Method for analyzing operation and maintenance capability of intelligent patrol equipment for transformer substation

Abstract

The invention discloses an intelligent patrol equipment operation and maintenance capability analysis method for a transformer substation, and particularly relates to the field of electric power engineering, and the method comprises the steps: S1, equipment and environment layout modeling, S2, patrol path planning, S3, transformer substation environment data collection, S4, patrol coverage rate evaluation, S5, patrol fault diagnosis and optimization, S6, comprehensive evaluation of operation and maintenance capability, and S7, generation and output of an operation and maintenance strategy. According to the intelligent patrol equipment operation and maintenance capability analysis method for the transformer substation, an intelligent patrol digital model containing the transformer substation is constructed, so that the situation that the intelligent patrol equipment cannot enter a part of areas due to the fact that the environment is not known is avoided, and the whole-station patrol coverage rate is increased; the situation that the state of part of equipment cannot be collected due to limitation is reduced by enabling the intelligent patrol equipment to follow the planned expected patrol route; and by knowing the performance of the equipment in the current operation environment, corresponding improvement measures are taken according to the evaluation result, so that the efficient development of operation and maintenance work is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power engineering, and more specifically, to an analysis method for the operation and maintenance capabilities of intelligent inspection equipment for substations. Background Art

[0002] With the rapid development of the power system and the continuous increase in the number of substations, the traditional manual inspection method is not only time-consuming and laborious, but also difficult to meet the requirements for comprehensive, detailed, and uninterrupted monitoring of substations; in the application of intelligent equipment, it is very important to promote the autonomous inspection application of unmanned aerial vehicles for medium- and low-altitude equipment in substations and give play to the advantages of robots for infrared temperature measurement and meter reading.

[0003] Intelligent inspection realizes automatic analysis and intelligent early warning of the appearance and status of in-station equipment, abnormal environments and events, personnel behaviors, and operation behaviors through real-time monitoring, visual operation, mobile access, and network interconnection, significantly shortening the inspection time, improving efficiency, and at the same time reducing the risks of manual inspection.

[0004] However, in actual use, there are still some disadvantages. For example, restricted by the layout, structure, meter orientation, frame pillar occlusion, and safety fences of the primary and secondary equipment in the substation, the intelligent inspection equipment cannot enter some areas or cannot collect the status of some equipment, seriously affecting the inspection coverage rate of the whole station; its operation stability in complex environments is poor, resulting in data transmission interruption and misjudgment, affecting the normal development of operation and maintenance work; intelligent inspection robots usually access the local monitoring system wirelessly, and their own fault diagnosis mechanism cannot accurately locate the problem in time, thus delaying the repair time and reducing the operation and maintenance efficiency. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an analysis method for the operation and maintenance capabilities of intelligent inspection equipment for substations, through the following solutions to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solutions: An analysis method for the operation and maintenance capabilities of intelligent inspection equipment for substations, characterized by including: S1: Modeling of equipment and environmental layout: Conduct on-site measurement of environmental factors in the substation, and combine with the design drawings of the substation to construct a digital model to generate an intelligent inspection digital model; S2: Planning the inspection path: Based on the intelligent inspection digital model and the performance of the intelligent inspection equipment, generate an ideal inspection reachable range and formulate an expected inspection route; S3: Collect substation environmental data: Use intelligent inspection equipment to collect the overall environmental conditions of the substation in real time along the expected inspection route to obtain substation environmental data; S4: Evaluate the inspection coverage rate: Obtain the actual inspection path of the intelligent inspection equipment, and compare it with the preset substation inspection target based on the substation environmental data to obtain the inspection parameters of the intelligent inspection equipment; S5: Diagnose and optimize inspection faults: Obtain the intelligent inspection fault analysis model, and use the intelligent inspection fault analysis model according to the inspection parameters of the intelligent inspection equipment to obtain the fault information of the intelligent inspection equipment; S6: Comprehensively evaluate the operation and maintenance capabilities: Based on the intelligent inspection equipment fault information and the inspection parameters of the intelligent inspection equipment, establish an operation and maintenance capability evaluation index system to comprehensively evaluate the operation and maintenance capabilities of the intelligent inspection equipment to generate the operation and maintenance capabilities of the target equipment; S7: Generate and output operation and maintenance strategies: According to the operation and maintenance capabilities of the target equipment, and combine with the actual operation and maintenance needs of the substation to regularly generate the operation and maintenance adjustment strategies of the intelligent inspection equipment.

[0007] Preferably, the S1, generating an intelligent inspection digital model, specifically includes: For the layout of primary and secondary equipment in the substation, measure the specific position coordinates of each device, and record the specific position coordinates of each device in three-dimensional coordinates; Obtain the topographic and geomorphic features of each area and the ground materials of each area in the target substation; Clean and calibrate the actually measured data; Build a digital three-dimensional model through three-dimensional modeling software, and import the intelligent inspection equipment information of the intelligent inspection equipment to generate an intelligent inspection digital model.

[0008] Preferably, the S3, the substation environmental data includes the appearance status of the equipment in the substation, the meter readings, and the image information of the equipment connection parts, the substation environmental data set of the temperature, humidity, and electromagnetic intensity of the corresponding positions in the substation collected by each sensor collection device, the collected area identifier, the collected equipment quantity identifier, and the remaining time for completing all collection tasks.

[0009] Preferably, the S4, obtaining the inspection parameters of the intelligent inspection equipment, specifically includes: Based on the two-dimensional plane x coordinates and y coordinates corresponding to the key nodes passed on the actual inspection route of the intelligent inspection equipment, calculate the actual inspection coverage area ISA, which is specifically expressed as: , where n represents the total number of key nodes passed on the actual inspection route, i represents the index of the key node, x iDenote the x - coordinate corresponding to the two - dimensional plane of the i - th key node passed on the actual inspection route, y i Denote the y - coordinate corresponding to the two - dimensional plane of the i - th key node passed on the actual inspection route, where the value range of i is [1, n]; Based on the actual inspection coverage area ISA and the total area TSA of the substation, calculate the regional inspection coverage rate RIC, which is specifically expressed as: RIC = (ISA / TSA)×100%.

[0010] Preferably, in step S4, obtain the inspection parameters of the intelligent inspection device, which specifically includes: Based on the inspection frequency IF of the intelligent inspection device, the inspection distance IL of the intelligent inspection device, and the distance d between the two closest intelligent inspection devices, calculate the regional inspection coverage rate RIC of the j - th device j , which is specifically expressed as: RIC j = (IF j ×IL j +IF j+1 ×IL j+1 )×(d / 2)×100%, where j represents the index of the intelligent inspection device, IF j represents the inspection frequency of the j - th intelligent inspection device, and IL j represents the inspection distance of the j - th intelligent inspection device; Based on the regional inspection coverage rate RIC of the j - th intelligent inspection device j , calculate the device coverage rate EC, which is specifically expressed as: , where m represents the total number of intelligent inspection devices used, j represents the index of the intelligent inspection device, and N j represents the total number of intelligent inspection devices in the passable area corresponding to the j - th intelligent inspection device.

[0011] Preferably, in step S5, obtain the fault information of the intelligent inspection device, which specifically includes: In the preset system operation database, obtain the intelligent inspection fault analysis model corresponding to the abnormal situation. The preset system operation database is used to store the correspondence between the abnormal situation and the intelligent inspection fault analysis model; Based on a large amount of intelligent inspection device operation data, historical inspection records, and fault case data of various devices in the substation stored in the preset system operation database, use a multi - layer perceptron as the core architecture; The input layer receives the inspection parameters and the corresponding substation environment data; After non - linear transformation and weighted summation operations of multiple neurons in the hidden layer; Output the fault information of the intelligent inspection device at the output layer.

[0012] Preferably, step S6 of generating the operation and maintenance capability of the target device specifically includes: Receive the fault information of the intelligent inspection device and the inspection parameters, establish an operation and maintenance capability evaluation index system, and construct the operation and maintenance capability evaluation index system for the operation and maintenance objectives of the intelligent inspection device in the target substation; The operation and maintenance capability evaluation index system includes the regional inspection coverage rate, equipment coverage rate, integrity of the collection of the status of each device, probability of failure occurrence, severity of failure, timeliness of failure handling, and battery life compliance rate; Quantify each evaluation index in the operation and maintenance capability evaluation index system, and perform quantitative value taking by comparing with the standard value corresponding to each evaluation index, and the range is from 0 to 1; Construct a hierarchical structure model, take the operation and maintenance capability evaluation value as the target layer, take the operation and maintenance capability evaluation index system as the criterion layer, and construct a judgment matrix according to the mutual relationship between the indexes of each criterion layer to obtain the weight vector of each evaluation index; Based on each evaluation index in the operation and maintenance capability evaluation index system and the weight vector corresponding to each evaluation index, obtain the comprehensive operation and maintenance capability score of the target intelligent inspection device through weighted summation.

[0013] Preferably, step S7 of generating the operation and maintenance adjustment strategy for the intelligent inspection device specifically includes: According to the operation and maintenance capability level in the operation and maintenance capability report of the target device, formulate a preliminary general operation and maintenance strategy framework; On the basis of the general strategy framework, refine the operation and maintenance strategy in combination with the actual operation and maintenance requirements of the substation; Organize the generated operation and maintenance adjustment strategy for the intelligent inspection device into a pre-specified document format. The operation and maintenance adjustment strategy document for the intelligent inspection device includes the basis for formulating the operation and maintenance strategy, the content of the operation and maintenance strategy, the time arrangement for strategy implementation, and the precautions during the strategy execution process, and output it to the operation and maintenance management department and relevant technical personnel of the target substation.

[0014] To achieve the above object, the present invention provides the following technical solution: An intelligent inspection device operation and maintenance capability analysis system for a substation, including a system operation database, a system central processing module, and a user information terminal. Implementing the above-mentioned intelligent inspection device operation and maintenance capability analysis method for a substation includes: The device and environment layout modeling module: used to measure the environmental factors in the substation on the spot, and construct a digital model in combination with the design drawings of the substation to generate an intelligent inspection digital model, and output it to the inspection path planning module; Patrol Route Planning Module: It is used to receive the intelligent patrol digital model of the device and environment layout modeling module, generate an ideal inspection reachable range in combination with the performance of intelligent patrol devices, formulate an expected patrol route, and send it to the substation environment data acquisition module; Substation Environment Data Acquisition Module: It is used to use intelligent patrol devices to collect the overall environmental conditions of the substation in real time according to the expected patrol route in the substation environment data acquisition module to obtain substation environment data, and send it to the patrol coverage evaluation module; Patrol Coverage Evaluation Module: It is used to obtain the actual patrol route of intelligent patrol devices, receive the substation environment data of the substation environment data acquisition module, compare it with the preset substation patrol objectives, obtain the patrol inspection parameters of intelligent patrol devices, judge the patrol inspection parameters, and send them to the fault diagnosis and optimization module and the operation and maintenance ability comprehensive evaluation module; Fault Diagnosis and Optimization Module: It is used to obtain the intelligent patrol fault analysis model, and obtain the fault information of intelligent patrol devices through the intelligent patrol fault analysis model according to the patrol inspection parameters of the patrol coverage evaluation module, so as to send it to the operation and maintenance ability comprehensive evaluation module; Operation and Maintenance Ability Comprehensive Evaluation Module: Based on the fault information of intelligent patrol devices of the fault diagnosis and optimization module and the patrol inspection parameters of the patrol coverage evaluation module, establish an operation and maintenance ability evaluation index system to comprehensively evaluate the operation and maintenance ability of intelligent patrol devices, so as to generate the operation and maintenance ability of target devices and transmit it to the operation and maintenance strategy output module; Operation and Maintenance Strategy Output Module: It is used to regularly generate operation and maintenance adjustment strategies for intelligent patrol devices according to the operation and maintenance ability of target devices and in combination with the actual operation and maintenance requirements of the substation; The system operation database includes all data texts of the intelligent patrol device operation and maintenance ability analysis system, and real-time collects the information texts output by each module. The system central processing module is used for the information text instructions output by each module in the central control method. The user information terminal is an information output device for receiving the intelligent patrol device operation and maintenance ability analysis system.

[0015] Technical effects and advantages of the present invention: 1. By constructing an intelligent patrol digital model including the substation in S1 of the present invention, the situation that intelligent patrol devices cannot enter some areas due to lack of understanding of the environment is avoided, and the substation-wide patrol coverage rate is improved; 2. By S3 of the present invention, the intelligent patrol device follows the planned expected patrol route, reducing the situation that the status of some devices cannot be collected due to restrictions, and timely discovering abnormal situations of data transmission interruption, ensuring the integrity and accuracy of data collection; 3. By S6 of the present invention, understand the performance of the device in the current operating environment, and take corresponding improvement measures according to the evaluation results, so as to ensure the efficient development of operation and maintenance work. Brief Description of the Drawings

[0016] Figure 1 This is a flowchart of the method steps of the present invention.

[0017] Figure 2 This is a flow chart of the method of the present invention.

[0018] Figure 3 This is a schematic diagram of the method structure of the present invention. Detailed Description of the Preferred Embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification of the present application, the singular forms "a", "an", "the", "above", "said", "this" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term " / and / " used in the present application refers to and includes any or all possible combinations of one or more of the listed items.

[0021] Hereinafter, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined with "first", "second", and "third" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0022] As shown in the attached Figure 1 An intelligent patrol equipment operation and maintenance ability analysis method for a substation, including S1: equipment and environment layout modeling, S2: planning patrol paths, S3: collecting substation environment data, S4: evaluating patrol coverage, S5: diagnosing and optimizing patrol faults, S6: comprehensively evaluating operation and maintenance capabilities, S7: generating and outputting operation and maintenance strategies, and S8:.

[0023] S1: Equipment and Environment Layout Modeling: Conduct on-site measurements of the environmental factors in the substation, and construct a digital model in combination with the design drawings of the substation to generate an intelligent patrol digital model.

[0024] In a possible implementation manner, generating an intelligent inspection digital model includes: for the layout of primary and secondary equipment in a substation, measuring the specific position coordinates of each piece of equipment and recording the specific position coordinates of each piece of equipment in three-dimensional coordinates; determining the relative distances and azimuth relationships between the equipment. In this embodiment, professional staff perform measurements through high-precision measuring instruments, and the high-precision measuring instruments include but are not limited to total stations, laser rangefinders, electronic levels, etc. It should be noted that for the framework columns in the substation, it is necessary to measure the position coordinates, height, diameter, and distribution arrangement in the substation site; for the safety fence, it is necessary to measure the boundary position, length, height, and the spacing between the fence and the equipment and framework columns.

[0025] In a possible implementation manner, generating the intelligent inspection digital model further includes: obtaining the substation design drawings, where the substation design drawings include the general layout plan of the target substation, the electrical equipment layout plans of each floor, sectional views, and structure diagrams; obtaining the topographic and geomorphic features of each area in the target substation and the ground materials of each area. It should be noted that the topographic and geomorphic features of each area in the target substation include the flatness of the ground, the presence of slopes, the presence of steps, and the presence of potholes; the ground materials of each area include but are not limited to concrete, asphalt, floor tiles, etc. In this embodiment, large slopes limit the climbing ability of the intelligent inspection equipment, so it is necessary to accurately set special climbing paths in the intelligent inspection digital model; different ground materials have different friction coefficients, thus affecting the moving speed, steering flexibility of the intelligent inspection equipment, and the wear of the equipment tires. In a possible implementation manner, generating the intelligent inspection digital model further includes: cleaning and calibrating the actually measured data, removing duplicate data and outliers in the measurement data and unifying the relative position relationships of each data point in the same coordinate system; establishing a digital three-dimensional model through three-dimensional modeling software and importing the intelligent inspection equipment information of the intelligent inspection equipment, where the intelligent inspection equipment information includes but is not limited to the external dimensions of the equipment, moving mode, moving speed, turning radius, installation position of the acquisition device, acquisition angle range, battery life, etc., to generate the intelligent inspection digital model.

[0026] S2: Planning the inspection path: Generating an ideal inspection reachable range based on the intelligent inspection digital model and the performance of the intelligent inspection equipment, and formulating an expected inspection route.

[0027] Specifically, the receiving device generates an intelligent inspection digital model with the environmental layout modeling module, standardizes the intelligent inspection device information, determines the ideal inspection reachable range in combination with the acquisition capabilities of the intelligent inspection devices, identifies the areas where the intelligent inspection devices in the target substation can pass through according to the intelligent inspection digital model, and thus generates the expected inspection routes of the intelligent inspection devices.

[0028] It should be noted that by analyzing each area in the intelligent inspection digital model corresponding to the target substation through a collision detection algorithm based on geometric figures, marking all areas that meet the passing conditions of the intelligent inspection devices, and generating a set of passable areas; based on the acquisition angle range of the intelligent inspection devices, calculating the device areas that can be covered when fixing points to generate the ideal inspection reachable range. The ideal inspection reachable range means that within the passable area, the devices can pass smoothly and can collect effective information in the substation.

[0029] In this embodiment, an axis-aligned bounding box is created to surround the intelligent inspection devices, non-collision situations are quickly excluded by checking the overlap degree of the two axis-aligned bounding boxes, and then the set of passable areas is determined through the separating axis theorem; through the A* algorithm, and based on the ideal inspection reachable range, taking the starting position of the intelligent inspection device as the starting point and each inspection target as the ending point, the optimal path is searched on the map formed by the ideal inspection reachable range.

[0030] S3: Collect substation environmental data: The overall environmental conditions of the substation are collected in real time through the intelligent inspection devices along the expected inspection routes to obtain substation environmental data.

[0031] Specifically, the intelligent inspection devices receive the expected inspection route information generated in S2. The expected inspection route information includes the driving route of the optimal path, each key node on the driving route, the distance between each key node, the driving direction of the device at each node, and the acquisition angle of the acquisition device; check the device information of the intelligent inspection devices to obtain the number of available intelligent inspection devices.

[0032] In a possible implementation manner, obtaining the substation environmental data includes: The intelligent inspection devices load the received expected inspection route information and real-time monitor the positions of the intelligent inspection devices through the positioning system, and compare them with each node on the expected inspection route.

[0033] It should be noted that when there is a deviation in the position, the device is immediately adjusted through the automatic navigation and deviation correction system of the device to ensure that the device always performs the acquisition task along the expected inspection route, so as to achieve comprehensive coverage and acquisition of each area in the substation.

[0034] In a possible implementation, obtaining substation environmental data further includes: when the intelligent inspection device moves to each key node position, the camera acquisition device acquires images of the appearance state, meter readings, and equipment connection parts of the substation equipment through a preset acquisition angle range; each sensor acquisition device acquires the temperature, humidity, and electromagnetic intensity at the corresponding position in the substation in real time.

[0035] Among them, the sensor acquisition device includes but is not limited to a temperature sensor, a humidity sensor, an electromagnetic intensity sensor, etc.

[0036] In a possible implementation, obtaining substation environmental data further includes: through the high-speed data transmission module built in the intelligent inspection device, the data is sorted and transmitted in real time to generate substation environmental data, which includes the appearance state of the equipment in the substation, meter readings, and image information of the equipment connection parts, the substation environmental data set of the temperature, humidity, and electromagnetic intensity at the corresponding position in the substation by each sensor acquisition device, the collected area identifier, the collected equipment quantity identifier, and the remaining time for completing all acquisition tasks.

[0037] S4: Evaluate the inspection coverage rate: Obtain the actual inspection path of the intelligent inspection device, and compare it with the preset substation inspection target based on the substation environmental data to obtain the inspection parameters of the intelligent inspection device.

[0038] Specifically, receive the substation environmental data collected by the intelligent inspection device, use the spatial analysis algorithm to determine the substation area range covered by the actual route of the intelligent inspection device, and determine the actual inspection coverage area by analyzing the site layout of the corresponding two-dimensional plane of the substation; combine the image information in the substation environmental data to clarify the specific equipment range where the equipment status information is actually collected in the actual inspection coverage area; the inspection parameters of the intelligent inspection device include the actual inspection coverage area, the area inspection coverage rate, the area inspection coverage rate of each intelligent inspection device, and the equipment coverage rate.

[0039] In this embodiment, the preset substation inspection target is set when the intelligent inspection device is not started, and includes the equipment range to be inspected, the inspection frequency requirements, the key parts to be focused on for each equipment, and the expected inspection coverage degree.

[0040] In a possible implementation, obtaining the inspection parameters of the intelligent inspection device includes: based on the two-dimensional plane x coordinates and y coordinates corresponding to the key nodes passed through on the actual inspection route of the intelligent inspection device, calculate the actual inspection coverage area ISA, which is specifically expressed as: , Among them, n represents the total number of key nodes passed on the actual inspection route, i represents the index of the key node, and x i represents the x coordinate corresponding to the two-dimensional plane of the i-th key node passed on the actual inspection route, and y i represents the y coordinate corresponding to the two-dimensional plane of the i-th key node passed on the actual inspection route. The value range of i is [1, n]; Based on the actual inspection coverage area ISA and the total area TSA of the substation, calculate the regional inspection coverage rate RIC, which is specifically expressed as: RIC = (ISA / TSA) × 100%.

[0041] In a possible implementation manner, obtaining the inspection parameters of the intelligent inspection device further includes: calculating the regional inspection coverage rate RIC of the j-th device based on the inspection frequency IF of the intelligent inspection device, the inspection distance IL of the intelligent inspection device, and the distance d between the two closest intelligent inspection devices j , which is specifically expressed as: RIC j = (IF j × IL j + IF j+1 × IL j+1 ) × (d / 2) × 100%, Among them, j represents the index of the intelligent inspection device, and IF j represents the inspection frequency of the j-th intelligent inspection device, and IL j represents the inspection distance of the j-th intelligent inspection device; Based on the regional inspection coverage rate RIC of the j-th intelligent inspection device j , calculate the device coverage rate EC, which is specifically expressed as: , Among them, m represents the total number of intelligent inspection devices used, j represents the index of the intelligent inspection device, and N j represents the total number of intelligent inspection devices in the passable area corresponding to the j-th intelligent inspection device.

[0042] S5: Diagnose and optimize inspection faults: Obtain the intelligent inspection fault analysis model, and obtain the intelligent inspection device fault information through the intelligent inspection fault analysis model according to the inspection parameters of the intelligent inspection device.

[0043] Specifically, the intelligent inspection fault analysis model is a pre-constructed learning model. By inputting the inspection parameters into the intelligent inspection fault analysis model, the intelligent inspection fault analysis model obtains the intelligent inspection device fault information according to the inspection parameters, and comprehensively evaluates the operation and maintenance capabilities of the intelligent inspection device fault information.

[0044] In a possible implementation, obtaining the fault information of the intelligent patrol device includes: inputting the patrol inspection parameters corresponding to the substation environment data that meet the preset substation patrol inspection objectives into the intelligent patrol fault analysis model, diagnosing the corresponding substation environment data in the target substation through the neural network algorithm, and obtaining the fault diagnosis result, that is, the fault information of the intelligent patrol device; diagnosing the intelligent patrol device that does not meet the preset substation patrol inspection objectives specifically and taking remedial measures, and at the same time marking the patrol inspection parameters as abnormal conditions.

[0045] In this embodiment, the insufficient patrol frequency of the intelligent patrol device results in the inability to patrol as planned. Analyze the operation log of the intelligent patrol device and readjust the patrol path planning; the actual patrol coverage area does not meet the standard, and there is an obstacle in the patrol path of the intelligent patrol device that cannot pass. Arrange personnel to conduct on-site inspections and clear the obstacles.

[0046] In a possible implementation, obtaining the fault information of the intelligent patrol device further includes: obtaining the intelligent patrol fault analysis model corresponding to the abnormal condition in the preset system operation database, and the preset system operation database is used to store the corresponding relationship between the abnormal condition and the intelligent patrol fault analysis model; based on a large amount of intelligent patrol device operation data, historical patrol records, and fault case data of various devices in the substation stored in the preset system operation database, using the multi-layer perceptron as the core architecture, and the multi-layer perceptron is a variant form of the neural network, which consists of an input layer, multiple hidden layers, and an output layer; the input layer receives the patrol inspection parameters and the corresponding substation environment data; through the non-linear transformation and weighted summation operations of multiple neurons in the hidden layer; the fault information of the intelligent patrol device is output in the output layer.

[0047] In this embodiment, the backpropagation algorithm is used to adjust the weight parameters of the multi-layer perceptron to make the prediction result of the model close to the actual fault condition.

[0048] Specifically, the result output by the intelligent patrol fault analysis model is the fault information of the intelligent patrol device, including the fault type, the estimated fault location, the estimated fault probability, and the severe quantification degree of the fault. Among them, the estimated fault location is the area where the abnormal fault occurs; the estimated fault probability and the severe quantification degree of the fault are estimated and calculated according to the corresponding relationship between the abnormal condition and the intelligent patrol fault analysis model for the occurrence probability and severe quantification degree of each fault type.

[0049] In this embodiment, the fault types include camera faults, sensor faults, mechanical component damage, program operation anomalies, algorithm errors, data transmission interruptions, and signal interference; the severe quantification degree of the fault is divided into four levels: minor, general, severe, and extremely severe.

[0050] S6: Comprehensive evaluation of operation and maintenance capabilities: Based on the fault information of intelligent patrol equipment and the inspection parameters of intelligent patrol equipment, establish an operation and maintenance capability evaluation index system to comprehensively evaluate the operation and maintenance capabilities of intelligent patrol equipment, so as to generate the operation and maintenance capabilities of the target equipment.

[0051] In a possible implementation, generating the operation and maintenance capabilities of the target equipment includes: receiving the fault information of intelligent patrol equipment and inspection parameters, establishing an operation and maintenance capability evaluation index system, and the operation and maintenance capability evaluation index system is constructed for the operation and maintenance objectives of intelligent patrol equipment in the target substation; the operation and maintenance capability evaluation index system includes the regional patrol coverage rate, equipment coverage rate, integrity of the collection of each equipment status, probability of failure occurrence, severity of failure, timeliness of failure handling, and battery life compliance rate.

[0052] Specifically, the integrity of the collection of each equipment status is the ratio of the key status parameters of each equipment that have been collected to all the key status parameters that should be collected for that equipment; the data collection quality score is the data collection quality scoring rule existing in the preset system operation database; the quantified values corresponding to the severity of failure are set to 0.2, 0.4, 0.6, and 0.8 respectively; the timeliness of failure handling is quantified by collecting the time interval from the occurrence of the failure to the start of handling and taking the ratio with the preset reasonable handling time interval, and the value range is from 0 to 1, where 0 means the handling time far exceeds the reasonable time, and 1 means the handling time is within the reasonable range; the battery life compliance rate is quantified by the ratio of the actual battery life to the standard battery life, and the value range is from 0 to 1.

[0053] In a possible implementation, generating the operation and maintenance capabilities of the target equipment further includes: quantifying each evaluation index in the operation and maintenance capability evaluation index system, and performing quantitative value taking by comparing with the standard value corresponding to each evaluation index, and the range is from 0 to 1; constructing a hierarchical structure model, taking the operation and maintenance capability evaluation value as the target layer, taking the operation and maintenance capability evaluation index system as the criterion layer, and constructing a judgment matrix according to the mutual relationship between the indicators in each criterion layer to obtain the weight vector of each evaluation index; based on each evaluation index in the operation and maintenance capability evaluation index system and the weight vector corresponding to each evaluation index, obtaining the comprehensive operation and maintenance capability score of the target intelligent patrol equipment through weighted summation.

[0054] Specifically, the operation and maintenance capabilities of the target equipment include the comprehensive operation and maintenance capability score, operation and maintenance capability level, operation and maintenance capability evaluation index system, and the quantified values of each evaluation index in the operation and maintenance capability evaluation index system.

[0055] Specifically, the comprehensive operation and maintenance (O&M) ability score of the target intelligent inspection device, denoted as OAS, is used to determine the O&M ability level of the target device, denoted as OAL. When OAL ≥ 0.8, the O&M ability level is recorded as excellent, and the target intelligent inspection device can efficiently and stably complete the O&M tasks; when 0.6 ≤ OAL < 0.8, the O&M ability level is recorded as good, indicating that the overall O&M ability of the target intelligent inspection device is relatively strong but there is room for improvement; when 0.4 ≤ OAL < 0.6, the O&M ability level is recorded as qualified, meaning that the target intelligent inspection device basically meets the O&M requirements but requires manual assistance; when OAL < 0.4, the O&M ability level is recorded as unqualified, indicating that the O&M ability of the target intelligent inspection device is poor and targeted improvement measures need to be taken to enhance the O&M ability.

[0056] In this embodiment, through the calculation of the hierarchical structure model, the weight of the regional inspection coverage rate index is determined to be 0.20, the weight of the equipment coverage rate index is 0.15, the weight of the equipment status collection integrity index is 0.25, the weight of the failure occurrence probability index is 0.10, the weight of the failure severity index is 0.05, the weight of the failure handling timeliness index is 0.15, and the battery life compliance rate is 0.10.

[0057] S7: Generate and output the O&M strategy: Regularly generate the O&M adjustment strategy for the intelligent inspection device according to the O&M ability of the target device and in combination with the actual O&M requirements of the substation.

[0058] Specifically, according to the O&M ability of the target device, an O&M ability report of the target device is generated. The O&M ability report of the target device includes the comprehensive O&M ability score and the corresponding O&M ability level, the quantified values of each evaluation index, the scoring situation, the impact analysis on the overall O&M ability, as well as the targeted suggestions and improvement measures proposed according to the O&M ability level. Communicate and exchange with the O&M management department and relevant technical personnel of the target substation to collect the actual O&M requirements at the current stage of the substation. The actual O&M requirements include, but are not limited to, ensuring the safe and stable operation of equipment, improving the efficiency of O&M work, and reducing O&M costs.

[0059] In this embodiment, the steps for generating the O&M adjustment strategy of the intelligent inspection device are as follows: Based on the operation and maintenance capability levels in the operation and maintenance capability report of the target equipment, formulate a preliminary general operation and maintenance strategy framework: For equipment with excellent operation and maintenance capabilities, adjust the inspection frequency from once a week to once every two weeks, and extend the interval of regular equipment maintenance; reduce the monitoring frequency and change the real-time data transmission to once an hour; For equipment with good operation and maintenance capabilities, maintain the existing maintenance cycle and reserve replacement parts in advance for vulnerable components; For equipment with qualified operation and maintenance capabilities, adjust the original monthly maintenance to once every half month, strengthen the daily inspection and examination of the equipment, and formulate a special improvement plan for components with substandard performance; For equipment with unqualified operation and maintenance capabilities, immediately arrange a comprehensive equipment overhaul, and conduct a detailed inspection and repair of the equipment's hardware, software, and communication aspects; Based on the general strategy framework, refine the operation and maintenance strategy in combination with the actual operation and maintenance needs of the substation; In this embodiment, during the peak electricity consumption period of the substation, for equipment with all operation and maintenance capability levels, strengthen the real-time monitoring of key equipment to ensure its stable operation, and increase the number of temporary inspection personnel and the inspection frequency.

[0060] Organize the generated intelligent inspection equipment operation and maintenance adjustment strategy into a pre-specified document format. The intelligent inspection equipment operation and maintenance adjustment strategy document includes the basis for formulating the operation and maintenance strategy, the content of the operation and maintenance strategy, the time arrangement for implementing the strategy, and the precautions during the implementation of the strategy, and output it to the operation and maintenance management department and relevant technical personnel of the target substation.

[0061] As attached Figure 2 An intelligent inspection equipment operation and maintenance capability analysis system for a substation as shown, including a system operation database, a system central processing module, and a user information terminal, and also includes: an equipment and environment layout modeling module, a patrol path planning module, a substation environment data collection module, a patrol coverage assessment module, a fault diagnosis optimization module, an operation and maintenance capability comprehensive assessment module, and an operation and maintenance strategy output module.

[0062] The equipment and environment layout modeling module: used to conduct on-site measurements of environmental factors in the substation, and construct a digital model in combination with the design drawings of the substation to generate an intelligent inspection digital model, and output it to the patrol path planning module; The patrol path planning module: used to receive the intelligent inspection digital model of the equipment and environment layout modeling module, and generate an ideal inspection reachable range in combination with the performance of the intelligent inspection equipment, formulate an expected patrol route, and send it to the substation environment data collection module; The substation environment data collection module: used to collect the overall environmental conditions of the substation in real time through the intelligent inspection equipment along the expected patrol route received in the substation environment data collection module to obtain substation environment data, and send it to the patrol coverage assessment module; Patrol Coverage Evaluation Module: It is used to obtain the actual patrol path of the intelligent patrol equipment, receive the substation environment data from the substation environment data acquisition module, compare it with the preset substation patrol target, obtain the patrol inspection parameters of the intelligent patrol equipment, judge the patrol inspection parameters, and send them to the Fault Diagnosis and Optimization Module and the Comprehensive Evaluation Module of Operation and Maintenance Capability; Fault Diagnosis and Optimization Module: It is used to obtain the intelligent patrol fault analysis model, and through the intelligent patrol fault analysis model according to the patrol inspection parameters of the Patrol Coverage Evaluation Module, obtain the fault information of the intelligent patrol equipment, and send it to the Comprehensive Evaluation Module of Operation and Maintenance Capability; Comprehensive Evaluation Module of Operation and Maintenance Capability: Based on the fault information of the intelligent patrol equipment from the Fault Diagnosis and Optimization Module and the patrol inspection parameters of the Patrol Coverage Evaluation Module, establish an operation and maintenance capability evaluation index system to comprehensively evaluate the operation and maintenance capability of the intelligent patrol equipment, so as to generate the operation and maintenance capability of the target equipment and transmit it to the Operation and Maintenance Strategy Output Module; Operation and Maintenance Strategy Output Module: It is used to regularly generate the operation and maintenance adjustment strategy of the intelligent patrol equipment according to the operation and maintenance capability of the target equipment and in combination with the actual operation and maintenance requirements of the substation.

[0063] The system operation database includes all data texts of the intelligent patrol equipment operation and maintenance capability analysis system, and real-time collects the information texts output by each module. The system central processing module is used for the information text instructions output by each module in the central control method, and the user information terminal is the information output device for receiving the intelligent patrol equipment operation and maintenance capability analysis system.

[0064] Secondly: In the accompanying drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. Other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations, characterized in that: include: S1: Equipment and environment layout modeling: Conduct field measurements of environmental factors within the substation and build a digital model based on the substation design drawings to generate a smart patrol digital model; S2: Planning patrol routes: Generate the ideal patrol reachable range based on the intelligent patrol digital model and the performance of the intelligent patrol equipment, and formulate the expected patrol route; S3: Collecting substation environmental data: Using intelligent patrol equipment to collect the overall environmental conditions of the substation in real time along the expected patrol route to obtain substation environmental data; S4: Evaluate the inspection coverage rate: obtain the actual inspection path of the intelligent inspection equipment, and compare it with the preset substation inspection target based on the substation environment data to obtain the inspection parameters of the intelligent inspection equipment; S5: Diagnose and optimize patrol faults: obtain an intelligent patrol fault analysis model, and obtain intelligent patrol device fault information through the intelligent patrol fault analysis model according to patrol inspection parameters of the intelligent patrol device; S6: Comprehensive evaluation of operation and maintenance capabilities: Based on the fault information of intelligent patrol equipment and the inspection parameters of intelligent patrol equipment, an operation and maintenance capability evaluation index system is established to comprehensively evaluate the operation and maintenance capabilities of intelligent patrol equipment to generate the operation and maintenance capabilities of the target equipment; S7: Generate and output operation and maintenance strategy: According to the operation and maintenance capabilities of the target equipment and combined with the actual operation and maintenance needs of the substation, regularly generate the operation and maintenance adjustment strategy of the intelligent patrol equipment.

2. According to claim 1, a method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations is characterized by: S1, generating a smart patrol digital model, specifically includes: According to the layout of primary and secondary equipment in the substation, the specific location coordinates of each device are measured and recorded in three-dimensional coordinates; Obtain the topographic features and ground materials of each area in the target substation; Clean and calibrate the data obtained from actual measurements; A digital three-dimensional model is established through three-dimensional modeling software, and the intelligent patrol equipment information of the intelligent patrol equipment is imported to generate an intelligent patrol digital model.

3. According to claim 1, a method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations is characterized by: The S3, substation environmental data includes the appearance status of the equipment in the substation, meter readings, and image information of the equipment connection parts, the substation environmental data set of each sensor collection device for the temperature, humidity, and electromagnetic intensity of the corresponding position in the substation, the area identification that has been collected, the number of equipment identification that has been collected, and the estimated remaining time to complete all collection tasks.

4. According to claim 1, a method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations is characterized by: The step S4, obtaining the inspection parameters of the intelligent inspection device, specifically includes: calculating the actual inspection coverage area ISA based on the two-dimensional plane x-coordinates and y-coordinates corresponding to the key nodes passed by the intelligent inspection device on the actual inspection route, which is specifically expressed as: ， Among them, n represents the total number of key nodes passed on the actual patrol route, i represents the index of the key node, and x i It is represented as the x-coordinate and y-coordinate of the two-dimensional plane corresponding to the i-th key node passed on the actual patrol route. i It is represented as the y coordinate of the two-dimensional plane corresponding to the i-th key node passed on the actual patrol route, and the value of i is [1, n]; Based on the actual patrol coverage area ISA and the total area of ​​the substation TSA, the regional inspection coverage rate RIC is calculated, which is specifically expressed as: RIC=(ISA / TSA)×100% 5. The method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations according to claim 1 is characterized in that: The step S4, obtaining the inspection parameters of the intelligent inspection device, specifically includes: calculating the regional inspection coverage rate RIC of the jth device based on the inspection frequency IF of the intelligent inspection device, the inspection distance IL of the intelligent inspection device, and the distance d between the two closest intelligent inspection devices. j , specifically expressed as: RIC j =(IF j ×IL j +IF j+1 ×IL j+1 )×(d / 2)×100%, Among them, j represents the index of the intelligent patrol device, IF j It is represented as the inspection frequency of the jth intelligent patrol device, IL j It is represented as the inspection distance of the jth intelligent inspection device; Regional inspection coverage RIC based on the jth intelligent patrol device j , calculate the equipment coverage EC, which is specifically expressed as: ， Where m represents the total number of smart patrol devices used, j represents the index of the smart patrol device, and N j It is expressed as the total number of intelligent patrol devices in the passable area corresponding to the jth intelligent patrol device.

6. The method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations according to claim 1 is characterized in that: The step S5, obtaining fault information of the intelligent patrol device, specifically includes: In a preset system operation database, an intelligent inspection fault analysis model corresponding to the abnormal situation is obtained, and the preset system operation database is used to store the corresponding relationship between the abnormal situation and the intelligent inspection fault analysis model; Based on the large amount of intelligent patrol equipment operation data, historical inspection records, and fault case data of various equipment in the substation stored in the preset system operation database, a multi-layer perceptron is used as the core architecture; The input layer receives patrol inspection parameters and corresponding power station environmental data; After nonlinear transformation and weighted summation operations of multiple neurons in the hidden layer; Output the fault information of intelligent patrol equipment at the output layer.

7. The method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations according to claim 1 is characterized in that: S6, generating the target equipment operation and maintenance capability, specifically includes: Receive fault information and inspection parameters of intelligent patrol equipment, and establish an operation and maintenance capability evaluation index system, which is used to construct the operation and maintenance objectives of intelligent patrol equipment in the operation and maintenance of target substations; The O&M capability evaluation index system includes regional inspection coverage, equipment coverage, completeness of equipment status collection, probability of failure, severity of failure, timeliness of failure handling, and battery life compliance rate; Quantify each evaluation indicator in the operation and maintenance capability evaluation indicator system, and quantify the value by comparing it with the standard value corresponding to each evaluation indicator, with the range of 0 to 1; Construct a hierarchical model, take the operation and maintenance capability evaluation value as the target layer, take the operation and maintenance capability evaluation index system as the criterion layer, and construct a judgment matrix based on the relationship between the indicators of each criterion layer to obtain the weight vector of each evaluation indicator; Based on each evaluation indicator in the operation and maintenance capability evaluation index system and the weight vector corresponding to each evaluation indicator, the comprehensive operation and maintenance capability score of the target intelligent patrol equipment is obtained by weighted summation.

8. The method for analyzing the operation and maintenance capability of intelligent patrol equipment for substations according to claim 1 is characterized in that: S7, generating an intelligent patrol device operation and maintenance adjustment strategy, specifically includes: Develop a preliminary general operation and maintenance strategy framework based on the operation and maintenance capability level of the target equipment in the operation and maintenance capability report; Based on the general strategy framework, the operation and maintenance strategy is refined in combination with the actual operation and maintenance needs of the substation; The generated intelligent patrol equipment operation and maintenance adjustment strategy is organized into a pre-standardized document format. The intelligent patrol equipment operation and maintenance adjustment strategy document includes the basis for formulating the operation and maintenance strategy, the content of the operation and maintenance strategy, the time schedule for the implementation of the strategy, and the precautions during the implementation of the strategy, and is output to the operation and maintenance management department and relevant technical personnel of the target substation.

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