Automatic patrol method and automatic patrol system for substation equipment

Abstract

The invention provides an automatic patrol method and system for substation equipment, and the method comprises the steps: 1, obtaining a patrol task of the substation equipment; 2, determining a patrol route based on the patrol task; 3, determining a patrol node, and setting a patrol image acquisition device; step 4, determining a current patrol node; step 5, determining an associated shooting device of the current patrol node in the patrol image acquisition device according to the acquired patrol basis; and step 6, controlling the associated shooting device to automatically shoot the target patrol image. According to the automatic inspection method and the automatic inspection system for the substation equipment, the inspection route is determined according to the inspection task of the substation equipment, and the inspection image acquisition device is arranged according to the inspection nodes on the inspection route. The patrol basis is introduced, the associated shooting device of the current patrol node is determined, the target patrol image is automatically shot, calling of the associated shooting device is more suitable, and the patrol process is more reasonable.

Description

Technical Field

[0001] The present invention relates to the technical field of power system inspection, and particularly to an automatic inspection method and an automatic inspection system for substation equipment. Background Art

[0002] Substations are important facilities for power conversion and distribution in the power system. They convert the electrical energy of high-voltage transmission lines into low voltage suitable for distribution and use through transformers. Common substation equipment includes: transformers, circuit breakers, switchgear, capacitors, and reactors, etc. Automatic inspection can monitor the operating status and performance parameters of substation equipment in real time. Through real-time analysis and processing of equipment data, abnormal equipment behavior and potential faults can be detected in a timely manner, and warning information can be generated, enabling maintenance personnel to take measures for repair early to avoid power outages and losses caused by equipment failures.

[0003] Common technologies and equipment for automatic inspection of substation equipment include: camera monitoring systems, wireless sensor networks, remote monitoring systems, fault diagnosis and warning systems, and machine learning and artificial intelligence technologies. Through automatic inspection technologies and equipment, substations can achieve real-time monitoring and fault warning of equipment, improve the reliability and safety of equipment, reduce the workload of manual inspection, and improve the maintenance efficiency.

[0004] The invention patent with the application number: CN201710991807.X discloses an automatic inspection method and an automatic inspection system for substation equipment. Among them, the method includes: first, determining the observation points of the substation according to the inspection requirements, and formulating a substation inspection route according to each observation point; then determining the installation positions of each image detection device according to each observation point; finally, controlling the image detection devices at each observation point to collect images of the corresponding areas of the substation according to the formulated substation inspection route. Through multiple image detection devices and in accordance with the corresponding inspection route, the operating status information of each corresponding area of the substation can be obtained, thereby realizing reliable and comprehensive automatic inspection of substation equipment. Moreover, the inspection route can be adjusted accordingly according to the focus of the inspection. Therefore, the above automatic inspection method can perform targeted intelligent inspections and improve the flexibility of automatic inspection. In addition, the above automatic inspection method is not affected by time periods and other conditions and can achieve non-stop inspection for 24 hours.

[0005] However, when inspecting substation equipment using the above prior art, it controls the image detection devices preset at each observation point to collect images for inspection, without considering the situation of reuse of the image detection devices preset at different observation points in the actual situation. The suitability of the shooting device call is not high, and the inspection process is not reasonable enough.

[0006] In view of this, there is an urgent need for an automatic inspection method and an automatic inspection system for substation equipment to at least solve the above deficiencies. Summary of the Invention

[0007] One of the objectives of the present invention is to provide an automatic inspection method for substation equipment. According to the inspection tasks of substation equipment, the inspection route is determined, and inspection image acquisition devices are set according to the inspection nodes on the inspection route. By introducing inspection basis, the associated shooting device at the current inspection node is determined to automatically shoot the target inspection image for inspection, which improves the suitability of the associated shooting device call and makes the inspection process more reasonable.

[0008] The automatic inspection method for substation equipment provided by the embodiments of the present invention includes:

[0009] Step 1: Obtain the inspection tasks of substation equipment;

[0010] Step 2: Determine the inspection route based on the inspection tasks;

[0011] Step 3: Determine the inspection nodes on the inspection route and set inspection image acquisition devices;

[0012] Step 4: Determine the current inspection node among the inspection nodes;

[0013] Step 5: Obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis;

[0014] Step 6: Control the associated shooting device to automatically shoot the target inspection image for corresponding automatic inspection.

[0015] Preferably, in Step 1: Obtain the inspection tasks of substation equipment, it includes:

[0016] Attempt to obtain the inspection application work order of substation equipment;

[0017] If the attempt to obtain is successful, determine the inspection tasks according to the inspection application work order;

[0018] If the attempt to obtain fails, obtain the regular maintenance plan and historical inspection records of the substation;

[0019] Determine the inspection tasks according to the regular maintenance plan and historical inspection records.

[0020] Preferably, in Step 2: Determine the inspection route based on the inspection tasks, it includes:

[0021] Obtain the in-station distribution map of substation equipment;

[0022] Analyze the inspection tasks to obtain the inspection equipment;

[0023] Determine the inspection position corresponding to the inspected equipment in the in-station distribution map;

[0024] Obtain the position attributes of the inspection position;

[0025] Determine the inspection route according to the position attributes.

[0026] Preferably, the step of determining the inspection route according to the position attributes includes:

[0027] Analyze the position attributes to obtain the position layout of the inspection position;

[0028] Based on the route planning technology, determine the preselected planned route according to the position layout, where determining the preselected planned route is:

[0029] Obtain the selection value of the target route, and the calculation formula of the selection value is as follows:

[0030]

[0031] where select is the selection value, and ρ t is the planned resource of the t-th position planned to pass through in the position layout, n is the total number of positions planned to pass through in the position layout, N is the total number of positions in the position layout, and exp is the exponential function with the natural logarithm base e;

[0032] If the selection value is greater than or equal to the preset selection value threshold, then use the corresponding target route as the preselected planned route;

[0033] Analyze the position attributes to obtain the key value of the inspection position;

[0034] Obtain the planned order sequence corresponding to the key value of the inspection position in the preselected planned route;

[0035] Determine the standard inverse ordinal number corresponding to the planned order sequence;

[0036] Obtain the actual inverse ordinal number of the planned order sequence;

[0037] Subtract the standard inverse ordinal number from the actual inverse ordinal number to obtain the target difference;

[0038] Based on the preset target difference and the reasonable degree comparison library, determine the reasonable value of the preselected planned route;

[0039] Use the preselected planned route with the largest reasonable value as the inspection route.

[0040] Preferably, the step 3: determine the inspection nodes on the inspection route and set up inspection image acquisition devices, including:

[0041] Obtain the node inspection requirements of the inspection nodes;

[0042] Determine the device type of the inspection image acquisition device according to the node inspection requirements;

[0043] Set the corresponding inspection image acquisition device according to the device type.

[0044] Preferably, step 5: Obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device, including:

[0045] Obtain the device position of the inspection image acquisition device in the in-station distribution map. At the same time, obtain the first shooting parameters of the inspection image acquisition device;

[0046] Based on the preset shooting circle generation rule, determine the shooting circle according to the device position and the first shooting parameters;

[0047] Determine the inspection position corresponding to the current inspection node and use it as the target inspection position;

[0048] Determine the second shooting parameters required for the target inspection position according to the inspection basis;

[0049] Determine the associated shooting device according to the second shooting parameters and the shooting circle where the target inspection position is located.

[0050] Preferably, determining the second shooting parameters required for the target inspection position according to the inspection basis includes:

[0051] Analyze the inspection basis to obtain the basis type of the inspection basis. The basis type includes: inspection requirements, equipment importance, safety requirements, and technical applicability;

[0052] Split the inspection basis based on the basis type to obtain inspection sub-bases;

[0053] Determine the shooting parameter conversion template according to each basis type of the inspection sub-basis;

[0054] Input the inspection sub-basis into the corresponding shooting parameter conversion template to obtain shooting sub-parameters;

[0055] Collect the shooting sub-parameters output by each shooting parameter conversion template to obtain the second shooting parameters.

[0056] Preferably, determining the associated shooting device according to the second shooting parameters and the shooting circle where the target inspection position is located includes:

[0057] Traverse the shooting circle where the target inspection position is located in sequence. Each time during the traversal, use the currently traversed shooting circle as the target shooting circle;

[0058] Obtain the in-circle points of the target inspection position in the target shooting circle;

[0059] Extract a template based on the point positions within the circle and the shooting parameters corresponding to the target shooting circle, and determine the third shooting parameter corresponding to the point positions within the circle for the target shooting circle;

[0060] Match the second shooting parameter and the third shooting parameter, and determine whether the match is met;

[0061] If the match is met, the inspection image acquisition device corresponding to the target shooting circle is used as a sub-associated shooting device;

[0062] After traversing all the shooting circles where the target inspection positions are located, all the sub-associated shooting devices are jointly used as the associated shooting device.

[0063] The automatic inspection method for substation equipment provided by the embodiments of the present invention further includes:

[0064] Step 7: Try to obtain inspection interference events during the automatic inspection process. If the attempt to obtain is successful, perform interference elimination;

[0065] Among them, trying to obtain inspection interference events during the automatic inspection process includes:

[0066] Obtain sensor disconnection information during the automatic inspection process;

[0067] Determine the disconnection position according to the sensor disconnection information;

[0068] Based on the inspection image acquisition device, determine the acquired image of the disconnection position according to the disconnection position;

[0069] Analyze the acquired image to obtain inspection interference events;

[0070] Among them, if the attempt to obtain is successful and interference elimination is performed, it includes:

[0071] Perform a necessity analysis of human interference elimination according to the inspection interference event;

[0072] If the analysis result of the necessity analysis of human interference elimination is that human interference elimination is necessary, then perform human interference elimination;

[0073] If the analysis result of the necessity analysis of human interference elimination is that human interference elimination is not necessary, then obtain the event area of the inspection interference event;

[0074] Determine the substation equipment in the event area;

[0075] Determine the risk level of the substation equipment according to the preset substation equipment - risk level library;

[0076] If the risk level of any substation equipment is greater than or equal to a preset first threshold and / or the sum value of the risk levels of the substation equipment is greater than or equal to a preset second threshold, the dispatching target robot will go to the offline position to eliminate interference;

[0077] Otherwise, randomly dispatch the target robot or staff to the offline position to eliminate interference.

[0078] The automatic inspection system for substation equipment provided by the embodiments of the present invention includes:

[0079] An inspection task acquisition subsystem, configured to acquire the inspection tasks of substation equipment;

[0080] An inspection route determination subsystem, configured to determine an inspection route based on the inspection tasks;

[0081] A device setting subsystem, configured to determine inspection nodes on the inspection route and set inspection image acquisition devices;

[0082] A current inspection node determination subsystem, configured to determine the current inspection node among the inspection nodes;

[0083] An associated shooting device determination subsystem, configured to obtain the inspection basis for the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition devices according to the inspection basis;

[0084] An automatic inspection subsystem, configured to control the associated shooting device to automatically shoot target inspection images and perform corresponding automatic inspections.

[0085] The beneficial effects of the present invention are:

[0086] The present invention determines an inspection route according to the inspection tasks of substation equipment, and sets inspection image acquisition devices according to the inspection nodes on the inspection route. By introducing the inspection basis, the associated shooting device corresponding to the current inspection node is determined to automatically shoot target inspection images for inspection, which improves the suitability of the call of the associated shooting device and makes the inspection process more reasonable.

[0087] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0088] Next, through the drawings and embodiments, the technical solutions of the present invention will be further described in detail. Description of the Drawings

[0089] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the accompanying drawings:

[0090] Figure 1 It is a schematic diagram of the automatic inspection method for substation equipment in the embodiment of the present invention;

[0091] Figure 2 It is a schematic diagram of the automatic inspection system for substation equipment in the embodiment of the present invention. Detailed implementation manners

[0092] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0093] The embodiment of the present invention provides an automatic inspection method for substation equipment, as Figure 1 shown, including:

[0094] Step 1: Obtain the inspection tasks of substation equipment; wherein, the substation equipment includes: transformers, switchgear, insulators, etc.; the inspection tasks are: the substation equipment to be inspected and the inspection time;

[0095] Step 2: Determine the inspection route based on the inspection tasks; wherein, the inspection route is: the sequence of the inspection order of substation equipment, for example: which substation equipment to inspect first and which substation equipment to inspect next;

[0096] Step 3: Determine the inspection nodes on the inspection route and set up inspection image acquisition devices; wherein, the inspection nodes are: the sequence positions of each inspection equipment corresponding to the sequence of the inspection order of substation equipment; the inspection image acquisition devices are: image capturing devices;

[0097] Step 4: Determine the current inspection node among the inspection nodes; wherein, the current inspection node is: the inspection node being currently inspected;

[0098] Step 5: Obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated capturing device of the current inspection node in the inspection image acquisition device according to the inspection basis; the inspection basis includes: inspection requirements, equipment importance, safety requirements and technical applicability; the associated capturing device is: the inspection image acquisition device suitable for capturing the inspection image of the substation equipment corresponding to the current inspection node;

[0099] Step 6: Control the associated capturing device to automatically capture the target inspection images and perform corresponding automatic inspections. Among them, the target inspection images are: the summary results of the images of the substation equipment corresponding to the current inspection node captured by the associated capturing device of each current inspection node.

[0100] The working principle and beneficial effects of the above technical solution are as follows:

[0101] Based on the inspection tasks of substation equipment, this application determines the inspection route and sets up inspection image acquisition devices according to the inspection nodes on the inspection route. By introducing inspection basis, it determines the associated shooting devices at the current inspection node to automatically shoot target inspection images for inspection, improving the suitability of the associated shooting device call and making the inspection process more reasonable.

[0102] In one embodiment, step 1: Obtain the inspection tasks of substation equipment, including:

[0103] Attempt to obtain the inspection application work order of substation equipment; among them, the inspection application work order is obtained from the form requested by the substation management department, and the inspection application work order includes: inspection date and time, inspection area or equipment, and inspection purpose and requirements;

[0104] If the attempt to obtain is successful, determine the inspection task according to the inspection application work order;

[0105] If the attempt to obtain fails, obtain the regular maintenance plan and historical inspection records of the substation; among them, the regular maintenance plan records the maintenance cycle of substation equipment; the historical inspection records can be retrieved through the local database, and the historical inspection records include the inspection time of each substation equipment;

[0106] Determine the inspection task according to the regular maintenance plan and historical inspection records. Among them, when determining the inspection task according to the regular maintenance plan and historical inspection records, when the substation equipment reaches the inspection cycle recorded in the regular maintenance plan, an inspection task is automatically generated.

[0107] The working principle and beneficial effects of the above technical solution are as follows:

[0108] When this application obtains the actively applied inspection application work order, it preferentially processes the actively applied inspection application work order. Otherwise, according to the obtained regular maintenance plan and historical inspection records of the substation, the inspection task is automatically determined, and the acquisition of the inspection task is more reasonable and intelligent.

[0109] In one embodiment, step 2: Based on the inspection task, determine the inspection route, including:

[0110] Obtain the in-station distribution map of substation equipment; among them, the in-station distribution map is a schematic diagram of the distribution of substation equipment in the substation;

[0111] Analyze the inspection task to obtain the inspection equipment; among them, the inspection equipment is the substation equipment that needs to be inspected in the inspection task;

[0112] Determine the inspection positions of the inspection equipment corresponding to the in-station distribution map;

[0113] Obtain the position attributes of the inspection positions; wherein, the position attributes include: position points and position importance;

[0114] Determine the inspection route according to the position attributes.

[0115] The working principle and beneficial effects of the above technical solution are as follows:

[0116] This application introduces the in-station distribution map of substation equipment, and determines the inspection positions corresponding to the inspected equipment in the in-station distribution map. By introducing position attributes, the inspection route is determined, and the determination of the inspection route is more appropriate.

[0117] In one embodiment, determining the inspection route according to the position attributes includes:

[0118] Analyze the position attributes to obtain the position layout of the inspection positions; wherein, the position layout is: the point distribution of each inspection position;

[0119] Based on the route planning technology, determine the preliminary planned route according to the position layout, wherein, determining the preliminary planned route is:

[0120] Obtain the selection value of the target route, and the calculation formula of the selection value is as follows:

[0121]

[0122] wherein, select is the selection value, ρ t is the planned resource of the t-th planned passing position in the position layout, n is the total number of planned passing positions in the position layout, N is the total number of positions in the position layout, exp is the exponential function with the natural logarithm base e; the target route is the route planned based on the route planning technology;

[0123] If the selection value is greater than or equal to the preset selection value threshold, then use the corresponding target route as the preliminary planned route; the preset selection value threshold is set in advance manually;

[0124] Analyze the position attributes to obtain the key value of the inspection position; wherein, the higher the importance of the inspection position, the higher the key value, and the importance of the inspection position is determined according to the inspection task;

[0125] Obtain the planned order sequence corresponding to the key value of the inspection position in the preliminary planned route; wherein, the planned order sequence is: the sequence obtained by arranging the key values of the inspection positions corresponding to the traversal order of the inspection positions in the preliminary planned route;

[0126] Determine the standard inversion number corresponding to the planned order sequence; wherein, the standard inversion number is: the number of inversion pairs obtained after sorting the key values in the planned order sequence in descending order of key values. For example, if the planned order sequence is (0.3, 0.1, 0.4, 0.2), the standard inversion number is: 6;

[0127] Obtain the actual inversion number of the planned order sequence; for example, if the planned order sequence is (0.3, 0.1, 0.4, 0.2), the actual inversion number is: 3;

[0128] Subtract the standard inversion number from the actual inversion number to obtain the target difference;

[0129] Based on a preset target difference and a reasonable degree comparison library, determine the reasonable value of the preselected planned route; wherein, the reasonable degree comparison library stores multiple corresponding target differences and reasonable values, and the higher the target difference, the smaller the reasonable value;

[0130] Take the preselected planned route with the largest reasonable value as the inspection route.

[0131] The working principle and beneficial effects of the above technical solution are as follows:

[0132] Generally, the more important the inspection equipment is, the more priority it is given for inspection. Therefore, in this application, route planning technology is first introduced to determine multiple preselected planned routes, and at the same time, the key values of the inspection positions are obtained. The planned order sequence is introduced to determine the standard inversion number corresponding to the planned order sequence. The standard inversion number is the inversion number of the planned order sequence when the key values are arranged from large to small. Then, obtain the actual inversion number of the planned order sequence, and determine the target difference obtained by subtracting the standard inversion number from the actual inversion number. The larger the target difference, the more important the inspection equipment is not inspected first. Therefore, a reasonable degree comparison library is introduced to quantify the reasonable degree of the preselected planned route, determine the reasonable value of the preselected planned route, and take the preselected planned route with the largest reasonable value as the inspection route, making the determination of the inspection route more accurate.

[0133] In one embodiment, step 3: Determine the inspection nodes on the inspection route and set up inspection image acquisition devices, including:

[0134] Obtain the node inspection requirements of the inspection nodes; wherein, the node inspection requirements are: which equipment statuses and information need to be monitored and recorded;

[0135] According to the node inspection requirements, determine the device type of the inspection image acquisition device; wherein, the device type is: the type of the shooting device, such as: cameras and infrared thermal imagers, etc.;

[0136] Set the corresponding inspection image acquisition device according to the device type. When setting, it can be set at the settable area around the inspection equipment corresponding to the inspection node according to the shooting distance of the inspection image acquisition device.

[0137] The working principle and beneficial effects of the above technical solution are as follows:

[0138] This application introduces the node inspection requirements, determines the device type of the inspection image acquisition device, and sets the inspection image acquisition device according to the device type, making the setting process of the inspection image acquisition device more appropriate.

[0139] In one embodiment, step 5: Obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis, including:

[0140] Obtain the device position of the inspection image acquisition device in the station distribution map. At the same time, obtain the first shooting parameters of the inspection image acquisition device; among them, the device position is: the position of the inspection image acquisition device in the schematic diagram corresponding to the distribution of substation equipment in the substation; the first shooting parameters: the device type, shooting angle, shooting range of the inspection image acquisition device, and various settings and options used during photography or shooting.

[0141] Based on the preset shooting circle generation rule, determine the shooting circle according to the device position and the first shooting parameters; among them, the shooting circle generation rule is preset manually.

[0142] Determine the inspection position corresponding to the current inspection node and use it as the target inspection position.

[0143] Determine the second shooting parameters required for the target inspection position according to the inspection basis; among them, the second shooting parameters are determined according to the inspection requirements, safety requirements, and importance of the inspection equipment at the target inspection position.

[0144] Determine the associated shooting device according to the second shooting parameters and the shooting circle where the target inspection position is located. When determining the associated shooting device, if the second shooting parameters meet the shooting requirements within the shooting circle, the inspection image acquisition device corresponding to the shooting circle is used as the associated shooting device.

[0145] The working principle and beneficial effects of the above technical solution are as follows:

[0146] This application introduces the shooting circle generation rule, determines the shooting circle according to the device position of the inspection image acquisition device in the station distribution map and the first shooting parameters. Determine the second shooting parameters required for the target inspection position according to the inspection basis, and determine the associated shooting device according to the second shooting parameters and the shooting circle where the target inspection position is located, making the determination of the associated shooting device more reasonable.

[0147] In one embodiment, the second shooting parameters required to determine the target inspection position include:

[0148] Analyze the inspection basis, obtain the basis type of the inspection basis, and the basis type includes: inspection requirements, equipment importance, safety requirements, and technical applicability; the inspection requirements are: which equipment status and information need to be monitored and recorded; the equipment importance is: the importance level of substation equipment; the safety requirements are: the electrical safety standards and specifications that substation equipment needs to comply with; the technical applicability is: the ability to meet the design, operation, and performance requirements in the application environment of substation equipment;

[0149] Split the inspection basis based on the basis type to obtain inspection sub-bases;

[0150] According to each basis type of the inspection sub-basis, determine the shooting parameter conversion template; among them, the shooting parameter conversion template is restricted to generating only the shooting parameters corresponding to the basis type and not generating other content;

[0151] Input the inspection sub-basis into the corresponding shooting parameter conversion template to obtain shooting sub-parameters; among them, the shooting sub-parameters are: the setting parameters required for the associated shooting device, such as: exposure setting parameters, shutter speed, and aperture setting, etc.;

[0152] Collect the shooting sub-parameters output by each shooting parameter conversion template to obtain the second shooting parameters.

[0153] The working principle and beneficial effects of the above technical solution are:

[0154] This application splits the inspection basis according to the basis type of the inspection basis to obtain inspection sub-bases. At the same time, it determines the shooting parameter conversion template corresponding to the basis type, inputs the inspection sub-bases into the corresponding shooting parameter conversion template to obtain and merge the shooting sub-parameters, and obtains the second shooting parameters, improving the accuracy of the second shooting parameters.

[0155] In one embodiment, according to the second shooting parameters and the shooting circle where the target inspection position is located, determine the associated shooting device, including:

[0156] Traverse the shooting circle where the target inspection position is located in sequence. Each time during the traversal, regard the currently traversed shooting circle as the target shooting circle;

[0157] Obtain the in-circle points of the target inspection position in the target shooting circle;

[0158] Extract a template based on the in-circle points and the shooting parameters corresponding to the target shooting circle, and determine the third shooting parameter corresponding to the in-circle points for the target shooting circle; wherein, the shooting parameter extraction template is constrained to only extract the shooting parameters corresponding to the target shooting circle, the shooting parameter extraction template analyzes the generation principle of the target shooting circle, and determines the third shooting parameter according to the relative position of the in-circle points in the target shooting circle. The third shooting parameter is: the shooting parameter of the inspection image acquisition device corresponding to the target shooting circle at the target inspection position;

[0159] Match the second shooting parameter and the third shooting parameter, and determine whether they match; wherein, when determining whether they match, if the second shooting parameter is within the parameter range of the third shooting parameter, then they match, otherwise they do not match;

[0160] If they match, the inspection image acquisition device corresponding to the target shooting circle is used as a sub-associated shooting device;

[0161] After traversing all the shooting circles where the target inspection position is located, all the sub-associated shooting devices are jointly used as the associated shooting device.

[0162] The working principle and beneficial effects of the above technical solution are as follows:

[0163] This application introduces a shooting parameter extraction template. According to the in-circle points of the target inspection position obtained in the target shooting circle, the third shooting parameter corresponding to the in-circle points for the target shooting circle is determined. When matching the second shooting parameter and the third shooting parameter and determining whether they match, if the second shooting parameter is within the parameter range of the third shooting parameter, then they match, otherwise they do not match. If they match, it means that the inspection image acquisition device corresponding to the target shooting circle meets the shooting parameter requirements of the target inspection position. The corresponding inspection image acquisition device is used as a sub-associated shooting device. After traversing all the shooting circles where the target inspection position is located, all the sub-associated shooting devices are jointly used as the associated shooting device. The determination process of the associated shooting device is more reasonable and comprehensive.

[0164] An embodiment of the present invention provides an automatic inspection method for substation equipment, which further includes:

[0165] Step 7: Try to obtain inspection interference events during the automatic inspection process. If the attempt to obtain is successful, perform interference elimination; wherein, the inspection interference event is an event that causes interference to the inspection process, such as: the sensor of a certain device is covered with dust, resulting in the sensor malfunctioning, or: a certain device is damaged;

[0166] Among them, trying to obtain inspection interference events during the automatic inspection process includes:

[0167] Obtain the sensor disconnection information during the automatic inspection process; wherein, the sensor disconnection information is the sensor disconnection signal sent by the sensor in the substation equipment;

[0168] Determine the disconnection location based on the sensor disconnection information; where the disconnection location is: which sensor of which substation equipment;

[0169] Based on the inspection image acquisition device, determine the acquisition image of the disconnection location according to the disconnection location; where the acquisition image is: the image of the disconnection location taken by the inspection image acquisition device;

[0170] Analyze the acquisition image to obtain the inspection interference event;

[0171] If the attempt to obtain is successful, perform interference elimination, including:

[0172] According to the inspection interference event, conduct an analysis on the necessity of manual interference elimination; where conducting an analysis on the necessity of manual interference elimination means: obtaining the analysis model for the necessity of manual interference elimination, inputting the event characteristics of the inspection interference event (i.e., the image characteristics of the acquisition image, such as: image color and texture, etc.) into the analysis model for the necessity of manual interference elimination for analysis. The analysis model for the necessity of manual interference elimination is an intelligent AI model for conducting an analysis on the necessity of manual interference elimination, and is obtained by machine learning based on the analysis records of manual interference elimination.

[0173] If the analysis result of the analysis on the necessity of manual interference elimination is that manual interference elimination is necessary, then perform manual interference elimination;

[0174] If the analysis result of the analysis on the necessity of manual interference elimination is that manual interference elimination is not necessary, then obtain the event area of the inspection interference event; where the event area is: the area where the inspection interference event occurs in the substation;

[0175] Determine the substation equipment in the event area;

[0176] According to the preset substation equipment - danger level library, determine the danger level of the substation equipment; where the substation equipment - danger level library stores the corresponding relationships between multiple substation equipment and danger levels one by one. The higher the danger level, the higher the danger degree of manual maintenance;

[0177] If the danger level of any substation equipment is greater than or equal to the preset first threshold and / or the sum value of the danger levels of the substation equipment is greater than or equal to the preset second threshold, then dispatch the target robot to the disconnection location for interference elimination; where the preset first threshold and second threshold are both set manually in advance;

[0178] Otherwise, randomly dispatch the target robot or staff to the disconnection location for interference elimination.

[0179] The working principle and beneficial effects of the above technical solution are:

[0180] When there is interference in the inspection equipment inside the substation (such as: the inspection image acquisition device), for example, when the optical sensor is covered with dust, interference elimination is required. However, there are high-voltage substation equipment in the substation. Therefore, an analysis model for the necessity of manual interference elimination is introduced. According to the inspection interference events, the necessity of manual interference elimination is analyzed. When manual interference elimination must be carried out (such as: manual obstacle repair), the dispatching staff will go for maintenance. When manual interference elimination is not necessary, it means that the target robot for assisting interference elimination can assist in interference elimination. Therefore, a substation equipment - danger level library is introduced. If the danger level of any substation equipment is greater than or equal to a preset first threshold and / or the sum value of the danger levels of the substation equipment is greater than or equal to a preset second threshold, it indicates that the risk of operating in the event area is relatively high. Then, the dispatching target robot will go to the offline position for interference elimination. Otherwise, the risk of operating in the event area is not high, and when both manual and robot operations are possible, there is no limitation, which improves the safety of the staff operating in the substation and is also more intelligent.

[0181] An embodiment of the present invention provides an automatic inspection system for substation equipment, as Figure 2 shown, including:

[0182] An inspection task acquisition subsystem 1, configured to acquire the inspection tasks of substation equipment;

[0183] An inspection route determination subsystem 2, configured to determine the inspection route based on the inspection tasks;

[0184] A device setting subsystem 3, configured to determine the inspection nodes on the inspection route and set the inspection image acquisition device;

[0185] A current inspection node determination subsystem 4, configured to determine the current inspection node among the inspection nodes;

[0186] An associated shooting device determination subsystem 5, configured to acquire the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis;

[0187] An automatic inspection subsystem 6, configured to control the associated shooting device to automatically shoot the target inspection images and perform corresponding automatic inspections.

[0188] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. An automatic inspection method for substation equipment, characterized in that: include: Step 1: Obtain the inspection task of substation equipment; Step 2: Determine the patrol route based on the patrol task; Step 3: Determine the patrol nodes on the patrol route and set up a patrol image acquisition device; Step 4: Determine the current patrol node among the patrol nodes; Step 5: Obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis; Step 6: Control the associated shooting device to automatically shoot the target patrol image and perform corresponding automatic patrol.

2. The automatic inspection method of substation equipment according to claim 1, characterized in that: The step 1: obtaining the inspection task of the substation equipment includes: Try to obtain the inspection application work order for substation equipment; If the acquisition attempt is successful, the inspection task is determined according to the inspection application work order; If the acquisition attempt fails, obtain the substation's regular maintenance plan and historical inspection records; Determine inspection tasks based on regular maintenance plans and historical inspection records.

3. The automatic inspection method of substation equipment according to claim 1, characterized in that: The step 2: determining the patrol route based on the patrol task, includes: Obtain the distribution map of substation equipment; Analyze patrol tasks and obtain patrol equipment; Determine that the patrol equipment corresponds to the patrol position in the station distribution map; Get the location attributes of the patrol location; Determine the patrol route based on location attributes.

4. The automatic inspection method of substation equipment according to claim 3, characterized in that: Determining the patrol route according to the location attribute includes: Parse the location attributes and obtain the location layout of the patrol location; Based on the route planning technology, the pre-selected planned route is determined according to the location layout, wherein the pre-selected planned route is determined as: Get the selection value of the target route. The calculation formula of the selection value is as follows: Among them, select is the selected value, ρ t is the planned resource of the location that the tth plan passes through in the location layout, n is the total number of locations that the plan passes through in the location layout, N is the total number of locations in the location layout, and exp is an exponential function with the natural logarithm base e as the base; If the selection value is greater than or equal to the preset selection value threshold, the corresponding target route is used as the pre-selected planning route; Parse the location attributes and obtain the key value of the patrol location; Obtaining a planning order sequence of key values ​​corresponding to patrol positions in a preselected planning route; Determine the standard inverse number corresponding to the planning order sequence; Get the actual reverse number of the planned order sequence; Subtract the standard reverse number from the actual reverse number to obtain the target difference; Based on the preset target difference and reasonableness comparison library, determine the reasonable value of the pre-selected planning route; The pre-selected planned route with the largest reasonable value is used as the patrol route.

5. The automatic inspection method of substation equipment according to claim 1, characterized in that: The step 3: determining the patrol nodes on the patrol route and setting the patrol image acquisition device includes: Get the node inspection requirements of the inspection node; Determine the type of patrol image acquisition device according to the node patrol requirements; According to the type of device, set the corresponding patrol image acquisition device.

6. The automatic inspection method of substation equipment according to claim 1, characterized in that: The step 5: obtaining the inspection basis of the substation equipment corresponding to the current inspection node, and determining the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis, including: Acquire the device position of the patrol image acquisition device in the station distribution map, and at the same time, acquire the first shooting parameter of the patrol image acquisition device; Based on a preset shooting circle generation rule, determining a shooting circle according to the device position and the first shooting parameter; Determine the patrol position corresponding to the current patrol node and use it as the target patrol position; Determine the second shooting parameter required for the target patrol position according to the patrol basis; An associated shooting device is determined according to the second shooting parameter and the shooting circle where the target patrol position is located.

7. The automatic inspection method of substation equipment according to claim 6, characterized in that: According to the patrol basis, the second shooting parameters required for the target patrol position are determined, including: Analyze the inspection basis and obtain the basis type of the inspection basis, which includes: inspection needs, equipment importance, safety requirements and technical applicability; Split the inspection basis based on the basis type to obtain the inspection sub-basis; According to each basis type of the patrol sub-basis, a shooting parameter conversion template is determined; Convert the patrol sub-template into a corresponding shooting parameter according to the input, and obtain the shooting sub-parameters; The shooting sub-parameters output by each shooting parameter conversion template are collected to obtain second shooting parameters.

8. The automatic inspection method of substation equipment according to claim 6, characterized in that: Determining an associated shooting device according to the second shooting parameter and the shooting circle where the target patrol position is located includes: The shooting circles where the target patrol position is located are traversed in sequence, and each time the shooting circle currently being traversed is used as the target shooting circle; Get the point within the circle of the target patrol position in the target shooting circle; Extracting a template based on the shooting parameters corresponding to the points in the circle and the target shooting circle, determining a third shooting parameter corresponding to the target shooting circle for the points in the circle; Matching the second shooting parameter and the third shooting parameter to determine whether they match; If the match is met, the patrol image acquisition device corresponding to the target shooting circle is used as the sub-associated shooting device; When the shooting circle where the target patrol position is located is traversed, all the sub-associated shooting devices are collectively used as associated shooting devices.

9. The automatic inspection method of substation equipment according to claim 1, characterized in that: Also includes: Step 7: Try to obtain the patrol interference event during the automatic patrol process. If the attempt is successful, eliminate the interference; Among them, try to obtain patrol interference events during the automatic patrol process, including: Get the sensor offline information during the automatic patrol process; Determine the offline location based on the offline information of the sensor; Based on the patrol image acquisition device, according to the offline position, a captured image of the offline position is determined; Analyze the collected images and obtain patrol interference events; If the attempt is successful, interference elimination is performed, including: According to patrol interference events, conduct necessity analysis to eliminate human interference; If the result of the necessity analysis of human interference elimination is that human interference elimination is necessary, human interference elimination shall be carried out; If the result of the analysis of the necessity of human interference elimination is that human interference elimination is not necessary, then the event area of ​​the patrol interference event is obtained; Identify the substation equipment in the incident area; Determine the danger level of the substation equipment according to the preset substation equipment-danger level library; If the danger level of any substation equipment is greater than or equal to a preset first threshold and / or the level and value of the danger level of the substation equipment is greater than or equal to a preset second threshold, the target robot is dispatched to the offline location to eliminate interference; Otherwise, the target robot or staff is randomly dispatched to the offline location to eliminate the interference.

10. An automatic inspection system for substation equipment, characterized in that: include: The patrol task acquisition subsystem is used to obtain the patrol tasks of substation equipment; A patrol route determination subsystem is used to determine the patrol route based on the patrol task; The device setting subsystem is used to determine the patrol nodes on the patrol route and set the patrol image acquisition device; A current patrol node determination subsystem is used to determine a current patrol node among patrol nodes; The associated shooting device determination subsystem is used to obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated shooting device of the current inspection node in the inspection image acquisition device according to the inspection basis; The automatic patrol subsystem is used to control the associated shooting device to automatically shoot the target patrol image and perform corresponding automatic patrol.

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