Layered and distributed collaborative inspection system for intelligent substation

Abstract

The invention provides a layered and distributed collaborative inspection system for an intelligent substation. The layered and distributed collaborative inspection system comprises a collaborative inspection server, an inspection robot and a plurality of intelligent sensing units, when communicating with the inspection robot, the collaborative inspection server generates an inspection task carrying coordinates and identity codes of the to-be-inspected intelligent sensing units, issues the inspection task to the inspection robot, and receives transformer substation related data fed back by the inspection robot for fault analysis; when receiving an inspection task, the inspection robot writes all identity codes into the first RFID tag, then performs path planning according to all coordinates, and interacts with each intelligent sensing unit to be inspected; and when the intelligent sensing unit reads that one identity code in the first RFID tag is consistent with a pre-stored identity code, the intelligent sensing unit activates and collects related data of the transformer substation and writes the related data into the second RFID tag, and then the inspection robot reads the related data. According to the invention, the problems that hidden danger information is not obtained timely and the inspection position is not in place, so that data analysis results exist are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of substations, and in particular to a hierarchical distributed collaborative inspection system for smart substations. Background Art

[0002] With the rapid development of the economy, the demand and dependence on electricity has greatly increased. In recent years, many large-scale power outages abroad have caused serious consequences, seriously threatening human life and safety, and causing significant economic losses. In view of this situation, it is worth looking forward to building a reliable and robust power system. Substations are one of the core components of the power system and are responsible for the power supply and distribution tasks in the region. Its safe and stable operation is crucial to the entire power system. In order to ensure the safe operation of substation equipment and avoid power outages, substation inspections have emerged as the most important and effective means.

[0003] Substation inspection is to detect whether the substation equipment has defects and check the equipment status to determine whether a fault has occurred. In general, substation inspection is done manually, which is done by manual labor (usually in groups of two) entering the substation along a predetermined route to inspect transformers, instruments, circuit breakers, load switches, control cabinets, current transformers, voltage transformers and other power equipment. However, manual inspections are inefficient, cannot guarantee accurate inspection results, cannot immediately detect problems, and are somewhat personal hazards. For this reason, thanks to the development of mobile robot technology and sensor technology, many power companies have tried to replace manual inspections with inspection robots equipped with sensors.

[0004] However, there are still some shortcomings in robot-based automatic inspection, which are: (1) It is impossible to obtain hidden danger information of substations in time and prevent them effectively. The main reason is that robots can only perform regular inspections according to a set schedule. If the abnormal period is not within the set schedule, it cannot be discovered in time; (2) The robot's image processing algorithm cannot meet the actual application requirements and cannot fully reflect the equipment status. If the online inspection position is not in place, the collected equipment data may not match the analysis results.

[0005] Therefore, it is necessary to propose a hierarchical distributed collaborative inspection system for smart substations, which can solve the problems of untimely acquisition of hidden danger information and inadequate inspection locations in existing automatic inspection methods, resulting in discrepancies in data analysis results. Summary of the invention

[0006] The technical problem to be solved by the embodiments of the present invention is to provide a hierarchical distributed collaborative inspection system for smart substations, which can solve the problems of inconsistencies in data analysis results caused by untimely acquisition of hidden danger information and inadequate inspection locations in existing automatic inspection methods.

[0007] In order to solve the above technical problems, an embodiment of the present invention provides a hierarchical distributed collaborative inspection system for a smart substation, including a collaborative inspection server, an inspection robot and a plurality of intelligent sensing units; wherein,

[0008] The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates and identity code of the intelligent sensing unit to be inspected to the inspection robot when communicating with the inspection robot; and receive the substation-related data fed back by the inspection robot based on the inspection task, and perform fault analysis;

[0009] The inspection robot is provided with a first RFID reader and a first RFID tag; the inspection robot is used to, when receiving an inspection task issued by the collaborative inspection server, first write the identity codes of all the intelligent sensing units to be inspected in the inspection task into the first RFID tag through the first RFID reader, and then perform path planning according to the coordinates of all the intelligent sensing units to be inspected in the inspection task, and further perform data interaction with each intelligent sensing unit to be inspected according to the planned path and in combination with the first RFID reader and the first RFID tag, so as to obtain the substation-related data collected by each intelligent sensing unit to be inspected and feed it back to the collaborative inspection server;

[0010] Each intelligent sensing unit is provided with a second RFID reader and a second RFID tag; each intelligent sensing unit is used to confirm that it is an intelligent sensing unit to be inspected when it is determined that the second RFID reader provided thereon has established data interaction with the first RFID tag of the inspection robot, and an identity code in the first RFID tag read by the second RFID reader provided thereon is consistent with its pre-stored identity code, and further activate it to collect substation-related data, and write the collected substation-related data into the corresponding second RFID tag through the second RFID reader provided thereon, and then, after it is determined that the second RFID tag provided thereon has established data interaction with the first RFID reader of the inspection robot, allow the inspection robot to read the collected substation-related data from the second RFID tag provided thereon.

[0011] It also includes: a monitoring host pre-installed with a substation equipment monitoring system;

[0012] The monitoring host is connected to the collaborative inspection server and is used to retrieve substation-related data from the collaborative detection server, and when it is determined that there are alarm signals or abnormal equipment data in the substation-related data, it sends inspection instructions to the collaborative inspection server, so that the collaborative inspection server triggers the generation of new inspection tasks.

[0013] The inspection robot is also provided with a plurality of sensors for collecting equipment status and on-site environment data;

[0014] The inspection robot is also used to collect data on the equipment status and on-site environment around each intelligent sensing unit to be inspected according to the planned path, and further perform information processing, scene recognition and defect detection.

[0015] Wherein, the intelligent sensing unit is one or more of a visible light camera, an infrared detector, a corona detection camera, a temperature sensor, a humidity detector, a sound sensor, a gas sensor and a pressure sensor.

[0016] Among them, the substation-related data includes the alarm signals and tripping and closing conditions of the main equipment, the safety information, online monitoring data and trend alarm signals of the auxiliary equipment, as well as the temperature, humidity, pressure, sound and equipment images of the main equipment and / or auxiliary equipment.

[0017] The embodiment of the present invention also provides another hierarchical distributed collaborative inspection system for smart substations, including a collaborative inspection server, an inspection robot and a plurality of intelligent actuators; wherein,

[0018] The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates of the intelligent actuator to be inspected to the inspection robot when communicating with the inspection robot;

[0019] The inspection robot is provided with a first RFID reader, a first RFID tag and a vehicle-mounted camera; the inspection robot is used to plan a path according to the coordinates of all the intelligent actuators to be inspected in the inspection task when receiving the inspection task issued by the collaborative inspection server, and further obtain the working conditions of the substation control cabinet where each intelligent actuator to be inspected is located according to the planned path and in combination with the vehicle-mounted camera, and when it is judged that the substation control cabinet where any intelligent actuator to be inspected is located is working normally, write the corresponding control information into the first RFID tag through the first RFID reader;

[0020] Each intelligent actuator is installed on a corresponding substation control cabinet, including a second RFID reader, a status indicator light and a relay switch connected to a reset switch preset on the substation control cabinet; each intelligent actuator is used to confirm that it is an intelligent actuator to be inspected when it is determined that the second RFID reader installed thereon has established data interaction with the first RFID tag of the inspection robot, and further drive the relay switch installed thereon to complete the reset operation of the reset switch on the substation control cabinet, and reflect the qualification of the reset operation by displaying different colors of the status indicator light installed thereon; wherein, if the status indicator light displays a green light, it reflects that the reset operation is qualified; if the status indicator light displays a red light, it reflects that the reset operation is unqualified.

[0021] Among them, the inspection robot is also used to collect the image of the status indicator light set after each intelligent actuator performs a reset operation on the reset switch on the substation control cabinet through the on-board camera, so as to determine whether the reset operation of each intelligent actuator is completed, and when it is determined that the reset operation of any intelligent actuator is not completed, re-exchange data with the intelligent actuator that has not completed the reset operation.

[0022] It also includes: a monitoring host pre-installed with a substation equipment monitoring system;

[0023] One end of the monitoring host is connected to the collaborative inspection server, and the other end is connected to the monitor pre-installed on each substation control cabinet, and is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator, and carry the obtained coordinates of the intelligent actuator in the inspection instruction and send it to the collaborative inspection server, so that the collaborative inspection server triggers the generation of a new inspection task.

[0024] The embodiment of the present invention also provides another hierarchical distributed collaborative inspection system for smart substations, including a collaborative inspection server, an inspection robot, multiple intelligent sensing units and multiple intelligent actuators; wherein,

[0025] The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates of the intelligent sensing unit to be inspected, the identity code of the intelligent sensing unit to be inspected, and the coordinates of the intelligent actuator to be inspected to the inspection robot when communicating with the inspection robot; and receive the substation-related data fed back by the inspection robot based on the inspection task, and perform fault analysis;

[0026] The inspection robot is provided with a first RFID reader, a first RFID tag and a vehicle-mounted camera; the inspection robot is used to, when receiving the inspection task issued by the collaborative inspection server, first write the identity codes of all the intelligent sensing units to be inspected in the inspection task into the first RFID tag through the first RFID reader, and then perform a first path planning according to the coordinates of all the intelligent sensing units to be inspected in the inspection task, and further perform data interaction with each intelligent sensing unit to be inspected according to the planned first path and in combination with the first RFID reader and the first RFID tag, so as to obtain the substation-related data collected by each intelligent sensing unit to be inspected and feed it back to the collaborative inspection server; and, perform a second path planning according to the coordinates of all the intelligent actuators to be inspected in the inspection task, and further obtain the working conditions of the substation control cabinet where each intelligent actuator to be inspected is located according to the planned second path and in combination with the vehicle-mounted camera, and when it is judged that the substation control cabinet where any intelligent actuator to be inspected is located is working normally, write the corresponding control information into the first RFID tag through the first RFID reader;

[0027] Each intelligent sensing unit is provided with a second RFID reader and a second RFID tag; each intelligent sensing unit is used to confirm that it is an intelligent sensing unit to be inspected, and further activate it to collect substation-related data, and write the collected substation-related data into the corresponding second RFID tag through the second RFID reader provided thereon, and after it is determined that the second RFID reader provided thereon has established data interaction with the first RFID tag of the inspection robot, and an identity code in the first RFID tag read by the second RFID reader provided thereon is consistent with its pre-stored identity code, and then allow the inspection robot to read the collected substation-related data from the second RFID tag provided thereon;

[0028] Each intelligent actuator is installed on a corresponding substation control cabinet, including a third RFID reader, a status indicator light and a relay switch connected to a reset switch preset on the substation control cabinet; each intelligent actuator is used to confirm that it is an intelligent actuator to be inspected when it is determined that the third RFID reader installed thereon has established data interaction with the first RFID tag of the inspection robot, and further drive the relay switch installed thereon to complete the reset operation of the reset switch on the substation control cabinet, and reflect the qualification of the reset operation by displaying different colors of the status indicator light installed thereon; wherein, if the status indicator light displays a green light, it reflects that the reset operation is qualified; if the status indicator light displays a red light, it reflects that the reset operation is unqualified.

[0029] It also includes: a monitoring host pre-installed with a substation equipment monitoring system;

[0030] One end of the monitoring host is connected to the collaborative inspection server, and the other end is connected to the monitor pre-installed on each substation control cabinet, and is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator, and carry the obtained coordinates of the intelligent actuator in the inspection instruction and send it to the collaborative inspection server, so that the collaborative inspection server triggers the generation of a new inspection task; or / and,

[0031] Retrieve substation related data from the collaborative detection server, and when it is determined that there are alarm signals or abnormal equipment data in the substation related data, send an inspection instruction to the collaborative inspection server to trigger the generation of a new inspection task.

[0032] Implementing the embodiments of the present invention has the following beneficial effects:

[0033] The present invention generates an inspection task carrying the coordinates and identity codes of the intelligent sensing units to be inspected when the collaborative inspection server communicates with the inspection robot, and sends it to the inspection robot, so that the inspection robot first writes all the identity codes into the first RFID tag, and then plans the path according to all the coordinates, interacts with each intelligent sensing unit to be inspected to activate the corresponding intelligent sensing unit to be inspected to collect substation-related data and write it into the second RFID tag, and then the inspection robot reads and feeds back to the collaborative inspection server for analysis, thereby solving the problem of discrepancies in data analysis results caused by the untimely acquisition of hidden danger information and the inadequate inspection position in the existing automatic inspection method. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0035] Figure 1 This is a structural diagram of a hierarchical distributed collaborative inspection system for a smart substation provided in Embodiment 1 of the present invention;

[0036] Figure 2This is a structural diagram of another hierarchical distributed collaborative inspection system for a smart substation provided in Embodiment 2 of the present invention;

[0037] Figure 3 This is a structural diagram of another hierarchical distributed collaborative inspection system for smart substations provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown in the figure, a hierarchical distributed collaborative inspection system for a smart substation proposed in the first embodiment of the present invention includes a collaborative inspection server 11, an inspection robot 12 and a plurality of intelligent sensing units 13; wherein,

[0040] The collaborative inspection server 11 is used to send the inspection task that is pre-generated and carries the coordinates and identity code of the intelligent sensing unit 13 to be inspected to the inspection robot 12 when communicating with the inspection robot 12 (such as by wireless means); and receive the substation-related data fed back by the inspection robot 12 based on the inspection task, and perform fault analysis, including fault detection, fault prediction, task / alarm generation, etc.; wherein the substation-related data includes but is not limited to the alarm signal and tripping and closing status of the main equipment, the safety information, online monitoring data and trend alarm signal of the auxiliary equipment, and the temperature, humidity, pressure, sound and equipment image of the main equipment and / or the auxiliary equipment; it should be noted that the main equipment and the auxiliary equipment are divided according to the electrical function, which is common knowledge in this field and will not be repeated here;

[0041] The inspection robot 12 is provided with a first RFID reader 121 and a first RFID tag 122; the inspection robot 12 is used to, when receiving an inspection task issued by the collaborative inspection server 1, first write the identity codes of all the intelligent sensing units 13 to be inspected in the inspection task into the first RFID tag 122 through the first RFID reader 121, and then perform path planning according to the coordinates of all the intelligent sensing units 13 to be inspected in the inspection task, and further perform data interaction with each intelligent sensing unit 13 to be inspected according to the planned path, in combination with the first RFID reader 121 and the first RFID tag 122, so as to obtain the substation-related data collected by each intelligent sensing unit 13 to be inspected and feed it back to the collaborative inspection server 11; it should be noted that the inspection robot 12 is a robot body driven by a motor to slide on the slide rails of all the intelligent sensing units 13 in a predetermined path to realize inspection, and the planned path is the motion trajectory of the inspection robot 12 on the slide rail and is obtained through a certain algorithm. At this time, the path planning and motion mode are realized by using common technical means in this field, which will not be repeated here;

[0042] Each intelligent sensing unit 13 is provided with a second RFID reader 131 and a second RFID tag 132; each intelligent sensing unit 13 is used to determine that the second RFID reader 131 provided thereon has established data interaction with the first RFID tag 122 of the inspection robot 12 (i.e., based on the Internet of Things communication method), and when the second RFID reader 131 provided thereon reads an identity code in the first RFID tag 122 that is consistent with its pre-stored identity code, confirm that it is a smart sensing unit to be inspected, further activate it to collect substation-related data, and transmit the collected substation-related data to the second RFID reader 131 provided thereon. The D reader 131 is written into the corresponding second RFID tag 132, and after it is determined that the second RFID tag 132 set thereon has established data interaction with the first RFID reader 121 of the inspection robot 12, the inspection robot 12 reads the collected substation-related data from the second RFID tag 132 set thereon; it should be noted that the pre-stored identity code of each intelligent sensing unit 13 is located in a configuration file or database; at this time, the intelligent sensing unit 13 is one or more of a visible light camera, an infrared detector, a corona detection camera, a temperature sensor, a humidity detector, a sound sensor, a gas sensor and a pressure sensor.

[0043] It is understandable that the inspection tasks generated by the collaborative inspection server 11 can be pre-stored or pre-generated according to user instructions. Of course, the inspection tasks can also be issued by other communication devices. In addition, the data collected by the inspection robot 12 can be divided into two parts, including not only the data collected by the intelligent sensing unit 3 and transmitted to the inspection robot 12, but also the data collected by the sensors carried by the inspection robot 11. Therefore, the inspection robot 12 is also provided with a plurality of sensors (not shown, including cameras, etc.) for collecting equipment status and on-site environment data, so that the inspection robot can collect data on the equipment status and on-site environment around each intelligent sensing unit 13 to be inspected according to the planned path, and further perform information processing, scene recognition and defect detection.

[0044] In the first embodiment of the present invention, the collaborative inspection system also includes: a monitoring host 14 pre-installed with a substation equipment monitoring system; wherein the monitoring host 14 is connected to the collaborative inspection server 11, and is used to retrieve substation-related data from the collaborative inspection server 11, and when it is determined that there is an alarm signal or abnormal equipment data in the substation-related data, an inspection instruction is sent to the collaborative inspection server 11, so that the collaborative inspection server 1 triggers the generation of a new inspection task.

[0045] In one embodiment, first, the monitoring host 14 retrieves an alarm signal or finds that the equipment is working abnormally through the substation equipment control system, and immediately sends an inspection instruction to the collaborative inspection server 11, and the collaborative inspection server 11 triggers the corresponding inspection task;

[0046] Secondly, the collaborative detection server 11 generates an inspection task based on the inspection instruction of the monitoring host 14 and sends it to the inspection robot 12; wherein the inspection task includes the coordinates of the intelligent sensing unit 13 to be inspected and the identity code of the intelligent sensing unit 13 to be inspected;

[0047] Next, the inspection robot 12 performs autonomous path planning according to the coordinates of the intelligent sensing unit 13 to be inspected, and writes the identity code of the intelligent sensing unit 13 to be inspected into the first RFID tag 122 through the first RFID reader 121 provided thereon;

[0048] Next, the inspection robot 12 moves to the corresponding position of each intelligent sensing unit 13 to be inspected through the path set by the program;

[0049] Next, the second RFID reader 131 provided on each of the intelligent sensing units 13 to be inspected exchanges data with the inspection robot 12 to read the relevant identity code in the first RFID tag 132 provided on the inspection robot 12; at this time, if the relevant identity code in the first RFID tag 132 is consistent with the configuration file of the current inspection intelligent sensing unit 13 or the identity code pre-stored in the database, the current inspection intelligent sensing unit 13 is activated to obtain substation-related data, such as temperature, humidity, gas, pressure, sound, etc.;

[0050] Next, the current inspection intelligent sensing unit 13 encodes the collected substation-related data, and writes the code into the second RFID tag 132 through the second RFID reader 131;

[0051] Finally, the inspection robot 12 reads the code (also including RFID tag information, such as device model, serial number, parameter threshold, set warning or alarm threshold) on each intelligent sensing unit 13 to be inspected through the first RFID reader 121 provided thereon, and sends it to the collaborative inspection server 11 for analysis.

[0052] like Figure 2 As shown, another hierarchical distributed collaborative inspection system for smart substations provided in the second embodiment of the present invention includes a collaborative inspection server 21, an inspection robot 22 and a plurality of intelligent actuators 23; wherein,

[0053] The collaborative inspection server 21 is used to send a pre-generated inspection task carrying the coordinates of the intelligent actuator 23 to be inspected to the inspection robot 22 when communicating with the inspection robot 22;

[0054] The inspection robot 22 is provided with a first RFID reader 221, a first RFID tag 222 and a vehicle-mounted camera 223; the inspection robot 222 is used to plan a path according to the coordinates of all the intelligent actuators 23 to be inspected in the inspection task when receiving the inspection task issued by the collaborative inspection server 21, and further obtain the working conditions of the substation control cabinet (not shown) where each intelligent actuator 23 to be inspected is located according to the planned path and in combination with the vehicle-mounted camera 223, and when it is determined that the substation control cabinet where any intelligent actuator 23 to be inspected is located is working normally, the corresponding control information is transmitted through the first RFID reader 221 is written into the first RFID tag 222; it should be noted that the inspection robot 22 is driven by a motor to slide on the slide rails of all intelligent actuators 23 in a predetermined path to realize inspection, and the planned path is the motion trajectory of the inspection robot 22 on the slide rail and is obtained through a certain algorithm. At this time, the path planning and motion mode are realized by common technical means in this field, which will not be repeated here; in addition, the working condition of the substation control cabinet is obtained by inputting the on-site picture into the working state recognition model constructed based on the neural network model, which also belongs to the common technical means in this field and will not be repeated here;

[0055] Each intelligent actuator 23 is installed on a corresponding substation control cabinet, including a second RFID reader 231, a status indicator light 232 and a relay switch 233 connected to a reset switch (not shown) preset on the substation control cabinet; each intelligent actuator 23 is used to confirm that it is an intelligent actuator to be inspected when it is determined that the second RFID reader 231 installed thereon has established data interaction with the first RFID tag 222 of the inspection robot 22, and further drive the relay switch 223 installed thereon to complete the reset operation of the reset switch on the substation control cabinet where it is located, and reflect the qualification of the reset operation by displaying different colors through the status indicator light 222 installed thereon; wherein, if the status indicator light 222 displays a green light, it reflects that the reset operation is qualified; if the status indicator light 222 displays a red light, it reflects that the reset operation is unqualified; it should be noted that each intelligent actuator 23 operates the reset switch on the substation control cabinet where it is located through the relay switch 223 by adopting common technical means in the field, which will not be repeated here.

[0056] It is understandable that the inspection tasks generated by the collaborative inspection server 21 can be pre-stored or pre-generated according to user instructions. Of course, the inspection tasks can also be issued by other communication devices. In addition, the inspection robot 12 can also monitor the reset operation of each intelligent actuator 23 to be inspected. Therefore, the inspection robot 22 is also used to collect the image of the status indicator light 222 set after each intelligent actuator 23 performs a reset operation on the reset switch on the substation control cabinet through the on-board camera 223 to determine whether the reset operation of each intelligent actuator 23 is completed, and when it is determined that the reset operation of any intelligent actuator 23 is not completed, re-interact data with the intelligent actuator 23 that has not completed the reset operation. It should be noted that judging whether the reset operation of the intelligent actuator 23 is completed by the image of the status indicator light 222 can be achieved by using an image recognition model constructed based on a neural network model, which belongs to the commonly used technical means in this field and will not be repeated here.

[0057] In the second embodiment of the present invention, the collaborative inspection system further includes: a monitoring host 24 pre-installed with a substation equipment monitoring system; wherein,

[0058] One end of the monitoring host 24 is connected to the collaborative inspection server 21, and the other end is connected to the monitor pre-installed on each substation control cabinet (not shown in the figure). It is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator 23 installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator 23, and carry the obtained coordinates of the intelligent actuator 23 in the inspection instruction and send it to the collaborative inspection server 21, so that the collaborative inspection server 21 triggers the generation of a new inspection task.

[0059] In one embodiment, the monitoring host 24 retrieves the alarm information of the substation control cabinet through the substation equipment control system, and immediately sends an inspection instruction to the collaborative inspection server 21, and the collaborative inspection server 21 triggers the corresponding inspection task;

[0060] Secondly, the collaborative detection server 21 generates an inspection task based on the inspection instruction of the monitoring host 24, and sends it to the inspection robot 22; wherein the inspection task includes the coordinates of the intelligent actuator 23 to be inspected;

[0061] Next, the inspection robot 22 performs autonomous path planning according to the coordinates of the intelligent actuator 23 to be inspected;

[0062] Next, the inspection robot 22 moves to the corresponding position of each intelligent actuator 23 to be inspected through the path set by the program, and uses the on-board camera 223 to collect images on the substation control cabinet where each intelligent actuator 23 to be inspected is located, and then analyzes and identifies the images to determine whether the substation control cabinet where each intelligent actuator 23 to be inspected is located is working normally;

[0063] Next, after the inspection robot 22 confirms that the current inspection intelligent actuator 23 is working normally, it drives the first RFID reader 221 provided thereon to write the control information into the first RFID tag 222;

[0064] Next, the current patrol inspection intelligent actuator 23 receives the relevant control information in the first RFID tag 222 through the second RFID reader 231 provided thereon, and drives the relay switch 233 to complete the reset operation of the reset switch on the substation control cabinet where the current patrol inspection intelligent actuator 23 is located, and makes the status indicator light 222 display different colors to indicate whether the reset operation is qualified;

[0065] Finally, the inspection robot 22 continues to collect the image of the status indicator light 222 of the current inspection intelligent actuator 23 through the on-board camera 223, and performs intelligent recognition to determine whether the reset operation is completed; if the reset operation is not completed, that is, fails, the current inspection intelligent actuator 23 can be allowed to receive the relevant control information in the first RFID tag 222 again through the second RFID reader 231 provided thereon until it is confirmed that the current inspection intelligent actuator 23 has completed the reset operation.

[0066] like Figure 3 As shown, another hierarchical distributed collaborative inspection system for smart substations provided in the third embodiment of the present invention includes a collaborative inspection server 31, an inspection robot 32, a plurality of intelligent sensing units 33 and a plurality of intelligent actuators 34; wherein,

[0067] The collaborative inspection server 31 is used to send the inspection task that is pre-generated and carries the coordinates of the intelligent sensing unit 33 to be inspected, the identity code of the intelligent sensing unit 33 to be inspected, and the coordinates of the intelligent actuator 34 to be inspected to the inspection robot 32 when communicating with the inspection robot 32; and receive the substation-related data fed back by the inspection robot 32 based on the inspection task, and perform fault analysis, including fault detection, fault prediction, task / alarm generation, etc.; wherein the substation-related data includes but is not limited to the alarm signal and tripping and closing status of the main equipment, the safety information, online monitoring data and trend alarm signal of the auxiliary equipment, and the temperature, humidity, pressure, sound and equipment image of the main equipment and / or the auxiliary equipment; it should be noted that the main equipment and the auxiliary equipment are divided according to the electrical function, which is common knowledge in this field and will not be repeated here;

[0068] The inspection robot 32 is provided with a first RFID reader 321, a first RFID tag 322 and a vehicle-mounted camera 323; the inspection robot 32 is used for, when receiving an inspection task issued by the collaborative inspection server 31, first writing the identity codes of all the intelligent sensing units 33 to be inspected in the inspection task into the first RFID tag 322 through the first RFID reader 321, and then performing a first path planning according to the coordinates of all the intelligent sensing units 33 to be inspected in the inspection task, and further performing data interaction with each intelligent sensing unit 33 to be inspected according to the planned first path, in combination with the first RFID reader 321 and the first RFID tag 322, so as to obtain the substation-related data collected by each intelligent sensing unit 33 to be inspected and feed it back to the collaborative inspection server 31; and performing a second path planning according to the coordinates of all the intelligent actuators 34 to be inspected in the inspection task, and further performing a second path planning according to the planned second path, in combination with the vehicle-mounted camera 323, in order to obtain the working conditions of the substation control cabinet where each intelligent actuator 34 to be inspected is located, and when it is determined that any substation control cabinet where any intelligent actuator 34 to be inspected is located is working normally, the corresponding control information is written into the first RFID tag 322 through the first RFID reader 321; it should be noted that the inspection robot 32 is driven by a motor to slide on the slide rails of all intelligent sensing units 33 and intelligent actuators 34 in a predetermined path to realize inspection, and the planned first path and second path are the motion trajectories of the inspection robot 32 on the slide rails and are obtained through a certain algorithm, and the two can also be optimized and merged. At this time, the path planning and movement mode are realized by the common technical means in this field, which will not be repeated here; in addition, the working condition of the substation control cabinet is obtained by inputting the on-site picture into the working state recognition model constructed based on the neural network model, which also belongs to the common technical means in this field, and will not be repeated here;

[0069] Each intelligent sensing unit 33 is provided with a second RFID reader 331 and a second RFID tag 332; each intelligent sensing unit 33 is used to determine that the second RFID reader 321 provided thereon has established data interaction with the first RFID tag 322 of the inspection robot 32, and when the second RFID reader 331 provided thereon reads an identity code in the first RFID tag 322 that is consistent with its pre-stored identity code, confirm that it is an intelligent sensing unit to be inspected, further activate it to collect substation-related data, and transmit the collected substation-related data to the second RFID reader 33 provided thereon. 1 is written into the corresponding second RFID tag 332, and after it is determined that the second RFID tag 332 set thereon has established data interaction with the first RFID reader 321 of the inspection robot 32, the inspection robot 32 reads the collected substation-related data from the second RFID tag 332 set thereon; it should be noted that the pre-stored identity code of each intelligent sensing unit 33 is located in the configuration file or database; at this time, the intelligent sensing unit 33 is one or more of a visible light camera, an infrared detector, a corona detection camera, a temperature sensor, a humidity detector, a sound sensor, a gas sensor and a pressure sensor;

[0070] Each intelligent actuator 34 is correspondingly installed on a corresponding substation control cabinet (not shown), including a third RFID reader 341, a status indicator light 342 and a relay switch 343 connected to a reset switch (not shown) preset on the substation control cabinet; each intelligent actuator 34 is used to confirm that it is an intelligent actuator to be inspected when it is determined that the third RFID reader 341 installed thereon has established data interaction with the first RFID tag 322 of the inspection robot 32, and further drive the relay switch 343 installed thereon to complete the reset operation of the reset switch on the substation control cabinet where it is located, and reflect the qualification of the reset operation by displaying different colors through the status indicator light 342 installed thereon; wherein, if the status indicator light 342 displays a green light, it reflects that the reset operation is qualified; if the status indicator light 342 displays a red light, it reflects that the reset operation is unqualified; it should be noted that each intelligent actuator 34 operates the reset switch on the substation control cabinet where it is located through the relay switch 343 by adopting common technical means in the field, which will not be repeated here.

[0071] It is understandable that the inspection task generated by the collaborative inspection server 31 may be pre-stored or pre-generated according to a user instruction. Of course, the inspection task may also be issued by other communication devices.

[0072] In the third embodiment of the present invention, the collaborative inspection system further includes: a monitoring host 35 pre-installed with a substation equipment monitoring system; wherein,

[0073] One end of the monitoring host 35 is connected to the collaborative inspection server 31, and the other end is connected to the monitor (not shown) pre-installed on each substation control cabinet, and is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator 34 installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator 34, and carry the obtained coordinates of the intelligent actuator 34 in the inspection instruction and send it to the collaborative inspection server 31, so that the collaborative inspection server 31 triggers the generation of a new inspection task; or / and,

[0074] The substation-related data is retrieved from the collaborative detection server 31, and if it is determined that there is an alarm signal or abnormal equipment data in the substation-related data, an inspection instruction is sent to the collaborative inspection server 31, so that the collaborative inspection server 31 triggers the generation of a new inspection task.

[0075] It should be noted that the collaborative inspection system in Example 3 of the present invention includes both the intelligent sensing unit 33 and the intelligent actuator 34, so that its specific working principle is a combination of the working principles of the collaborative inspection systems in Examples 1 and 2 of the present invention. The specific content is obtained by analogy with the relevant content of the collaborative inspection systems in Examples 1 and 2 of the present invention, and will not be repeated here one by one.

[0076] Implementing the embodiments of the present invention has the following beneficial effects:

[0077] The present invention generates an inspection task carrying the coordinates and identity codes of the intelligent sensing units to be inspected when the collaborative inspection server communicates with the inspection robot, and sends it to the inspection robot, so that the inspection robot first writes all the identity codes into the first RFID tag, and then plans the path according to all the coordinates, interacts with each intelligent sensing unit to be inspected to activate the corresponding intelligent sensing unit to be inspected to collect substation-related data and write it into the second RFID tag, and then the inspection robot reads and feeds back to the collaborative inspection server for analysis, thereby solving the problem of discrepancies in data analysis results caused by the untimely acquisition of hidden danger information and the inadequate inspection position in the existing automatic inspection method.

[0078] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A hierarchical distributed collaborative inspection system for smart substations, characterized in that: It includes collaborative inspection servers, inspection robots and multiple intelligent sensing units; among them, The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates and identity code of the intelligent sensing unit to be inspected to the inspection robot when communicating with the inspection robot; and receive the substation-related data fed back by the inspection robot based on the inspection task, and perform fault analysis; The inspection robot is provided with a first RFID reader and a first RFID tag; the inspection robot is used to, when receiving an inspection task issued by the collaborative inspection server, first write the identity codes of all the intelligent sensing units to be inspected in the inspection task into the first RFID tag through the first RFID reader, and then perform path planning according to the coordinates of all the intelligent sensing units to be inspected in the inspection task, and further perform data interaction with each intelligent sensing unit to be inspected according to the planned path and in combination with the first RFID reader and the first RFID tag, so as to obtain the substation-related data collected by each intelligent sensing unit to be inspected and feed it back to the collaborative inspection server; Each intelligent sensing unit is provided with a second RFID reader and a second RFID tag; each intelligent sensing unit is used to confirm that it is an intelligent sensing unit to be inspected when it is determined that the second RFID reader provided thereon has established data interaction with the first RFID tag of the inspection robot, and an identity code in the first RFID tag read by the second RFID reader provided thereon is consistent with its pre-stored identity code, and further activate it to collect substation-related data, and write the collected substation-related data into the corresponding second RFID tag through the second RFID reader provided thereon, and then, after it is determined that the second RFID tag provided thereon has established data interaction with the first RFID reader of the inspection robot, allow the inspection robot to read the collected substation-related data from the second RFID tag provided thereon.

2. The hierarchical distributed collaborative inspection system for smart substations according to claim 1, characterized in that: Also includes: The monitoring host is pre-installed with the substation equipment monitoring system; The monitoring host is connected to the collaborative inspection server and is used to retrieve substation-related data from the collaborative detection server, and when it is determined that there are alarm signals or abnormal equipment data in the substation-related data, it sends inspection instructions to the collaborative inspection server, so that the collaborative inspection server triggers the generation of new inspection tasks.

3. The hierarchical distributed collaborative inspection system for smart substations according to claim 1, characterized in that: The inspection robot is also provided with a plurality of sensors for collecting equipment status and on-site environment data; among them, The inspection robot is also used to collect data on the equipment status and on-site environment around each intelligent sensing unit to be inspected according to the planned path, and further perform information processing, scene recognition and defect detection.

4. The hierarchical distributed collaborative inspection system for smart substations according to claim 1, characterized in that: The intelligent sensing unit is one or more of a visible light camera, an infrared detector, a corona detection camera, a temperature sensor, a humidity detector, a sound sensor, a gas sensor and a pressure sensor.

5. The hierarchical distributed collaborative inspection system for smart substations according to claim 1, characterized in that: The substation-related data includes the alarm signals and tripping and closing conditions of the main equipment, the safety information, online monitoring data and trend alarm signals of the auxiliary equipment, and the temperature, humidity, pressure, sound and equipment images of the main equipment and / or the auxiliary equipment.

6. A hierarchical distributed collaborative inspection system for smart substations, characterized in that: It includes a collaborative inspection server, an inspection robot and multiple intelligent actuators; among them, The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates of the intelligent actuator to be inspected to the inspection robot when communicating with the inspection robot; The inspection robot is provided with a first RFID reader, a first RFID tag and a vehicle-mounted camera; the inspection robot is used to plan a path according to the coordinates of all the intelligent actuators to be inspected in the inspection task when receiving the inspection task issued by the collaborative inspection server, and further obtain the working conditions of the substation control cabinet where each intelligent actuator to be inspected is located according to the planned path and in combination with the vehicle-mounted camera, and when it is judged that the substation control cabinet where any intelligent actuator to be inspected is located is working normally, write the corresponding control information into the first RFID tag through the first RFID reader; Each intelligent actuator is installed on a corresponding substation control cabinet, including a second RFID reader, a status indicator light and a relay switch connected to a reset switch preset on the substation control cabinet; each intelligent actuator is used to confirm that it is an intelligent actuator to be inspected when it is determined that the second RFID reader installed thereon has established data interaction with the first RFID tag of the inspection robot, and further drive the relay switch installed thereon to complete the reset operation of the reset switch on the substation control cabinet, and reflect the qualification of the reset operation by displaying different colors of the status indicator light installed thereon; wherein, if the status indicator light displays a green light, it reflects that the reset operation is qualified; if the status indicator light displays a red light, it reflects that the reset operation is unqualified.

7. The hierarchical distributed collaborative inspection system for smart substations according to claim 6, characterized in that: The inspection robot is also used to collect, through the on-board camera, the image of the status indicator light set after each intelligent actuator performs a reset operation on the reset switch on the substation control cabinet where it is located, to determine whether the reset operation of each intelligent actuator is completed, and when it is determined that the reset operation of any intelligent actuator is not completed, re-exchange data with the intelligent actuator that has not completed the reset operation.

8. The hierarchical distributed collaborative inspection system for smart substations according to claim 6, characterized in that: Also includes: The monitoring host is pre-installed with the substation equipment monitoring system; One end of the monitoring host is connected to the collaborative inspection server, and the other end is connected to the monitor pre-installed on each substation control cabinet, and is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator, and carry the obtained coordinates of the intelligent actuator in the inspection instruction and send it to the collaborative inspection server, so that the collaborative inspection server triggers the generation of a new inspection task.

9. A hierarchical distributed collaborative inspection system for smart substations, characterized in that: It includes a collaborative inspection server, an inspection robot, multiple intelligent sensing units and multiple intelligent actuators; among which, The collaborative inspection server is used to send a pre-generated inspection task carrying the coordinates of the intelligent sensing unit to be inspected, the identity code of the intelligent sensing unit to be inspected, and the coordinates of the intelligent actuator to be inspected to the inspection robot when communicating with the inspection robot; and receive the substation-related data fed back by the inspection robot based on the inspection task, and perform fault analysis; The inspection robot is provided with a first RFID reader, a first RFID tag and a vehicle-mounted camera; the inspection robot is used to, when receiving the inspection task issued by the collaborative inspection server, first write the identity codes of all the intelligent sensing units to be inspected in the inspection task into the first RFID tag through the first RFID reader, and then perform a first path planning according to the coordinates of all the intelligent sensing units to be inspected in the inspection task, and further perform data interaction with each intelligent sensing unit to be inspected according to the planned first path and in combination with the first RFID reader and the first RFID tag, so as to obtain the substation-related data collected by each intelligent sensing unit to be inspected and feed it back to the collaborative inspection server; and, perform a second path planning according to the coordinates of all the intelligent actuators to be inspected in the inspection task, and further obtain the working conditions of the substation control cabinet where each intelligent actuator to be inspected is located according to the planned second path and in combination with the vehicle-mounted camera, and when it is judged that the substation control cabinet where any intelligent actuator to be inspected is located is working normally, write the corresponding control information into the first RFID tag through the first RFID reader; Each intelligent sensing unit is provided with a second RFID reader and a second RFID tag; each intelligent sensing unit is used to confirm that it is an intelligent sensing unit to be inspected, and further activate it to collect substation-related data, and write the collected substation-related data into the corresponding second RFID tag through the second RFID reader provided thereon, and after it is determined that the second RFID reader provided thereon has established data interaction with the first RFID tag of the inspection robot, and an identity code in the first RFID tag read by the second RFID reader provided thereon is consistent with its pre-stored identity code, and then allow the inspection robot to read the collected substation-related data from the second RFID tag provided thereon; Each intelligent actuator is installed on a corresponding substation control cabinet, including a third RFID reader, a status indicator light and a relay switch connected to a reset switch preset on the substation control cabinet; each intelligent actuator is used to confirm that it is an intelligent actuator to be inspected when it is determined that the third RFID reader installed thereon has established data interaction with the first RFID tag of the inspection robot, and further drive the relay switch installed thereon to complete the reset operation of the reset switch on the substation control cabinet, and reflect the qualification of the reset operation by displaying different colors of the status indicator light installed thereon; wherein, if the status indicator light displays a green light, it reflects that the reset operation is qualified; if the status indicator light displays a red light, it reflects that the reset operation is unqualified.

10. The hierarchical distributed collaborative inspection system for smart substations according to claim 9, characterized in that: Also includes: The monitoring host is pre-installed with the substation equipment monitoring system; One end of the monitoring host is connected to the collaborative inspection server, and the other end is connected to the monitor pre-installed on each substation control cabinet, and is used to obtain the monitoring information of each substation control cabinet and the coordinates of the corresponding intelligent actuator installed thereon from the monitor on each connected substation control cabinet, and further select the substation control cabinet containing alarm information in the monitoring information to obtain the coordinates of the corresponding intelligent actuator, and carry the obtained coordinates of the intelligent actuator in the inspection instruction and send it to the collaborative inspection server, so that the collaborative inspection server triggers the generation of a new inspection task; or / and, Retrieve substation related data from the collaborative detection server, and when it is determined that there are alarm signals or abnormal equipment data in the substation related data, send an inspection instruction to the collaborative inspection server to trigger the generation of a new inspection task.

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