Intelligent patrol system for operation and maintenance management of transformer substation

Abstract

The invention relates to an intelligent patrol system for substation operation and maintenance management in the field of patrol systems. The intelligent patrol system comprises a system end and an equipment end, the equipment end comprises an inspection vehicle and transfer stations arranged in a plurality of inspection subareas, the system end is composed of a processor and a monitoring module, a control module, a data processing module and a storage module which are connected, the monitoring module is responsible for collecting substation equipment data, the control module is provided with a conventional inspection mode and an independent inspection mode, and the conventional mode inspects according to a preset path and updates the path to upload data; in the independent mode, inspection is carried out in a specific area, the data storage module stores detection data and path information, the data processing module sets inspection nodes according to monitoring information, abnormal data triggers and updates a conventional path, and the inspection vehicle is switched between conventional inspection work and regional temporary inspection work cells. And data storage and collected data uploading during temporary patrol work are facilitated, and it is easy to ensure that the patrol vehicle can continue to complete preset conventional patrol work after completing a plurality of temporary patrol work.

Description

Technical Field

[0001] The present invention relates to an intelligent patrol system for substation operation and maintenance management, and in particular to an intelligent patrol system for substation operation and maintenance management applied in the field of patrol systems. Background Art

[0002] With the rapid development of power systems and the continuous advancement of smart grid technology, substation operation and maintenance management faces higher efficiency and safety requirements. Traditional substation inspections rely on manual inspections, which are not only time-consuming and labor-intensive, but also easily affected by human factors. In order to solve these problems, intelligent inspection systems came into being.

[0003] The intelligent patrol system originated in the late 20th century. Initially, it was mainly based on fixed video surveillance and was used to remotely monitor key equipment in substations. With the development of computer vision and artificial intelligence technology, the intelligent patrol system has gradually integrated advanced technologies such as image recognition, infrared thermal imaging, and drone inspections, realizing real-time monitoring and automatic diagnosis of substation equipment status.

[0004] The specification of Chinese invention patent CN114825614B discloses an online intelligent patrol system for substations. The solution is to modify the drone and apply it to the intelligent patrol system, so that the patrol drone used for inspection can be separated from the patrol stick body and the patrol stick protective cover, and other work can be carried out in the intervals between patrol work, which greatly reduces the modification and use costs of the patrol system.

[0005] The specification of Chinese invention patent CN115665554B discloses a substation inspection robot, including a mobile base, a rotating lifting member and a top plate. The rotating lifting member is rotatably arranged on the top of the mobile base, the top plate is fixed to the top of the rotating lifting member, and a walking wheel is arranged at the bottom of the mobile base; a pitch adjustment member includes a rotating member and a driving member. The inspection robot realizes the overall movement of the inspection robot and changes the inspection direction of the inspection camera unit through the fuselage to realize 360-degree inspection around the inspection robot without blind spots. The pitch angle of the inspection camera unit is changed by the pitch adjustment member to enable it to have a wider inspection field of view.

[0006] During the existing substation inspection, when some equipment is abnormal, it is necessary to call the machine that normally performs inspection work to temporarily collect data from the abnormal equipment area. The collected data will occupy the storage space of the robot. Especially when the number of temporary collection work is large, it is easy to cause insufficient storage space and affect the data collection work during regular inspections, thereby affecting the normal progress of the inspection work. Summary of the invention

[0007] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that during the existing substation inspection, when some equipment is abnormal, it is necessary to call the machine that normally performs the inspection work to temporarily collect data from the abnormal equipment area, and the collected data will occupy the storage space of the robot. Especially when the number of temporary collection work is large, it is easy to cause insufficient storage space and affect the data collection work during regular inspections, thereby affecting the normal progress of the inspection work.

[0008] In order to solve the above problems, the present invention provides a substation operation and maintenance management intelligent patrol system, including a system end and a device end; the device end includes a patrol vehicle and a transfer station set in multiple patrol zones; The system end includes a processor, to which a monitoring module, a control module, a data processing module and a data storage module are connected; The monitoring module is used to collect the working data of the equipment in each patrol area in the substation; The control module is provided with a conventional patrol mode and an independent patrol mode. The conventional patrol mode is used to control the patrol vehicle to patrol along a preset conventional patrol path between multiple patrol sections. Each time a conventional patrol work is completed, the conventional patrol path is updated and the collected data is uploaded. Independent patrol mode, used to control the patrol vehicle to patrol in a separate patrol zone; The data storage module is used to store the detection data and patrol paths collected during patrols. Each patrol zone is preset with an independent patrol path. The data processing module is used to set the patrol node according to the monitoring information. When data that is not within the set range appears in the monitoring data, the corresponding position of the data source of the data is set as the patrol node, and the regular patrol path is updated; An information collection structure is fixedly connected to the patrol vehicle, and an image collection device, a recording device and an environmental sensor are installed on the information collection structure. The tail end of the information collection structure is fixedly connected to a loading structure; the loading structure includes a mounting plate, one end of the mounting plate is fixedly connected to a docking plug, a pair of slide grooves are provided on the mounting plate, an electric telescopic rod is installed in the slide groove, and a card plate is connected between the pair of electric telescopic rods; The transfer station includes a bracket, a monitoring box is fixedly connected to the bracket, the monitoring box includes a fixed box, a pair of clamping plates are provided at the lower side of the fixed box, a lifting device is connected between the clamping plates and the fixed box, a fixed joint is fixedly connected to the middle of the bottom end of the fixed box, and a data transmission device matching the fixed joint is installed in the fixed box; A data acquisition box matching the loading structure is clamped between a pair of clamping plates, the top of the data acquisition box is fixedly connected with an upper docking interface matching the fixed joint, and the side end of the data acquisition box is fixedly connected with a side docking socket matching the docking plug.

[0009] In the above-mentioned intelligent inspection system for power station operation and maintenance management, it is easy to realize regional inspection of substations, and it is easy to conduct comprehensive inspections and targeted inspections in time when an area is abnormal.

[0010] As a further improvement of the present application, a communication unit, a data storage unit and a preprocessing unit are provided in the data collection box; the communication unit is used for wireless connection with the transfer station, and the data storage unit is used for storing the patrol path, patrol nodes and collected detection data; As a further improvement of the present application, when the number of patrol nodes set in any patrol zone exceeds the set value, the independent patrol mode is started. When the independent patrol mode is started, the patrol nodes are merged with the independent patrol path of the patrol zone, and a temporary patrol path is generated and loaded into the data collection box of the transfer station of the patrol zone; then the patrol vehicle moves to the transfer station of the designated patrol zone to load the data collection box.

[0011] As a further improvement of the present application, a laser transmitter is installed on the mounting plate, and a laser receiver matching the laser transmitter is installed at the bottom of the fixed box. When the laser transmitter matches the laser receiver, the data acquisition box is loaded or reset.

[0012] As another improvement of the present application, when the data collection box is loaded, the patrol car moves to the bottom and establishes wireless communication with the monitoring box to match the laser transmitter with the laser receiver. At this time, the electric telescopic rod extends to open the card plate. At the same time, a pair of lifting devices work to lower the data collection box clamped by a pair of clamps to the mounting plate. At this time, the pressure sensor on the mounting plate detects the pressure, and then the clamp releases the data collection box and resets it. At the same time, the electric telescopic rod contracts to cause the card plate to push the data collection box, thereby allowing the docking plug to dock with the side docking socket.

[0013] As another improved supplement of the present application, the data transmission device is connected to the monitoring module signal, and the data transmission device packages and sends the received data uploaded by the data collection box to the monitoring module.

[0014] As another improvement supplement to the present application, a positioning device is installed in the patrol car, and a wireless signal sending device is installed in the monitoring box. When the control module sets the patrol car to independent patrol mode, the position of the patrol car is determined by the positioning device, and then the monitoring box at the transfer station in the area where the patrol car is located is controlled to send a mode switching instruction to the patrol car. After receiving the instruction, the patrol car moves to the monitoring box to load the data collection box.

[0015] As another improved supplement to the present application, a backup power supply is installed in the data acquisition box, the storage capacity of the backup power supply matches the power consumption of the patrol vehicle when working along the temporary patrol path, a charging connector for charging the backup power supply is provided on the fixed connector, and a charging device matching the charging connector is installed in the fixed box.

[0016] To sum up, this solution facilitates the patrol vehicle to switch between regular patrol work and temporary targeted patrol work in different areas, and is convenient for the storage of data and the uploading of collected data during temporary patrol work, making it easy to ensure that the patrol vehicle can continue to complete the preset regular patrol work after completing multiple temporary patrol work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a block diagram of the intelligent patrol system of the first and second implementation modes of this application; Figure 2 A three-dimensional diagram of the patrol vehicle according to the first and second embodiments of the present application; Figure 3 A side sectional view of the patrol vehicle according to the first and second embodiments of the present application; Figure 4 A side cross-sectional view of the patrol vehicle of the first and second embodiments of the present application when the data collection box is loaded; Figure 5 A schematic diagram of the patrol path of the patrol vehicle in the first and second implementation modes of this application; Figure 6 It is a top view of the loading structure of the patrol vehicle of the first and second embodiments of the present application; Figure 7 This is the workflow diagram of the intelligent patrol system of the first and second implementation modes of this application.

[0018] Description of the numbers in the figure: 1. Patrol car; 2. Information collection structure; 3. Loading structure; 31. Mounting plate; 32. Docking plug; 33. Card plate; 34. Electric telescopic rod; 4. Data collection box; 41. Upper docking port; 42. Side docking socket; 5. Bracket; 6. Monitoring box; 61. Fixed box; 62. Clamp; 63. Lifting device; 64. Fixed joint; 65. Data transmission device. DETAILED DESCRIPTION

[0019] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0020] First embodiment: Figure 1-7 A substation operation and maintenance management intelligent patrol system is shown, including a system end and an equipment end; the equipment end includes a patrol vehicle 1 and a transfer station set in multiple patrol zones, and the patrol vehicle 1 adopts a patrol vehicle in the prior art and is set by a technician in this field using a suitable device, such as a patrol robot and an AGV vehicle; The system end includes a processor, to which a monitoring module, a control module, a data processing module and a data storage module are connected; The monitoring module is used to collect the working data of the equipment in each patrol area in the substation; The control module is provided with a conventional patrol mode and an independent patrol mode. The conventional patrol mode is used to control the patrol car 1 to patrol along a preset conventional patrol path between multiple patrol sections; each time a conventional patrol work is completed, the conventional patrol path is updated and the collected data is uploaded; optionally, the patrol car 1 moves to any transfer station and establishes a wireless connection with it, and the patrol car 1 is connected to the processor through the transfer station, so that the data collected by the patrol car 1 is uploaded to the system end and updated; Independent patrol mode, used to control patrol vehicle 1 to patrol in a separate patrol zone; The data storage module is used to store the detection data and patrol paths collected during patrols. Each patrol zone is preset with an independent patrol path. The data processing module is used to set the patrol node according to the monitoring information. When data that is not within the set range appears in the monitoring data, the corresponding position of the data source of the data is set as the patrol node, and the regular patrol path is updated; An information collection structure 2 is fixedly connected to the patrol vehicle 1, and an image collection device, a recording device and an environmental sensor are installed on the information collection structure 2. A loading structure 3 is fixedly connected to the tail end of the information collection structure 2; the loading structure 3 includes a mounting plate 31, one end of the mounting plate 31 is fixedly connected to a docking plug 32, a pair of slide grooves are provided on the mounting plate 31, an electric telescopic rod 34 is installed in the slide groove, and a clamping plate 33 is connected between the pair of electric telescopic rods 34; The transfer station includes a bracket 5, to which a monitoring box 6 is fixedly connected. The monitoring box 6 includes a fixed box 61. A pair of clamps 62 are provided on the lower side of the fixed box 61. A lifting device 63 is connected between the clamps 62 and the fixed box 61. A fixed joint 64 is fixedly connected to the middle of the bottom end of the fixed box 61. A data transmission device 65 matching the fixed joint 64 is installed in the fixed box 61; the data transmission device 65 is connected to the monitoring module signal, and the data transmission device 65 receives the data uploaded by the data acquisition box 4 and packages it and sends it to the monitoring module.

[0021] A data acquisition box 4 matching the loading structure 3 is clamped between a pair of clamping plates 62 , the top end of the data acquisition box 4 is fixedly connected with an upper docking port 41 matching the fixed joint 64 , and the side end of the data acquisition box 4 is fixedly connected with a side docking socket 42 matching the docking plug 32 .

[0022] The data collection box 4 is provided with a communication unit, a data storage unit and a preprocessing unit; the communication unit is used for wireless connection with the transfer station, and the data storage unit is used for storing the patrol path, patrol nodes and collected detection data; when the data collection box 4 is loaded on the loading structure 3, the data collected by the information collection structure 2 is directly stored in the data storage unit; The preprocessing unit is used for data preprocessing. A person skilled in the art may set a suitable data preprocessing means in the prior art to perform data preprocessing, such as data cleaning and data screening. A backup power supply is installed in the data collection box 4. The storage capacity of the backup power supply matches the power consumption of the patrol vehicle 1 when working along the temporary patrol path. A charging connector for charging the backup power supply is provided on the fixed connector 64. A charging device matching the charging connector is installed in the fixed box 61.

[0023] When this scheme is working, the monitoring module is used to monitor the working conditions of the equipment in each patrol zone. When an abnormal condition occurs in a patrol zone, the abnormality is confirmed by patrol car 1. During the patrol process, patrol car 1 collects images and sounds of the zone; the collected data is uploaded to the data processing module, and the image data, the sound of the equipment when it is working, and the monitoring data are analyzed by the data processing module to determine whether the equipment is faulty; In this scheme, a transfer station is set up in each patrol area. When the patrol car 1 patrols the patrol area, it first loads the data collection box 4 at the patrol station; during the patrol process, the collected data is stored in the data collection box 4; after completing the temporary patrol work, the patrol car 1 is reset to the transfer station and the data collection box 4 is returned, and then the patrol car 1 resumes the regular patrol work.

[0024] This embodiment ensures that the temporary patrol work does not affect the regular patrol work of the patrol car 1 itself. When it is necessary to conduct a temporary patrol of the patrol area, the data collection box 4 is loaded to provide the patrol car 1 with power supply and data storage space for the temporary patrol. After the patrol car 1 completes the temporary patrol work, the data collection box 4 is returned to the transfer station, and the regular patrol work can be continued, ensuring that the storage space of the patrol car 1 is not easily occupied by the data collected during the temporary patrol, and ensuring that the data collected during its regular patrol work is not easily lost; and after the transfer station receives the data collection box 4, it can quickly pre-process it and upload it to the data processing module, so as to quickly analyze the status of the patrol area, which is convenient and fast.

[0025] Second implementation method: Figure 2-6 It is shown that when the number of patrol nodes set in any patrol zone exceeds the set value, the independent patrol mode is started. When the independent patrol mode is started, the patrol nodes are merged with the independent patrol path of the patrol zone to generate a temporary patrol path and load it into the data collection box 4 of the transfer station of the patrol zone; then the patrol vehicle 1 moves to the transfer station of the designated patrol zone to load the data collection box 4.

[0026] When the number of patrol nodes is less than the set value, the positioning information of the patrol nodes is sent to patrol car 1. When patrol car 1 enters the patrol zone where the patrol node is located, it suspends the regular patrol work, moves to the patrol node to collect data, and then resumes the regular patrol work; A laser transmitter is installed on the mounting plate 31 , and a laser receiver matching the laser transmitter is installed at the bottom of the fixing box 61 . When the laser transmitter matches the laser receiver, the data collection box 4 is loaded or reset.

[0027] When the data collection box 4 is loaded, the patrol car 1 moves to the bottom and establishes wireless communication with the monitoring box 6, so that the laser transmitter matches the laser receiver. At this time, the electric telescopic rod 34 extends to open the card plate 33. At the same time, a pair of lifting devices 63 work to make the data collection box 4 clamped by a pair of clamps 62 drop to the mounting plate 31. At this time, the pressure sensor on the mounting plate 31 detects the pressure, and then the clamp 62 releases the data collection box 4 and resets. At the same time, the electric telescopic rod 34 contracts to make the card plate 33 push the data collection box 4, thereby making the docking plug 32 dock with the side docking socket 42.

[0028] When the data collection box 4 is returned to the transfer station, the patrol car 1 moves to the bottom to match the laser transmitter with the laser receiver. At this time, the electric telescopic rod 34 extends to open the card plate 33. At the same time, the pair of lifting devices 63 work to clamp the data collection box 4 with a pair of clamps 62, and then the clamped data collection box 4 rises until the upper docking port 41 docks with the fixed joint 64. At this time, the data collection box 4 is reset; A positioning device is installed in the patrol car 1, and a wireless signal sending device is installed in the monitoring box 6. When the control module sets the patrol car 1 to an independent patrol mode, the position of the patrol car 1 is determined by the positioning device, and then the monitoring box 6 of the transfer station in the area where the patrol car 1 is located is controlled to send a mode switching instruction to the patrol car 1. After receiving the instruction, the patrol car 1 moves to the monitoring box 6 to load the data collection box 4.

[0029] This solution facilitates the patrol vehicle 1 to switch between regular patrol work and temporary patrol work in different areas, and is convenient for storing data and uploading collected data during temporary patrol work, making it easy to ensure that the patrol vehicle 1 can continue to complete the preset regular patrol work after completing multiple temporary patrol work.

[0030] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An intelligent inspection system for substation operation and maintenance management, characterized by: It comprises a system end and a device end; the device end comprises a patrol vehicle (1) and transfer stations arranged in a plurality of patrol zones; The system end includes a processor, and the processor is connected to a monitoring module, a control module, a data processing module and a data storage module; The monitoring module is used to collect working data of equipment in each patrol zone in the substation; The control module is provided with a conventional patrol mode and an independent patrol mode, wherein the conventional patrol mode is used to control the patrol vehicle (1) to patrol along a preset conventional patrol path between multiple patrol sections; each time a conventional patrol work is completed, the conventional patrol path is updated and the collected data is uploaded; The independent patrol mode is used to control the patrol vehicle (1) to patrol in a separate patrol zone; The data storage module is used to store the detection data and patrol paths collected during patrols, and each patrol zone is preset with an independent patrol path; The data processing module is used to set the patrol node according to the monitoring information. When data not within the set range appears in the monitoring data, the corresponding position of the data source of the data is set as the patrol node, and the conventional patrol path is updated; The patrol vehicle (1) is fixedly connected to an information collection structure (2), on which an image collection device, a recording device and an environmental sensor are installed, and a loading structure (3) is fixedly connected to the rear end of the information collection structure (2); the loading structure (3) comprises a mounting plate (31), one end of the mounting plate (31) is fixedly connected to a docking plug (32), a pair of slide grooves are formed on the mounting plate (31), electric telescopic rods (34) are installed in the slide grooves, and a clamping plate (33) is connected between the pair of electric telescopic rods (34); The transfer station comprises a bracket (5), a monitoring box (6) is fixedly connected to the bracket (5), the monitoring box (6) comprises a fixed box (61), a pair of clamping plates (62) are provided at the lower side of the fixed box (61), a lifting device (63) is connected between the clamping plates (62) and the fixed box (61), a fixed joint (64) is fixedly connected to the middle of the bottom end of the fixed box (61), and a data transmission device (65) matching the fixed joint (64) is installed in the fixed box (61); A data acquisition box (4) matching the loading structure (3) is clamped between a pair of the clamping plates (62); the top end of the data acquisition box (4) is fixedly connected to an upper docking port (41) matching the fixed joint (64); and the side end of the data acquisition box (4) is fixedly connected to a side docking socket (42) matching the docking plug (32).

2. According to claim 1, the intelligent inspection system for substation operation and maintenance management is characterized by: The data collection box (4) is provided with a communication unit, a data storage unit and a pre-processing unit; the communication unit is used for wirelessly connecting to the transfer station, and the data storage unit is used for storing the patrol path, patrol nodes and collected detection data.

3. According to claim 1, the intelligent inspection system for substation operation and maintenance management is characterized by: When the number of patrol nodes set in any patrol zone exceeds a set value, an independent patrol mode is started. When the independent patrol mode is started, the patrol nodes are merged with the independent patrol path of the patrol zone to generate a temporary patrol path and load it into a data collection box (4) at the transfer station of the patrol zone. Then the patrol vehicle (1) moves to the transfer station of the designated patrol zone to load the data collection box (4).

4. According to claim 1, the intelligent inspection system for substation operation and maintenance management is characterized by: A laser transmitter is mounted on the mounting plate (31), and a laser receiver matching the laser transmitter is mounted on the bottom end of the fixing box (61). When the laser transmitter matches the laser receiver, the data collection box (4) is loaded or reset.

5. According to claim 4, the intelligent inspection system for substation operation and maintenance management is characterized in that: When the data collection box (4) is loaded, the patrol car (1) moves to the bottom and establishes wireless communication with the monitoring box (6) so that the laser transmitter matches the laser receiver. At this time, the electric telescopic rod (34) extends to open the card plate (33). At the same time, a pair of lifting devices (63) work to lower the data collection box (4) clamped by a pair of clamps (62) to the mounting plate (31). At this time, the pressure sensor on the mounting plate (31) detects the pressure, and then the clamp (62) releases the data collection box (4) and resets. At the same time, the electric telescopic rod (34) contracts to push the card plate (33) to push the data collection box (4), thereby docking the docking plug (32) with the side docking socket (42).

6. The intelligent inspection system for substation operation and maintenance management according to claim 1 is characterized by: The data transmission device (65) is connected to the monitoring module by signal, and after receiving the data uploaded by the data collection box (4), the data transmission device (65) packages the data and sends it to the monitoring module.

7. The intelligent inspection system for substation operation and maintenance management according to claim 1 is characterized by: The patrol car (1) is equipped with a positioning device, and the monitoring box (6) is equipped with a wireless signal sending device. When the control module sets the patrol car (1) to an independent patrol mode, the position of the patrol car (1) is determined by the positioning device, and then the monitoring box (6) at the transfer station in the area where the patrol car (1) is located is controlled to send a mode switching instruction to the patrol car (1). After receiving the instruction, the patrol car (1) moves to the monitoring box (6) to load the data collection box (4).

8. The intelligent inspection system for substation operation and maintenance management according to claim 1 is characterized by: The data collection box (4) is provided with a backup power supply, the power storage capacity of which matches the power consumption of the patrol vehicle (1) when it is working along the temporary patrol path, and the fixed joint (64) is provided with a A charging connector for charging the backup power supply, wherein a charging device matching the charging connector is installed in the fixed box (61).

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