Equipment inspection method and device for transformer substation and nonvolatile storage medium

Abstract

The invention discloses an equipment inspection method and device for a transformer substation and a nonvolatile storage medium. The method comprises the following steps: acquiring a plurality of inspection tasks respectively corresponding to a plurality of target devices in a transformer substation; determining a plurality of inspection task groups based on a predetermined time period; according to the multiple parameters corresponding to the multiple inspection task groups, multiple inspection items corresponding to the multiple inspection task groups are generated, and one inspection item comprises one parameter and multiple corresponding target devices; and issuing the plurality of inspection items corresponding to the plurality of inspection task groups to the corresponding one or more inspection robots, and performing acquisition through the one or more inspection robots to obtain one or more parameter values corresponding to the plurality of target devices. According to the invention, the technical problems of low efficiency and low utilization rate of the detection equipment of the existing method for inspecting the substation equipment by using a robot are solved.

Description

Technical Field

[0001] The present invention relates to the field of substation detection, and in particular to an equipment inspection method, device and non-volatile storage medium for substations. Background Art

[0002] As people's electricity demand changes, especially the quality requirements for the stability of power transmission by the power grid, the reliability requirements for the power grid have also increased accordingly. The power grid includes infrastructure such as substations, and substations include a variety of substation equipment. When maintenance personnel perform maintenance on the substations under their jurisdiction, there are many substations under their jurisdiction, with a wide range of equipment models and complex operating conditions. In addition, there are also a large number of special-grade guarantee stations in the substations under their jurisdiction, and the state control of substation equipment during operation faces severe challenges. Faced with high-standard equipment operation and monitoring requirements, there are problems such as insufficient reliability of online monitoring equipment and high pressure on manual inspections.

[0003] As the new power system is developing at a faster pace, the contradiction between insufficient grassroots equipment management personnel and the continuous growth of equipment scale is becoming increasingly prominent. In order to solve the contradiction between insufficient operation and maintenance personnel and the increasing amount of equipment maintenance, substations rely on robots and other equipment to replace some of the operation and maintenance personnel in the substation operation and maintenance work. However, traditional patrol robots patrol at fixed times and points on predetermined routes, and the types of data collected are relatively small, and they cannot comprehensively record the operation of substation substation equipment; power patrol robots carry fewer businesses and have relatively single functions, so they are of limited help to substation inspection work.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and non-volatile storage medium for substation equipment inspection, so as to at least solve the technical problems that the current method of using robots to inspect substation equipment is low in efficiency and the utilization rate of detection equipment is low.

[0006] According to one aspect of an embodiment of the present invention, there is provided an equipment inspection method for a substation, comprising: obtaining a plurality of inspection tasks corresponding to a plurality of target devices in the substation, wherein the inspection tasks represent the detection of one or more parameters of the target devices within a predetermined time period; determining a plurality of inspection task groups based on the predetermined time period, wherein one inspection task group includes a plurality of inspection tasks, and the predetermined time periods of the plurality of inspection tasks corresponding to one inspection task group are the same; generating a plurality of inspection items corresponding to the plurality of inspection task groups according to the plurality of parameters corresponding to the plurality of inspection task groups, wherein one inspection item includes a parameter and a plurality of corresponding target devices; issuing the plurality of inspection items corresponding to the plurality of inspection task groups to the corresponding one or more inspection robots, collecting the items through the one or more inspection robots, and obtaining the one or more parameter values ​​corresponding to the plurality of target devices, wherein one inspection robot includes a plurality of detection instruments for executing the plurality of inspection items.

[0007] Optionally, multiple inspection tasks corresponding to multiple target devices in the substation are obtained, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period, including: obtaining the inspection frequency, inspection duration and inspection start time corresponding to each of the multiple target devices; based on the inspection frequency, inspection duration and inspection start time, determining multiple predetermined time periods corresponding to each of the multiple target devices; based on the multiple predetermined time periods corresponding to each of the multiple target devices, determining multiple inspection tasks corresponding to each of the multiple target devices.

[0008] Optionally, the multiple inspection tasks further include a temporary inspection task, wherein the priority of the temporary inspection task is higher than any inspection task other than the temporary inspection task among the multiple inspection tasks.

[0009] Optionally, multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding inspection robots, including: obtaining the detection duration of multiple target devices corresponding to each of the multiple inspection task groups, the distance between the multiple target devices corresponding to each of the multiple inspection task groups, and the moving speed of the inspection robot; determining the time for the inspection robot to move between the multiple target devices based on the distance between the multiple target devices corresponding to each of the multiple inspection task groups and the moving speed of the inspection robot; determining the inspection moments of the multiple target devices corresponding to each of the multiple inspection task groups based on the moving time of the inspection robot between the multiple target devices and the detection duration; and sending the multiple inspection items corresponding to each of the multiple inspection task groups and the inspection moments of the multiple target devices corresponding to the multiple inspection task groups to the corresponding inspection robots.

[0010] Optionally, multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect data to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items, and further includes: after the multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, the status information corresponding to each of the multiple detection instruments is obtained, wherein the status information includes the remaining power, connection status and working status; when the remaining power of any of the multiple detection instruments is less than a preset threshold, or the connection is disconnected, or the working status is abnormal, an instruction to obtain a new detection instrument from the charging management box is sent to the corresponding inspection robot.

[0011] Optionally, based on one or more parameter values ​​corresponding to each of the multiple target devices, inspection results corresponding to each of the multiple target devices are generated, wherein the inspection results include the model of the target device, one or more parameter values, and a status assessment result of the target device, and the status assessment result includes device abnormality and device normality.

[0012] According to another aspect of an embodiment of the present invention, there is also provided an equipment inspection device for a substation, comprising: an acquisition module, for acquiring multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; a determination module, for determining multiple inspection task groups based on the predetermined time period, wherein one inspection task group includes multiple inspection tasks, and the predetermined time period of multiple inspection tasks corresponding to one inspection task group is the same; a generation module, for generating multiple inspection items corresponding to multiple inspection task groups according to multiple parameters corresponding to each of the multiple inspection task groups, wherein one inspection item includes a parameter and corresponding multiple target devices; a collection module, for sending the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, and collecting them through the one or more inspection robots to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0013] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above-mentioned equipment inspection methods for substations.

[0014] According to another aspect of the embodiments of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above-mentioned equipment inspection methods for substations is executed.

[0015] According to another aspect of the embodiments of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, any one of the above-mentioned equipment inspection methods for a substation is implemented.

[0016] In an embodiment of the present invention, an equipment inspection method for a substation is adopted, by obtaining multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; based on the predetermined time period, multiple inspection task groups are determined, wherein one inspection task group includes multiple inspection tasks, and the predetermined time period of multiple inspection tasks corresponding to one inspection task group is the same; according to the multiple parameters corresponding to the multiple inspection task groups, multiple inspection items corresponding to the multiple inspection task groups are generated, wherein one inspection item includes a parameter and corresponding multiple target devices; the multiple inspection items corresponding to the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect the items, so as to obtain one or more parameter values ​​corresponding to the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items, so as to achieve the purpose of effectively planning the work tasks of the inspection robot, thereby achieving the technical effect of improving the inspection efficiency and the utilization rate of the detection equipment, thereby solving the technical problem that the current method of using robots to inspect substation equipment is low in efficiency and the utilization rate of the detection equipment is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a computer terminal for implementing a device inspection method for a substation is shown;

[0019] Figure 2 is a flow chart of a method for inspecting equipment in a substation according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of device management provided according to an optional embodiment of the present invention;

[0021] Figure 4 is a functional schematic diagram of a digital application of live detection provided according to an optional embodiment of the present invention;

[0022] Figure 5 is a functional schematic diagram of a robot inspection application provided according to an optional embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of a live-charge detection method for a multifunctional inspection robot provided according to an optional embodiment of the present invention;

[0024] Figure 7 is a schematic diagram of a live detection service system for a multifunctional inspection robot according to an optional embodiment of the present invention;

[0025] Figure 8 It is a structural block diagram of an equipment inspection device for a substation provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present invention, an embodiment of an equipment inspection method for a substation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1The hardware structure block diagram of a computer terminal for implementing a device inspection method for a substation is shown. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0030] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0031] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the equipment inspection method for substation in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the equipment inspection method for substation of the above-mentioned application program is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0033] Figure 2FIG. 1 is a flow chart of a method for inspecting equipment in a substation according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0034] Step S201: acquiring a plurality of inspection tasks corresponding to a plurality of target devices in a substation, wherein the inspection task represents the detection of one or more parameters of the target devices within a predetermined time period.

[0035] In this step, the inspection task is obtained through the substation detection server, and the multifunctional inspection robot is responsible for patrolling and inspecting the substation equipment. There can be one or more inspection tasks, and there is no limit on the specific number of inspection tasks. When obtaining the inspection task, there can be multiple ways, such as directly obtaining or formulating the inspection task according to the inspection plan. The inspection plan is a pre-specified plan for substation inspection, including the target equipment to be inspected, as well as the inspection frequency, inspection duration and inspection start time. For example, in a certain year, several preset substation equipment are inspected once a day, several substation equipment are inspected once a month, and several substation equipment are inspected once an hour in a certain week. There is no limit on the specific formulation method of the inspection plan. The inspection plan can be formulated manually or by a live detection digital application. For example, the user can enter the planned time, the substation equipment to be inspected, the inspection frequency and inspection of each substation equipment to be inspected in the live detection digital application. The planned time includes the duration of the inspection plan, such as one week, one month, one year, etc., and also includes the start time of the inspection; the inspection frequency includes inspection once a month, inspection once a week, inspection once a day, inspection once an hour, etc. For example, an optional embodiment of an inspection plan is as follows: the first substation equipment in the substation is inspected once every hour in the next week, and the second substation equipment in the substation is inspected once a day in the next month.

[0036] Step S202: determining a plurality of inspection task groups based on a predetermined time period, wherein one inspection task group includes a plurality of inspection tasks, and the predetermined time periods of the plurality of inspection tasks corresponding to one inspection task group are the same.

[0037] In this step, before generating multiple inspection items according to the inspection tasks according to the task allocation algorithm, the inspection tasks in the same scheduled time period are grouped as inspection tasks. The purpose of dividing the inspection task groups according to the scheduled time period of execution is to consider the timeliness of the data collected during the inspection. The timeliness of the data required by the inspection tasks in the same scheduled time period is the same, so the inspection tasks can be integrated.

[0038] For example, the inspection tasks of the first substation equipment include: inspection once at 0:00 on Monday, inspection once at 1:00 on Monday, inspection once at 2:00 on Monday, ..., inspection once at 21:00 on Sunday, inspection once at 22:00 on Sunday, and inspection once at 23:00 on Sunday. The inspection tasks formulated for the first substation equipment include 168 (7 days × 24 hours) inspection tasks in total.

[0039] The inspection tasks for the second substation equipment include: one inspection at 2:00 on the 1st day, one inspection at 2:00 on the 2nd day, one inspection at 2:00 on the 3rd day, ..., one inspection at 2:00 on the 27th day, one inspection at 2:00 on the 28th day, one inspection at 2:00 on the 29th day, and one inspection at 2:00 on the 30th day. The inspection tasks for the second substation equipment include 30 (30 days × 1 time) inspection tasks in total.

[0040] The inspection tasks of the third substation equipment include: one inspection at 0:00 on Monday, one inspection at 1:00 on Monday, one inspection at 2:00 on Monday, ..., one inspection at 21:00 on Sunday, one inspection at 22:00 on Sunday, and one inspection at 23:00 on Sunday. The inspection tasks formulated for the third substation equipment include a total of 168 (7 days × 24 hours) inspection tasks.

[0041] The inspection tasks of the fourth substation equipment include: one inspection at 2:00 on the 1st day, one inspection at 2:00 on the 2nd day, one inspection at 2:00 on the 3rd day, ..., one inspection at 2:00 on the 27th day, one inspection at 2:00 on the 28th day, one inspection at 2:00 on the 29th day, and one inspection at 2:00 on the 30th day. The inspection tasks formulated for the fourth substation equipment include 30 (30 days × 1 time) inspection tasks in total.

[0042] The inspection tasks of the fifth substation equipment include: one inspection at 0:00 on Monday, one inspection at 1:00 on Monday, one inspection at 2:00 on Monday, ..., one inspection at 21:00 on Sunday, one inspection at 22:00 on Sunday, and one inspection at 23:00 on Sunday. The inspection tasks formulated for the fifth substation equipment include a total of 168 (7 days × 24 hours) inspection tasks.

[0043] The inspection tasks of the sixth substation equipment include: one inspection at 0:00 on Monday, one inspection at 1:00 on Monday, one inspection at 2:00 on Monday, ..., one inspection at 21:00 on Sunday, one inspection at 22:00 on Sunday, and one inspection at 23:00 on Sunday. The inspection tasks formulated for the sixth substation equipment include a total of 168 (7 days × 24 hours) inspection tasks.

[0044] Taking the inspection tasks with the same scheduled time as the inspection task group, multiple inspection task groups can be obtained, as shown in the following example (in this embodiment, the 1st day is Monday, the 2nd day is Tuesday, and so on):

[0045] The inspection tasks of the first inspection task group include: inspect the first substation equipment once at 2 o'clock on Monday, inspect the second substation equipment once at 2 o'clock on the 1st, inspect the third substation equipment once at 2 o'clock on Monday, inspect the fourth substation equipment once at 2 o'clock on the 1st, inspect the fifth substation equipment once at 2 o'clock on Monday, and inspect the sixth substation equipment once at 2 o'clock on Monday.

[0046] The inspection tasks of the second inspection task group include: inspect the first substation equipment once at 2 o'clock on Tuesday, inspect the second substation equipment once at 2 o'clock on the 2nd, inspect the third substation equipment once at 2 o'clock on Tuesday, inspect the fourth substation equipment once at 2 o'clock on the 2nd, inspect the fifth substation equipment once at 2 o'clock on Tuesday, and inspect the sixth substation equipment once at 2 o'clock on Tuesday.

[0047] Step S203: generating a plurality of inspection items corresponding to the plurality of inspection task groups respectively according to the plurality of parameters corresponding to the plurality of inspection task groups respectively, wherein one inspection item includes one parameter and corresponding plurality of target devices.

[0048] In this step, first, the target devices included in each inspection task in the inspection task group and the parameters that need to be collected from each target device can be determined. When inspecting each target device in the inspection task, one or more parameters of the target device will be collected, and different live detection instruments may be used to collect each parameter. For example, the second parameter collected for the inspection of the first substation has the same number as the second parameter collected for the inspection of the second substation, representing the same parameter. In the above example, the target devices and parameters included in each inspection task in the first inspection task group are determined to include: the first parameter and the second parameter of the first substation; the first parameter and the third parameter of the second substation; the first parameter and the second parameter of the third substation; the first parameter and the third parameter of the fourth substation; the first parameter and the second parameter of the fifth substation; the first parameter and the second parameter of the sixth substation.

[0049] Subsequently, the target devices for which the inspection parameters need to be collected under each parameter can be determined, and multiple inspection items can be generated according to the one or more target devices corresponding to each parameter. Each inspection item includes a parameter and one or more corresponding target devices. Since each inspection item collects a parameter, the same inspection device is used. For example, the target devices for which the parameter needs to be collected under each parameter for the first inspection task group include:

[0050] First parameter: first substation equipment, second substation equipment, third substation equipment, fourth substation equipment, fifth substation equipment and sixth substation equipment;

[0051] Second parameter: the first substation equipment, the third substation equipment, the fifth substation equipment and the sixth substation equipment;

[0052] The third parameter: the second substation equipment and the fourth substation equipment.

[0053] Based on the above information, the following inspection items can be generated:

[0054] First inspection item: collecting first parameters from the first substation equipment, the second substation equipment, the third substation equipment, the fourth substation equipment, the fifth substation equipment and the sixth substation equipment;

[0055] Second inspection item: collecting second parameters from the first substation, the third substation, the fifth substation and the sixth substation;

[0056] The third inspection item: collecting the third parameter of the second substation equipment and the fourth substation equipment.

[0057] The purpose of generating inspection projects based on inspection tasks is to re-coordinate and reuse the resources of inspection robots and detection instruments according to inspection needs, thereby improving the resource utilization rate of inspection robots and detection instruments; it can also shorten the execution time of inspection tasks and improve the execution efficiency of inspection tasks.

[0058] Step S204, sending multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, collecting data through one or more inspection robots, and obtaining one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0059] In this step, after the inspection items are assigned, the assigned inspection items are sent to the intelligent mobile terminal of each inspection robot, and the intelligent mobile terminal controls the inspection robot to perform the task. The inspection robot can be a multifunctional inspection robot.

[0060] In actual application scenarios, the number of inspection robots and the number of detection instruments are limited. It is impossible to expand the inspection robots indefinitely according to the number of inspection tasks formulated and configure corresponding detection instruments for them. In the traditional method, the inspection tasks in the first inspection task group are directly sent to the inspection robots, and each inspection robot is set to perform an inspection task. Then 6 inspection robots are required, and the corresponding detection instruments for collecting the first parameter are 6, the detection instruments for collecting the second parameter are 4, and the detection instruments for collecting the third parameter are 2. If there is no corresponding number of inspection robots, a part of the inspection robots (such as 2) need to accept the inspection tasks again after completing part of the inspection tasks in order to continue to perform the remaining inspection tasks. The total time for executing the inspection tasks in the entire inspection task group is long, and the inspection task execution efficiency is low. If there are not enough detection instruments, other inspection robots need to put the detection instruments back to the intelligent charging management box after using them. Then the inspection robot that needs the detection instrument will take out the detection instrument from the intelligent charging management box and continue to perform the assigned inspection tasks. If the power of the detection instrument is insufficient and cannot support the completion of parameter collection, it is necessary to wait for the detection instrument to charge, or use the internal battery of the inspection robot for power supply, which will reduce the available range of the inspection robot. This method of directly assigning inspection tasks reduces the utilization rate of the detection instrument, increases the time of sending and picking up the detection instrument, and increases the time of executing the inspection task.

[0061] In an embodiment of the present invention, the inspection tasks are broken up to generate inspection items, which are then allocated. Each inspection item includes a parameter and one or more corresponding target devices, which can significantly improve the time required to execute the inspection tasks and shorten the total time required to execute the inspection tasks.

[0062] Each inspection item corresponds to a detection instrument. The inspection robot equipped with this detection instrument can collect the same parameters of multiple target devices, and directly add the collected parameters to the inspection task, greatly improving the efficiency of inspection task execution. In actual situations, there are many substations that need to be inspected, and the number of inspection tasks that need to be performed is also massive. However, the types of substations that need to be inspected are limited, and the types of parameters collected are limited. According to the limited parameters, the limited detection instruments are allocated to collect as many substations as possible to improve the efficiency of inspection tasks.

[0063] For example, after the inspection tasks in the first inspection task group are broken up to generate inspection items, three inspection items corresponding to three parameters are generated. The three inspection items can be assigned to three inspection robots, and only one detection instrument is needed to collect the first parameter, the second parameter, and the third parameter, which greatly reduces the number of inspection robots and detection instruments required and improves the utilization rate of inspection robots and detection instruments.

[0064] If there are too many target devices corresponding to some parameters when allocating inspection items, one or more inspection robots can be equipped with corresponding detection instruments to share the execution of the inspection items, so as to make full use of the inspection robot and detection instrument resources and shorten the total time for executing the inspection tasks. Through overall planning, multiple inspection robots can complete all inspection items at the same time, and all inspection tasks can be completed synchronously, so that the total execution time of the inspection tasks is compressed to a minimum, and the inspection efficiency of the entire substation is improved. Executing the inspection plan according to the inspection items can maximize the use of detection instruments. Since the number of detection instruments is limited, in order to avoid the need to return the detection instruments after each target device is detected, this embodiment executes the inspection plan according to the inspection items, so that after the target device is detected, the detection instrument can continue to be used to detect other devices, thereby improving the inspection efficiency.

[0065] In addition, when assigning the inspection items to be executed to the inspection robots, we can first determine how many detection instruments the inspection robots can carry, and then set the maximum number of inspection items that each inspection robot can execute. The types and quantity of detection instruments carried by each inspection robot are less than or equal to the number of detection instruments that can be carried. Since the parameters of some inspection items correspond to a large number of target devices, it is not possible for one inspection robot to complete the collection of all the parameters. Therefore, the inspection robot that executes the inspection item is set according to the number of detection instruments that measure the parameters. The number of inspection robots that execute the inspection item is less than or equal to the number of detection instruments that measure the corresponding parameters of the inspection item. Setting multiple inspection robots to jointly complete an inspection item can reduce the maximum time it takes for the inspection robots to complete the inspection item.

[0066] Through the above steps, the purpose of effectively planning the work tasks of the inspection robot is achieved, thereby realizing the technical effect of improving the inspection efficiency and the utilization rate of the detection equipment, and further solving the technical problem that the current method of using robots to inspect substation equipment is low in efficiency and the utilization rate of the detection equipment is low.

[0067] As an optional embodiment, multiple inspection tasks corresponding to multiple target devices in the substation are obtained, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period, including: obtaining the inspection frequency, inspection duration and inspection start time corresponding to each of the multiple target devices; based on the inspection frequency, inspection duration and inspection start time, determining multiple predetermined time periods corresponding to each of the multiple target devices; based on the multiple predetermined time periods corresponding to each of the multiple target devices, determining multiple inspection tasks corresponding to each of the multiple target devices.

[0068] Optionally, one or more inspection tasks may be obtained according to the inspection plan. When obtaining inspection tasks according to the inspection plan, the inspection frequency and target devices of the inspection plan are determined. The scheduled time period for each inspection is determined according to the inspection duration, the inspection start time, and the inspection frequency. If the inspection plan does not set the inspection frequency, a scheduled time period for the inspection may be determined according to the planned time set in the inspection plan. Subsequently, the inspection tasks are formulated according to the scheduled time period and each target device.

[0069] For example, the inspection plan includes: the first substation equipment in the substation is inspected once every hour in the next week, and the second substation equipment in the substation is inspected once every day in the next month. When formulating inspection tasks according to the inspection plan, the inspection tasks for the first substation equipment are first formulated: the inspection frequency is once every hour, and the scheduled time is one week. Then the inspection tasks include: the first substation equipment: Monday, 0 o'clock inspection once, Monday, 1 o'clock inspection once, Monday, 2 o'clock inspection once, ..., Sunday, 21 o'clock inspection once, Sunday, 22 o'clock inspection once, Sunday, 23 o'clock inspection once. The inspection tasks formulated for the first substation equipment include a total of 168 (7 days × 24 hours) inspection tasks.

[0070] Then, the inspection tasks for the second substation equipment are formulated: the inspection frequency is once a day, and the scheduled time is one month. The inspection tasks include: the second substation equipment: one inspection at 2:00 on the 1st day, one inspection at 2:00 on the 2nd day, one inspection at 2:00 on the 3rd day, ..., one inspection at 2:00 on the 27th day, one inspection at 2:00 on the 28th day, one inspection at 2:00 on the 29th day, and one inspection at 2:00 on the 30th day. The inspection tasks formulated for the second substation equipment include 30 (30 days × 1 time) inspection tasks in total.

[0071] As an optional embodiment, the multiple inspection tasks further include a temporary inspection task, wherein the priority of the temporary inspection task is higher than any inspection task other than the temporary inspection task among the multiple inspection tasks.

[0072] Optionally, the inspection task may also include a temporary inspection task, which is set according to temporary fault detection and troubleshooting needs. Specifically, the temporary inspection task can be set according to the target equipment to be inspected and the predetermined time period. For example, when there is no inspection plan, if the first substation equipment suddenly needs to be temporarily inspected, a temporary inspection task can be directly set to immediately inspect the first substation equipment once, or a predetermined time period for the temporary inspection task can be set. When managing and allocating inspection tasks, priorities can be set for inspection tasks. The priority of setting temporary inspection tasks is higher than that of inspection tasks formulated according to the inspection plan to meet temporary fault detection or troubleshooting needs. Subsequently, the inspection tasks are assigned according to their priorities.

[0073] As an optional embodiment, multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding inspection robots, including: obtaining the detection time of multiple target devices corresponding to each of the multiple inspection task groups, the distance between the multiple target devices corresponding to each of the multiple inspection task groups, and the moving speed of the inspection robot; determining the time for the inspection robot to move between the multiple target devices based on the distance between the multiple target devices corresponding to each of the multiple inspection task groups and the moving speed of the inspection robot; determining the inspection moments of the multiple target devices corresponding to each of the multiple inspection task groups based on the moving time and the detection time of the inspection robot between the multiple target devices; and sending the multiple inspection items corresponding to each of the multiple inspection task groups and the inspection moments of the multiple target devices corresponding to the multiple inspection task groups to the corresponding inspection robots.

[0074] Optionally, the route of each inspection robot can be determined according to the inspection items to be performed. The planning principles of route planning include: setting each substation to only accept one inspection robot to perform inspection at the same time, and on this basis, setting the inspection time of each inspection robot for the next target device according to the movement speed of the inspection robot.

[0075] When each substation is set to accept only one inspection robot to perform tests at the same time, the length of time required to collect each parameter is determined to determine the inspection time for each substation to receive inspection by the inspection robot. Other inspection robots are arranged to perform inspections at other times outside this time period to avoid conflicts in the time periods for inspection robots to perform tests. The inspection time of each inspection machine for the next target device is set according to the movement speed of the inspection robot. Specifically, the distance to the next target device is determined based on the time when the inspection robot completes the inspection of the previous target device, and the time to reach the next target device is calculated based on the movement speed of the inspection robot, thereby determining the inspection time for the next target device.

[0076] As an optional embodiment, multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect data to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items, and further includes: after the multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, the status information corresponding to each of the multiple detection instruments is obtained, wherein the status information includes the remaining power, connection status and working status; when the remaining power of any of the multiple detection instruments is less than a preset threshold, or the connection is disconnected, or the working status is abnormal, an instruction to obtain a new detection instrument from the charging management box is sent to the corresponding inspection robot.

[0077] Optionally, a charging management box can be set up for the detection instrument. The charging management box is used for charging, storage, work order distribution, etc. of the detection instrument to realize the storage and use management of the detection instrument. The charging management box can obtain and determine the model, power status, charging status, etc. of each detection instrument stored in it. Figure 3 FIG. 1 is a schematic diagram of device management provided according to an optional embodiment of the present invention. Figure 3 As shown, first perform steps S310 and S320. One or more detection instruments loaded on the robot body send the instrument status information to the smart mobile terminal, and then the smart mobile terminal forwards the instrument status information to the substation detection server. The instrument status information may include the remaining power, connection status, and working status of the detection instrument. The substation detection server determines whether the detection instrument can continue to complete the inspection task based on the remaining power, and determines whether the communication between the detection instrument and the smart mobile terminal and other devices is normal based on the connection status, so as to call the detection instrument to perform the inspection task, and determines whether the detection instrument can work normally based on the working status. If, according to the status information returned by the smart mobile terminal, it can be determined that the inspection robot does not carry the required detection instrument, or the detection instrument is low on power, communication is poor, or the working status is abnormal, then step S330 is executed to obtain one or more stored detection instruments from the charging management box.

[0078] When obtaining one or more detection instruments stored in the intelligent charging management box, obtain the model, power status and charging status of each detection instrument. Subsequently, determine whether the charging management box stores detection instruments that can complete the corresponding detection tasks, and determine whether the detection instruments of the required corresponding models have been charged. If the charging is not completed, it can be determined whether the current charged amount can meet the needs of completing this inspection task. If the corresponding detection instrument has been charged, or the charged amount can meet the needs of this inspection task, send instructions to the inspection robot. Execute step S340 to send instructions to the intelligent mobile terminal to instruct the inspection robot to obtain the corresponding detection instrument from the charging management box. Subsequently, execute step 350, the intelligent mobile terminal sends a moving instruction to the robot body, moves to the vicinity of the charging management box, and grabs the corresponding detection instrument from the charging management box. Subsequently, execute step 360, after the inspection robot loads the detection instrument into the inspection robot, the detection instrument sends the instrument status information to the intelligent mobile terminal, and then execute step 370, the intelligent mobile terminal forwards the instrument status information to the substation detection server. The live detection server judges the instrument status information. If the detection instrument carried by the inspection robot meets the requirements of this inspection task, the inspection task will be issued so that the inspection robot can perform the inspection task.

[0079] As an optional embodiment, based on one or more parameter values ​​corresponding to each of the multiple target devices, inspection results corresponding to each of the multiple target devices are generated, wherein the inspection results include the model of the target device, one or more parameter values, and a status evaluation result of the target device, and the status evaluation result includes device abnormality and device normal.

[0080] Optionally, after collecting the detection parameters, the inspection robot sends the detection parameters to the substation detection server through the intelligent mobile terminal. The live detection digital application in the substation detection server collects and counts the received detection parameters, and the detection parameters of each substation equipment are sorted to generate a detection report for each substation equipment.

[0081] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0082] Through the description of the above implementation methods, those skilled in the art can clearly understand that the equipment inspection method for substations according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0083] As an optional embodiment, Figure 4 is a functional schematic diagram of a live detection digital application according to an optional embodiment of the present invention, such as Figure 4As shown, the live detection digital application can perform equipment management, plan management, task management, algorithm management, data management and generate inspection reports. The live detection digital application can realize plan management, that is, the live detection digital application formulates one or more inspection plans. The live detection digital application receives the inspection plan and can meet and manage user needs to the greatest extent. The user does not need to be responsible for formulating specific inspection tasks, but only needs to propose inspection requirements and formulate inspection plans. The live detection digital application automatically formulates and executes inspection tasks according to the inspection plan, which can improve the intelligence and convenience of substation inspection work. The live detection digital application can also realize algorithm management functions. The algorithm management function includes task allocation algorithm, route planning algorithm, etc.

[0084] The task allocation algorithm is suitable for allocating tasks. The inspection tasks generated by the live detection digital application include the scheduled time period and target equipment for inspection. After the live detection digital application generates multiple inspection tasks, each inspection task can be assigned to an idle inspection robot for execution; multiple inspection items can also be generated according to the inspection task according to the task allocation algorithm, and each inspection item can be assigned to the inspection robot for execution. The live detection digital application sends the inspection items to each inspection robot. The inspection items include the target equipment to be inspected, the location of the target equipment, the inspection time required to reach the target equipment, and the parameters that need to be collected.

[0085] The live detection digital application also synchronizes the inspection items to the robot inspection application so that the robot inspection application can control the inspection robot when the inspection robot performs inspection tasks or projects; during this period, the robot inspection application obtains the status information and other data of the inspection robot and sends it to the live detection digital application so that the live detection digital application can adjust the inspection task arrangement in time. If the status information collected by the robot inspection application shows that some parts of the inspection robot have failed, such as the robot body, smart mobile terminal or detection instrument and other equipment, it will be fed back to the live detection digital application, which will instruct the inspection robot to replace the detection instrument in the charging management box according to the fault situation, or assign the inspection items or inspection tasks performed by the inspection robot to other inspection robots for execution, and then repair the inspection robot later.

[0086] As an optional embodiment, Figure 5 FIG. 1 is a functional schematic diagram of a robot inspection application provided according to an optional embodiment of the present invention. Figure 5 As shown, the robot inspection application is used to manage the robot, including an operation analysis algorithm for analyzing the operation of the multifunctional inspection robot. The robot inspection application can also synchronously display the robot status in a three-dimensional real-time mapping manner and calibrate the robot's three-dimensional spatial coordinates.

[0087] The robot inspection application manages high-precision substation site maps and substation maps to locate target equipment and inspection robots in the substation map, and to navigate the inspection robots. When navigating the inspection robot, route planning is performed to select the shortest route to the target equipment, and the vehicle body is controlled to allow the inspection robot to move along the planned route until it reaches the target equipment to be inspected. After reaching the location of the target equipment, the robot arm is controlled to grab the required inspection instrument, perform tasks according to the inspection instrument, and collect the parameters that need to be collected.

[0088] As an optional embodiment, Figure 6 FIG. 1 is a schematic diagram of a method for detecting a live battery of a multifunctional inspection robot according to an optional embodiment of the present invention. Figure 6 As shown, first, step 610 is executed. In response to generating multiple inspection tasks, multiple inspection tasks to be executed every day are divided into multiple inspection task groups, and the execution frequency of the inspection tasks in each inspection task group is the same. The inspection plan includes the target substation equipment to be inspected and the inspection frequency of each target substation equipment. The generation of the inspection task includes: generating multiple inspection tasks according to the target substation equipment and inspection frequency of each inspection plan formulated, wherein the inspection task includes one or more target substation equipment to be inspected and the execution frequency of multiple inspection tasks.

[0089] Subsequently, step 620 is executed to determine, for each inspection task group, the target substation equipment to be inspected in each inspection task and the inspection parameters to be collected, and an inspection item is generated based on one or more target substation equipment corresponding to each inspection parameter. Each inspection item includes an inspection parameter and corresponding one or more target substation equipment.

[0090] Finally, execute step 630 to send the inspection project to the multifunctional inspection robot so as to obtain one or more inspection parameters of the target substation collected by each multifunctional inspection robot. Each inspection parameter is obtained by the multifunctional inspection robot inspecting the target substation according to the live detection machine corresponding to the inspection parameter carried by the mechanical arm. Sending the inspection project to the multifunctional inspection robot includes: determining the inspection project sent to each multifunctional inspection robot for execution; determining the inspection time of the target substation in the inspection project sent to the multifunctional inspection robot; according to the distance to the next target substation after the inspection of the current target substation is completed when the multifunctional inspection robot executes the inspection project; setting the inspection time of the next target substation according to the distance to the next target substation and the moving speed of the multifunctional inspection robot; sending the inspection project to be executed by each multifunctional inspection robot and the inspection time of each target substation in the inspection project to the multifunctional inspection robot so as to execute the inspection project according to the inspection time. In the same time period, each target substation only receives one multifunctional inspection robot for inspection.

[0091] As an optional embodiment, Figure 7 It is a schematic diagram of a multifunctional inspection robot live detection service system provided according to an optional embodiment of the present invention. The cloud, edge and terminal together constitute the multifunctional inspection robot live detection service system. The system adopts a cloud-edge collaborative strategy and uses the robot arm bionic collaborative control technology and live detection technology to realize the autonomous execution of live detection tasks of various types of power equipment, real-time collection and transmission of data maps, and intelligent identification of defects and hidden dangers. The substation includes a large number of substation equipment, each of which performs its own duties and jointly realizes the normal operation of the substation. In order to ensure the substation and enable it to operate safely for a long time, it is necessary not only to conduct daily inspections on it, but also to check the fault in time and understand the situation when there is a problem with the equipment at a certain point in the substation. In order to inspect the substation, this optional embodiment sets the cloud, edge and terminal in a cloud-edge collaborative manner.

[0092] The cloud-edge collaborative computing platform is an intelligent computing architecture developed to meet the new challenges brought by the development of the Internet of Things (IoT). To manage digital cloud computing, the platform can sink computing power from the centralized cloud to edge nodes close to the data source, and optimize data processing capabilities through a distributed computing model. The cloud-edge collaborative computing model not only extends the capabilities of cloud native, but also enables data processing, business applications, and artificial intelligence (AI) models to be executed at the edge close to the data source by deploying edge nodes, solving the problems of real-time response, data privacy, and maintenance convenience encountered by the Internet of Things when it is implemented. The cloud-edge collaborative computing platform has significantly improved data processing efficiency and system response speed in actual applications in multiple industries, realized diversified intelligent applications, and promoted the digital transformation of various industries. The cloud can be responsible for advanced analysis and global optimization.

[0093] The cloud is specifically a management end for implementing live detection of substations, which can be formed by one or more servers, such as one or more substation detection servers. The substation detection server can be deployed in the substation, outside the substation, or far away from the substation. The cloud includes one or more substation detection servers, which can monitor one or more substations and manage the inspection services of each substation respectively. There is no restriction on the number of substations managed by the cloud and the type of inspection services. A substation detection digital platform is built in the substation detection server, which serves as the control and dispatching center of the live detection service of the multifunctional inspection robot and is integrated and deployed on the digital panorama of power grid production management. The substation detection digital platform includes live detection digital applications and robot inspection applications, which respectively realize the management of live detection services and the control and dispatching of multifunctional inspection robots. The multifunctional inspection robot includes a robot body, a robotic arm, a live detection instrument, and a live detection intelligent terminal. The robot body, the robotic arm, and the live detection instrument are end-side devices, and the live detection intelligent terminal is an edge-side device. The substation detection server controls the multifunctional detection robot to implement substation detection.

[0094] Applications deployed in the cloud can achieve two-way business interaction with edge devices through the information intranet, send the integrated control signaling to the control center of the edge, and receive the detection data, status information and map files uploaded by the edge. The information intranet formed by the cloud and the edge can communicate through WIPI and 5G, and there is no restriction on the specific networking method of the cloud and the edge. In the cloud, it is divided into a management information area and an Internet area according to the access method. The management information area can communicate with the edge using WIPI, and the Internet area can communicate with the edge using 5G. A boundary protection isolation device is set between the management information area and the Internet area. The management information area can specifically include a substation detection server that communicates with the edge using WIPI. The secure access platform can be specifically implemented as a substation detection server that communicates with the edge using 5G. The boundary protection isolation device can specifically include devices such as gateways to improve the security of communication between the cloud and the edge.

[0095] The side equipment includes live detection intelligent terminals. Live detection intelligent terminals can be implemented as the communication control center of the side. Live detection intelligent terminals can be installed in multifunctional inspection robots, responsible for controlling the multifunctional inspection robots to perform various inspection operations at the substation site, controlling the robot body to move in the substation, and realizing the robot arm posture control and detection data return services. Live intelligent detection terminals have cloud-edge bidirectional collaboration, data interaction and control command forwarding functions. The live intelligent detection terminal adopts WAPI and / or 5G-APN hybrid networking mode in the north direction, and has the ability of autonomous network access and dual-network hot switching; among them, when 5G-APN is used for network access in the ground scene, the intelligent live detection terminal automatically enables the built-in TF encryption card, establishes an encrypted transmission channel with the security access platform of the Internet region, and forwards the data and control instructions to the management information region through the boundary protection isolation device; in underground scenes and building scenes, WAPI is used to directly access the information intranet. The live intelligent detection terminal communicates with the robot body in the multifunctional inspection robot in the south direction using Ethernet wired mode. The live detection intelligent terminal is equipped with edge computing applications, which use the MQTT / TCP protocol to transmit telemetry and telesignaling data with cloud applications, the MQTT protocol to transmit control instructions, the HTTP protocol to transmit unstructured data such as maps and photos, the RTSP protocol to transmit video stream data, and the TCP protocol to transmit measurement point data and coordinate information.

[0096] The end side includes the robot body of the multifunctional inspection robot. As the on-site operation vehicle of the substation, the robot body uses the robotic arm to autonomously grab various live detection instruments to carry out on-site live detection operations. The multifunctional inspection robot includes a controller that can control the robot's movements and execute obstacle avoidance algorithms. The controller uses wired Ethernet to access the live detection intelligent terminal, uses the TCP protocol to receive the real-time control strategy on the cloud forwarded by the live detection intelligent terminal, drives the four wheels, robotic arms and other components to perform related operations, and uploads the body status information, inspection data and maps (including partial discharge, infrared, voiceprint imaging, etc.) in real time. The robot body uses the RTSP protocol to push video stream data to the cloud through the live detection intelligent terminal.

[0097] The terminal side also includes infrared thermal imaging detection terminals, voiceprint imaging detection terminals, ultra-high frequency partial discharge detection terminals, ultrasonic partial discharge detection terminals, and transient ground partial discharge detection terminals. A variety of live detection terminals use a unified sensor fusion design to form a detection terminal that is easy to mount on a robot arm. It can be mounted on a robot arm and carry out live detection operations under control. The infrared thermal imaging detection terminal uses WIFI to access the live detection intelligent terminal, and the protocol uses HTTP. It receives detection instructions in real time and automatically returns data maps and status information. The voiceprint imaging detection terminal uses Bluetooth to access the live detection intelligent terminal, and the protocol uses BTSPP. It receives detection instructions in real time and automatically returns voiceprint imaging maps and status information. The three partial discharge monitoring terminals, including ultra-high frequency partial discharge detection terminals, ultrasonic partial discharge detection terminals, and transient ground partial discharge detection terminals, can use Bluetooth to connect to the live detection intelligent terminal, and the protocol uses BTSPP. It receives detection instructions in real time and returns data messages in hexadecimal format. After forwarding, the cloud uses an analysis algorithm to parse it into measurement data and map files.

[0098] The intelligent mobile terminal in the multifunctional patrol robot is the side, realizing the functions of the communication control center and the mobile control center. The intelligent mobile terminal establishes communication connections with live detection instruments such as ultra-high frequency partial discharge patrol instruments, ultrasonic partial discharge patrol instruments, transient ground partial discharge patrol instruments, acoustic imagers, infrared thermal imagers, etc. The robotic arm realizes the multi-source live detection capability controlled autonomously by the robotic arm by mounting a variety of live detection instruments, empowering intelligent operation and inspection with digital means, improving the quality and efficiency of operation and inspection, and strengthening the ability to control the status of equipment. It is also possible to realize the autonomous placement and charging of live detection instruments by loading intelligent mounting trays and intelligent charging management boxes for live detection instruments, and cooperate with the robotic arm to provide support for digital operation and maintenance of substations. The above-mentioned remote intelligent patrol technology has high reliability and accuracy, and can effectively replace the on-site patrol and monitoring of operation and maintenance personnel, thereby reducing the workload of manual on-site inspection, improving the utilization rate of patrol robots, and improving the level of intelligent operation and inspection technology of equipment.

[0099] According to an embodiment of the present invention, there is also provided a device for implementing the above-mentioned equipment inspection method for a substation. Figure 8 is a structural block diagram of an equipment inspection device for a substation provided according to an embodiment of the present invention, such as Figure 8 As shown, the device includes: an acquisition module 81, a determination module 82, a generation module 83 and a collection module 84. The device is described below.

[0100] The acquisition module 81 is used to acquire a plurality of inspection tasks corresponding to a plurality of target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target devices within a predetermined time period.

[0101] The determination module 82 is connected to the acquisition module 81 and is used to determine multiple inspection task groups based on a predetermined time period, wherein one inspection task group includes multiple inspection tasks, and the predetermined time periods of the multiple inspection tasks corresponding to one inspection task group are the same.

[0102] The generating module 83 is connected to the determining module 82 and is used to generate a plurality of inspection items corresponding to the plurality of inspection task groups according to a plurality of parameters corresponding to the plurality of inspection task groups, wherein one inspection item includes a parameter and corresponding plurality of target devices.

[0103] The collection module 84 is connected to the generation module 83, and is used to send the multiple inspection items corresponding to the multiple inspection task groups to the corresponding one or more inspection robots, and collect the data through the one or more inspection robots to obtain one or more parameter values ​​corresponding to the multiple target devices. Among them, one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0104] It should be noted that the acquisition module 81, the determination module 82, the generation module 83 and the acquisition module 84 correspond to steps S201 to S204 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0105] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one network device among multiple network devices of a computer network. The computer device includes a memory and a processor.

[0106] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the equipment inspection method and device for substations in the embodiments of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned equipment inspection method for substations. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0107] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: obtain multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; based on the predetermined time period, determine multiple inspection task groups, wherein one inspection task group includes multiple inspection tasks, and the predetermined time period of multiple inspection tasks corresponding to one inspection task group is the same; according to the multiple parameters corresponding to each of the multiple inspection task groups, generate multiple inspection items corresponding to each of the multiple inspection task groups, wherein one inspection item includes a parameter and corresponding multiple target devices; send the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, collect them through one or more inspection robots, and obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0108] Optionally, the processor may also execute program code for the following steps: obtaining multiple inspection tasks corresponding to each of multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period, including: obtaining the inspection frequency, inspection duration and inspection start time corresponding to each of the multiple target devices; based on the inspection frequency, inspection duration and inspection start time, determining multiple predetermined time periods corresponding to each of the multiple target devices; based on the multiple predetermined time periods corresponding to each of the multiple target devices, determining multiple inspection tasks corresponding to each of the multiple target devices.

[0109] Optionally, the processor may further execute program code of the following steps: the multiple inspection tasks also include a temporary inspection task, wherein the priority of the temporary inspection task is higher than any inspection task among the multiple inspection tasks except the temporary inspection task.

[0110] Optionally, the processor may also execute program code for the following steps: sending multiple inspection items corresponding to each of the multiple inspection task groups to a corresponding inspection robot, including: obtaining the detection duration of multiple target devices corresponding to each of the multiple inspection task groups, the distance between the multiple target devices corresponding to each of the multiple inspection task groups, and the moving speed of the inspection robot; determining the time for the inspection robot to move between the multiple target devices based on the distance between the multiple target devices corresponding to each of the multiple inspection task groups and the moving speed of the inspection robot; determining the inspection moments of the multiple target devices corresponding to each of the multiple inspection task groups based on the moving time and the detection duration of the inspection robot between the multiple target devices; sending the multiple inspection items corresponding to each of the multiple inspection task groups and the inspection moments of the multiple target devices corresponding to the multiple inspection task groups to the corresponding inspection robot.

[0111] Optionally, the processor may also execute the program code of the following steps: sending multiple inspection items corresponding to each of the multiple inspection task groups to one or more corresponding inspection robots, collecting through one or more inspection robots, and obtaining one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items, and also includes: after sending the multiple inspection items corresponding to each of the multiple inspection task groups to one or more corresponding inspection robots, obtaining status information corresponding to each of the multiple detection instruments, wherein the status information includes remaining power, connection status and working status; when the remaining power of any one of the multiple detection instruments is less than a preset threshold, or the connection is disconnected, or the working status is abnormal, an instruction to obtain a new detection instrument from the charging management box is sent to the corresponding inspection robot.

[0112] Optionally, the processor may also execute the program code of the following steps: based on one or more parameter values ​​corresponding to each of the multiple target devices, generate inspection results corresponding to each of the multiple target devices, wherein the inspection results include the model of the target device, one or more parameter values, and a status evaluation result of the target device, and the status evaluation result includes device abnormality and device normality.

[0113] According to an embodiment of the present invention, a device inspection method for a substation is provided. By acquiring multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection tasks represent the detection of one or more parameters of the target devices within a predetermined time period; based on the predetermined time period, multiple inspection task groups are determined, wherein one inspection task group includes multiple inspection tasks, and the predetermined time periods of multiple inspection tasks corresponding to one inspection task group are the same; according to the multiple parameters corresponding to the multiple inspection task groups, multiple inspection items corresponding to the multiple inspection task groups are generated, wherein one inspection item includes one parameter and corresponding multiple target devices; the multiple inspection items corresponding to the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect the multiple parameter values ​​corresponding to the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items, thereby achieving the purpose of effectively planning the work tasks of the inspection robot, thereby achieving the technical effect of improving the inspection efficiency and the utilization rate of the detection equipment, and thus solving the technical problem that the current method of using robots to inspect substation equipment is low in efficiency and the utilization rate of the detection equipment is low.

[0114] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0115] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the equipment inspection method for a substation provided by the embodiment.

[0116] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0117] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: obtaining multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; determining multiple inspection task groups based on the predetermined time period, wherein one inspection task group includes multiple inspection tasks, and the predetermined time period of multiple inspection tasks corresponding to one inspection task group is the same; generating multiple inspection items corresponding to multiple inspection task groups according to multiple parameters corresponding to each of the multiple inspection task groups, wherein one inspection item includes a parameter and corresponding multiple target devices; sending the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, collecting them through the one or more inspection robots, and obtaining one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0118] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: obtaining multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period, including: obtaining the inspection frequency, inspection duration and inspection start time corresponding to each of the multiple target devices; based on the inspection frequency, inspection duration and inspection start time, determining multiple predetermined time periods corresponding to each of the multiple target devices; based on the multiple predetermined time periods corresponding to each of the multiple target devices, determining multiple inspection tasks corresponding to each of the multiple target devices.

[0119] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: the multiple inspection tasks also include a temporary inspection task, wherein the priority of the temporary inspection task is higher than any inspection task in the multiple inspection tasks except the temporary inspection task.

[0120] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: sending multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding inspection robot, including: obtaining the detection duration of multiple target devices corresponding to each of the multiple inspection task groups, the distance between the multiple target devices corresponding to each of the multiple inspection task groups, and the moving speed of the inspection robot; determining the time for the inspection robot to move between the multiple target devices based on the distance between the multiple target devices corresponding to each of the multiple inspection task groups and the moving speed of the inspection robot; determining the inspection moments of the multiple target devices corresponding to each of the multiple inspection task groups based on the moving time and the detection duration of the inspection robot between the multiple target devices; sending the multiple inspection items corresponding to each of the multiple inspection task groups and the inspection moments of the multiple target devices corresponding to the multiple inspection task groups to the corresponding inspection robot.

[0121] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: sending multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, collecting through the one or more inspection robots, and obtaining one or more parameter values ​​corresponding to each of the multiple target devices, wherein a patrol robot includes multiple detection instruments for executing multiple inspection items, and also includes: after sending the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, obtaining status information corresponding to each of the multiple detection instruments, wherein the status information includes remaining power, connection status and working status; when the remaining power of any one of the multiple detection instruments is less than a preset threshold, or the connection is disconnected, or the working status is abnormal, an instruction to obtain a new detection instrument from the charging management box is sent to the corresponding patrol robot.

[0122] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: based on one or more parameter values ​​corresponding to each of the multiple target devices, generating inspection results corresponding to each of the multiple target devices, wherein the inspection results include a model of the target device, one or more parameter values, and a status evaluation result of the target device, and the status evaluation result includes device abnormality and device normal.

[0123] An embodiment of the present invention also provides a computer program product, including a computer program. Optionally, in this embodiment, when the computer program is executed by a processor, it can achieve: obtaining multiple inspection tasks corresponding to multiple target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; based on the predetermined time period, determining multiple inspection task groups, wherein one inspection task group includes multiple inspection tasks, and the predetermined time period of multiple inspection tasks corresponding to one inspection task group is the same; generating multiple inspection items corresponding to multiple inspection task groups according to multiple parameters corresponding to each of the multiple inspection task groups, wherein one inspection item includes a parameter and corresponding multiple target devices; sending the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, collecting them through one or more inspection robots, and obtaining one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

[0124] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0125] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0129] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0130] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for inspecting equipment in a substation, characterized in that: include: Acquire a plurality of inspection tasks corresponding to a plurality of target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; Based on the predetermined time period, a plurality of inspection task groups are determined, wherein one inspection task group includes a plurality of inspection tasks, and the predetermined time periods of the plurality of inspection tasks corresponding to one inspection task group are the same; Generating a plurality of inspection items corresponding to each of the plurality of inspection task groups according to a plurality of parameters corresponding to each of the plurality of inspection task groups, wherein one inspection item includes one parameter and a plurality of corresponding target devices; The multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect data to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

2. The method according to claim 1, characterized in that The acquiring of a plurality of inspection tasks corresponding to the plurality of target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period, includes: Obtain the inspection frequency, inspection duration and inspection start time corresponding to each of the multiple target devices; Determine, based on the inspection frequency, the inspection duration, and the inspection start time, a plurality of predetermined time periods corresponding to the plurality of target devices respectively; Based on the multiple predetermined time periods respectively corresponding to the multiple target devices, multiple inspection tasks respectively corresponding to the multiple target devices are determined.

3. The method according to claim 1, characterized in that The multiple inspection tasks also include temporary inspection tasks, wherein the priority of the temporary inspection task is higher than any inspection task among the multiple inspection tasks except the temporary inspection task.

4. The method according to claim 1, characterized in that The sending of the plurality of inspection items corresponding to the plurality of inspection task groups to the corresponding inspection robots includes: Obtaining the detection duration of the multiple target devices corresponding to each of the multiple inspection task groups, the distance between the multiple target devices corresponding to each of the multiple inspection task groups, and the moving speed of the inspection robot; Determining the time for the inspection robot to move between the multiple target devices based on the distances between the multiple target devices corresponding to each of the multiple inspection task groups and the moving speed of the inspection robot; Determine the inspection time of the multiple target devices corresponding to the multiple inspection task groups based on the time for the inspection robot to move between the multiple target devices and the detection duration; The multiple inspection items corresponding to each of the multiple inspection task groups and the inspection times of the multiple target devices corresponding to each of the multiple inspection task groups are sent to the corresponding inspection robots.

5. The method according to claim 1, characterized in that The multiple inspection items corresponding to each of the multiple inspection task groups are sent to the corresponding one or more inspection robots, and the one or more inspection robots are used to collect data to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein: An inspection robot includes multiple detection instruments for performing multiple inspection projects, and also includes: After sending the multiple inspection items corresponding to the multiple inspection task groups to the corresponding one or more inspection robots, obtaining the status information corresponding to the multiple detection instruments, wherein the status information includes the remaining power, connection status and working status; When the remaining power of any one of the multiple detection instruments is less than a preset threshold, or is disconnected, or is in an abnormal working state, an instruction for obtaining a new detection instrument from the charging management box will be sent to the corresponding inspection robot.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: Based on one or more parameter values ​​corresponding to each of the multiple target devices, inspection results corresponding to each of the multiple target devices are generated, wherein the inspection results include the model of the target device, one or more parameter values, and a status evaluation result of the target device, and the status evaluation result includes device abnormality and device normality.

7. An equipment inspection device for a substation, characterized in that: include: An acquisition module, used for acquiring a plurality of inspection tasks corresponding to a plurality of target devices in the substation, wherein the inspection task represents the detection of one or more parameters of the target device within a predetermined time period; A determination module, configured to determine a plurality of inspection task groups based on the predetermined time period, wherein one inspection task group includes a plurality of inspection tasks, and the predetermined time periods of the plurality of inspection tasks corresponding to one inspection task group are the same; A generating module, used for generating a plurality of inspection items corresponding to each of the plurality of inspection task groups according to a plurality of parameters corresponding to each of the plurality of inspection task groups, wherein one inspection item includes one parameter and a plurality of corresponding target devices; A collection module is used to send the multiple inspection items corresponding to each of the multiple inspection task groups to the corresponding one or more inspection robots, and collect the items through the one or more inspection robots to obtain one or more parameter values ​​corresponding to each of the multiple target devices, wherein one inspection robot includes multiple detection instruments for executing multiple inspection items.

8. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the equipment inspection method for a substation according to any one of claims 1 to 6.

9. A computer device, characterized in that: include: Memory and processor, The memory stores a computer program; The processor is used to execute the computer program stored in the memory, and when the computer program is running, the processor executes the equipment inspection method for a substation according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the equipment inspection method for a substation described in any one of claims 1 to 6 is implemented.

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