and the specific processing process is as follows: When each operation abnormal cooling equipment completes cooling adjustment, the robot conducts inspection, obtains the cooling data and operation data of each operation abnormal cooling equipment again, and analyzes and judges the cooling data and operation data. When the cooling and operation of a certain operation abnormal cooling equipment are normal, all abnormal markings of the operation abnormal cooling equipment are removed. When the cooling or operation of a certain operation abnormal cooling equipment is abnormal, an early warning prompt is issued in the digital model of the substation.

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