Converter station inspection operation path intelligent planning method

Abstract

The invention discloses a converter station inspection operation path intelligent planning method, which comprises the following steps: step 1, checking the width and the passing height of each channel on site according to a converter station design drawing, and checking the position of key monitoring equipment; step 2, according to the specification of the equipment, noise which can be emitted by field equipment in a normal operation state is calculated, then field check is carried out, and a noise release range is confirmed; 3, according to the specification of the equipment, calculating the amount of static electricity possibly released into the air in the normal operation state of the field equipment, and then carrying out field check to confirm the static electricity release range; 4, according to the specification of the equipment, the content of gas possibly released and diffused into the air in the normal operation state of the field equipment is calculated, then field checking is carried out, and the gas release range is confirmed. The invention relates to the field of converter station monitoring, in particular to an intelligent planning method for a patrol operation path of a converter station.

Description

Technical Field

[0001] The present invention relates to the field of converter station monitoring, and in particular to an intelligent planning method for a converter station inspection operation path. Background Art

[0002] A converter station refers to a site established in a high-voltage direct current transmission system to complete the conversion of alternating current into direct current or direct current into alternating current and to meet the power system's requirements for safety, stability and power quality.

[0003] The main equipment of the converter station includes: converter valves, converter transformers, control and regulation systems, protection systems, smoothing reactors, AC filters, DC filters, lightning arresters, etc.

[0004] The converter device consisting of converter transformer and converter valve is the core of the converter station.

[0005] The control, regulation and protection system of the converter station realizes the following functions: stopping and sending DC power, controlling the direction of power flow, regulating the amount of power flow and other electrical parameters, processing and limiting the impact of abnormal operation of the converter valve and interference of the AC and DC systems, protecting the equipment of the converter station, and monitoring various parameters of the converter station. The operating performance and safety and reliability of the converter station and the DC transmission system are closely related to the performance and reliability of the control and regulation system, and also have an important impact on the operation of the entire power system. Therefore, the control, regulation and protection system of the converter station is the intelligent part of the converter station, and its development trend is to adopt microcomputer technology.

[0006] In addition to observing and controlling the data of each device in the control room and controlling the situation of the converter station, it is also necessary to arrange regular on-site inspections in the converter station. The combination of the two can improve the supervision of each device and improve safety. However, manual inspections basically observe the on-site situation and record the on-site equipment data. Other anomalies such as odor, noise and other early anomalies are basically based on manual experience, and there is no on-site recording screen, so there is no need for subsequent review; at the same time, manual inspections are also subject to space and safety limitations, and some locations cannot be entered. Summary of the invention

[0007] The technical problem to be solved by the present invention is manual inspection, which basically involves observing the on-site conditions and recording on-site equipment data. Other abnormalities such as odor, noise and other early abnormalities are basically based on manual experience, and there is no on-site recording screen, so there is no need for subsequent review. At the same time, manual inspection is also subject to space and safety limitations, and some locations cannot be entered.

[0008] To solve the above problems, the technical solution adopted by the present invention is as follows: The present invention is a method for intelligently planning a converter station inspection operation path, comprising the following steps:

[0009] Step 1: According to the converter station design drawing, the width and passable height of each channel are verified on site, and the location of key monitoring equipment is checked;

[0010] Step 2: Calculate the noise that can be emitted by the on-site equipment under normal operating conditions based on the equipment specifications, and then conduct on-site verification to confirm the noise release range;

[0011] Step 3: Calculate the amount of static electricity that may be released into the air under normal operation of the equipment on site based on the equipment specifications, and then conduct an on-site check to confirm the scope of static electricity release;

[0012] Step 4: Calculate the gas content that may be released and diffused into the air under normal operation of the on-site equipment based on the equipment specifications, and then conduct on-site verification to confirm the scope of gas release;

[0013] Step 5: Plan the inspection route according to the design drawing and on-site verification, and draw landmarks on site for the inspection robot to drive on;

[0014] Step 6: Install network cameras in four directions on the unmanned vehicle, front, back, left, and right, and install a higher top network camera in the middle;

[0015] Step 7: Install a noise detector with a network signal transmission function on the front and rear of the unmanned vehicle, install a static electricity detector with a network signal transmission function on the front and rear of the unmanned vehicle, install an air detector with a network signal transmission function on the front and rear of the unmanned vehicle, and install an audible and visual alarm on the unmanned vehicle;

[0016] Step 8: The unmanned vehicle inspection is carried out 24 hours a day. Under normal circumstances, the unmanned vehicle will inspect along the planned route and transmit various data back in real time. At the same time, when the noise, static electricity or air content exceeds the set range, the unmanned vehicle will transmit the signal back and automatically move to the abnormal part, or the terminal will monitor and determine the situation, turn off the automatic inspection function, and change to remote control to control the unmanned vehicle to move in a controlled manner, and find the abnormal equipment in combination with the detector data;

[0017] Step 9: According to the abnormal situation, the problem is determined in time, and the maintenance personnel go to the site for investigation;

[0018] Step 10. Under normal circumstances, manual inspections need to be carried out every 30-60 minutes.

[0019] Furthermore, in step 1, it should be noted that the passable area will not affect signal transmission.

[0020] Furthermore, the step five is marked with three colors: red, yellow and green. The green line is the driving route, the yellow line is two parallel lines located on both sides of the green line to limit the width of the driving route, and the red line is two parallel lines located on both sides of the yellow line. The distance between the red line and the yellow line is 20-30 cm.

[0021] Furthermore, the bottom mounting bracket of the top network camera in step six is ​​a height-adjustable and rotatable remotely controllable mounting bracket.

[0022] Furthermore, in step eight, in order to ensure 24-hour inspection, the battery life of the unmanned vehicle must be verified, and multiple groups of unmanned vehicles must be prepared to facilitate rotation and charging.

[0023] Furthermore, in step nine, the maintenance personnel need to ensure the safety of the site before entering the site.

[0024] The beneficial effects achieved by the present invention using the above structure are as follows:

[0025] 1. Use a combination of unmanned vehicle monitoring and manual monitoring to conduct inspections, and plan reasonable routes. The size advantage of unmanned vehicles can enter areas that cannot be monitored manually, making inspections more comprehensive.

[0026] 2. Design noise detectors, static electricity detectors, and gas detectors to monitor from various dimensions such as images and environment, which are more intelligent and comprehensive and more convenient to locate abnormal equipment. DETAILED DESCRIPTION

[0027] Example 1

[0028] The present invention is a method for intelligently planning a converter station inspection operation path, comprising the following steps:

[0029] Step 1: According to the converter station design drawing, the width and passable height of each channel are verified on site, and the location of key monitoring equipment is checked. It should be noted that the passable area will not affect signal transmission;

[0030] Step 2: Calculate the noise that can be emitted by the on-site equipment under normal operating conditions based on the equipment specifications, and then conduct on-site verification to confirm the noise release range;

[0031] Step 3: Calculate the amount of static electricity that may be released into the air under normal operation of the equipment on site based on the equipment specifications, and then conduct an on-site check to confirm the scope of static electricity release;

[0032] Step 4: Calculate the gas content that may be released and diffused into the air under normal operation of the on-site equipment based on the equipment specifications, and then conduct on-site verification to confirm the scope of gas release;

[0033] Step 5: Plan the inspection route according to the design drawing and on-site verification, and draw landmarks on site for the inspection robot to drive. The landmarks have three colors: red, yellow and green. The green line is the driving route. The yellow line is two parallel lines located on both sides of the green line to limit the width of the driving route. The red line is two parallel lines located on both sides of the yellow line. The distance between the red line and the yellow line is 20cm.

[0034] Step 6: Install network cameras in four directions, front, back, left, and right, on the unmanned vehicle, and install a higher top network camera in the middle. The bottom mounting frame of the top network camera is a remotely controllable mounting frame with adjustable height and rotation;

[0035] Step 7: Install a noise detector with a network signal transmission function on the front and rear of the unmanned vehicle, install a static electricity detector with a network signal transmission function on the front and rear of the unmanned vehicle, install an air detector with a network signal transmission function on the front and rear of the unmanned vehicle, and install an audible and visual alarm on the unmanned vehicle;

[0036] Step 8: The unmanned vehicle inspection is carried out 24 hours a day. Under normal circumstances, the unmanned vehicle will inspect along the planned route and transmit various data back in real time. At the same time, when the noise, static electricity or air content exceeds the set range, the unmanned vehicle will transmit the signal back and automatically move to the abnormal part, or the terminal will monitor and determine the situation, turn off the automatic inspection function, and change to remote control to control the controlled movement of the unmanned vehicle. Combined with the detector data, find the abnormal equipment. To ensure 24-hour inspection, the battery life of the unmanned vehicle must be verified, and multiple groups of unmanned vehicles must be prepared in a targeted manner to facilitate rotation and charging;

[0037] Step 9: According to the abnormal situation, the problem is determined in time, and the maintenance personnel enter the site for investigation. The maintenance personnel need to ensure the safety of the site before entering the site;

[0038] Step 10: Under normal circumstances, manual inspections need to be carried out every 30 minutes.

[0039] Example 2

[0040] The present invention is a method for intelligently planning a converter station inspection operation path, comprising the following steps:

[0041] Step 1: According to the converter station design drawing, the width and passable height of each channel are verified on site, and the location of key monitoring equipment is checked. It should be noted that the passable area will not affect signal transmission;

[0042] Step 2: Calculate the noise that can be emitted by the on-site equipment under normal operating conditions based on the equipment specifications, and then conduct on-site verification to confirm the noise release range;

[0043] Step 3: Calculate the amount of static electricity that may be released into the air under normal operation of the equipment on site based on the equipment specifications, and then conduct an on-site check to confirm the scope of static electricity release;

[0044] Step 4: Calculate the gas content that may be released and diffused into the air under normal operation of the on-site equipment based on the equipment specifications, and then conduct on-site verification to confirm the scope of gas release;

[0045] Step 5: Plan the inspection route according to the design drawing and on-site verification, and draw landmarks on site for the inspection robot to drive. The landmarks have three colors: red, yellow and green. The green line is the driving route. The yellow line is two parallel lines located on both sides of the green line to limit the width of the driving route. The red line is two parallel lines located on both sides of the yellow line. The distance between the red line and the yellow line is 25cm.

[0046] Step 6: Install network cameras in four directions, front, back, left, and right, on the unmanned vehicle, and install a higher top network camera in the middle. The bottom mounting frame of the top network camera is a remotely controllable mounting frame with adjustable height and rotation;

[0047] Step 7: Install a noise detector with a network signal transmission function on the front and rear of the unmanned vehicle, install a static electricity detector with a network signal transmission function on the front and rear of the unmanned vehicle, install an air detector with a network signal transmission function on the front and rear of the unmanned vehicle, and install an audible and visual alarm on the unmanned vehicle;

[0048] Step 8: The unmanned vehicle inspection is carried out 24 hours a day. Under normal circumstances, the unmanned vehicle will inspect along the planned route and transmit various data back in real time. At the same time, when the noise, static electricity or air content exceeds the set range, the unmanned vehicle will transmit the signal back and automatically move to the abnormal part, or the terminal will monitor and determine the situation, turn off the automatic inspection function, and change to remote control to control the controlled movement of the unmanned vehicle. Combined with the detector data, find the abnormal equipment. To ensure 24-hour inspection, the battery life of the unmanned vehicle must be verified, and multiple groups of unmanned vehicles must be prepared in a targeted manner to facilitate rotation and charging;

[0049] Step 9: According to the abnormal situation, the problem is determined in time, and the maintenance personnel enter the site for investigation. The maintenance personnel need to ensure the safety of the site before entering the site;

[0050] Step 10. Under normal circumstances, manual inspections need to be carried out every 45 minutes.

[0051] Example 3

[0052] The present invention is a method for intelligently planning a converter station inspection operation path, comprising the following steps:

[0053] Step 1: According to the converter station design drawing, the width and passable height of each channel are verified on site, and the location of key monitoring equipment is checked. It should be noted that the passable area will not affect signal transmission;

[0054] Step 2: Calculate the noise that can be emitted by the on-site equipment under normal operating conditions based on the equipment specifications, and then conduct on-site verification to confirm the noise release range;

[0055] Step 3: Calculate the amount of static electricity that may be released into the air under normal operation of the equipment on site based on the equipment specifications, and then conduct an on-site check to confirm the scope of static electricity release;

[0056] Step 4: Calculate the gas content that may be released and diffused into the air under normal operation of the on-site equipment based on the equipment specifications, and then conduct on-site verification to confirm the scope of gas release;

[0057] Step 5: Plan the inspection route according to the design drawing and on-site verification, and draw landmarks on site for the inspection robot to drive. The landmarks have three colors: red, yellow and green. The green line is the driving route. The yellow line is two parallel lines located on both sides of the green line to limit the width of the driving route. The red line is two parallel lines located on both sides of the yellow line. The distance between the red line and the yellow line is 30cm.

[0058] Step 6: Install network cameras in four directions, front, back, left, and right, on the unmanned vehicle, and install a higher top network camera in the middle. The bottom mounting frame of the top network camera is a remotely controllable mounting frame with adjustable height and rotation;

[0059] Step 7: Install a noise detector with a network signal transmission function on the front and rear of the unmanned vehicle, install a static electricity detector with a network signal transmission function on the front and rear of the unmanned vehicle, install an air detector with a network signal transmission function on the front and rear of the unmanned vehicle, and install an audible and visual alarm on the unmanned vehicle;

[0060] Step 8: The unmanned vehicle inspection is carried out 24 hours a day. Under normal circumstances, the unmanned vehicle will inspect along the planned route and transmit various data back in real time. At the same time, when the noise, static electricity or air content exceeds the set range, the unmanned vehicle will transmit the signal back and automatically move closer to the abnormal part, or the terminal will monitor and determine the situation, and change to remote control to control the controlled movement of the unmanned vehicle. Combined with the detector data, find the abnormal equipment. To ensure 24-hour inspection, the battery life of the unmanned vehicle must be verified, and multiple groups of unmanned vehicles must be prepared in a targeted manner to facilitate rotation and charging;

[0061] Step 9: According to the abnormal situation, the problem is determined in time, and the maintenance personnel enter the site for investigation. The maintenance personnel need to ensure the safety of the site before entering the site;

[0062] Step 10: Under normal circumstances, manual inspections need to be carried out every 60 minutes.

[0063] It should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A method for intelligent planning of inspection paths of converter stations, characterized in that: The steps include: Step 1: According to the converter station design drawing, the width and passable height of each channel are verified on site, and the location of key monitoring equipment is checked; Step 2: Calculate the noise that can be emitted by the on-site equipment under normal operating conditions based on the equipment specifications, and then conduct on-site verification to confirm the noise release range; Step 3: Calculate the amount of static electricity that may be released into the air under normal operation of the equipment on site based on the equipment specifications, and then conduct an on-site check to confirm the scope of static electricity release; Step 4: Calculate the gas content that may be released and diffused into the air under normal operation of the on-site equipment based on the equipment specifications, and then conduct on-site verification to confirm the scope of gas release; Step 5: Plan the inspection route according to the design drawing and on-site verification, and draw landmarks on site for the inspection robot to drive on; Step 6: Install network cameras in four directions on the unmanned vehicle, front, back, left, and right, and install a higher top network camera in the middle; Step 7: Install a noise detector with a network signal transmission function on the front and rear of the unmanned vehicle, install a static electricity detector with a network signal transmission function on the front and rear of the unmanned vehicle, install an air detector with a network signal transmission function on the front and rear of the unmanned vehicle, and install an audible and visual alarm on the unmanned vehicle; Step 8: The unmanned vehicle inspection is carried out 24 hours a day. Under normal circumstances, the unmanned vehicle will inspect along the planned route and transmit various data back in real time. At the same time, when the noise, static electricity or air content exceeds the set range, the unmanned vehicle will transmit the signal back and automatically move to the abnormal part, or the terminal will monitor and determine the situation, turn off the automatic inspection function, and change to remote control to control the unmanned vehicle to move in a controlled manner, and find the abnormal equipment in combination with the detector data; Step 9: According to the abnormal situation, the problem is determined in time, and the maintenance personnel go to the site for investigation; Step 10. Under normal circumstances, manual inspections need to be carried out every 30-60 minutes.

2. According to claim 1, a converter station inspection operation path intelligent planning method is characterized by: In the step 1, it should be noted that the passable area will not affect signal transmission.

3. The intelligent planning method for inspection operation path of a converter station according to claim 2, characterized in that: The step five is marked with three colors: red, yellow and green. The green line is the driving route. The yellow line is two parallel lines located on both sides of the green line to limit the width of the driving route. The red line is two parallel lines located on both sides of the yellow line. The distance between the red line and the yellow line is 20-30 cm.

4. The intelligent planning method for inspection operation path of a converter station according to claim 3 is characterized by: The bottom mounting bracket of the top webcam in step six is ​​a height-adjustable and rotatable remotely controllable mounting bracket.

5. The method for intelligent planning of converter station inspection operation paths according to claim 4, characterized in that: In step eight, to ensure 24-hour inspection, the battery life of the unmanned vehicle must be verified, and multiple groups of unmanned vehicles must be prepared to facilitate rotation and charging.

6. A converter station inspection operation path intelligent planning method according to claim 5, characterized in that: In step nine, the maintenance personnel need to ensure the safety of the site before entering the site.