An automatic patrol method and an automatic patrol system for a substation device
By setting up image acquisition devices according to the inspection tasks and criteria during substation equipment inspections, the problem of low suitability of existing imaging devices has been solved, achieving more reasonable and efficient automatic inspections.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JIANGSU HAOHAN INFORMATION TECH
- Filing Date
- 2025-02-18
- Publication Date
- 2026-05-29
AI Technical Summary
Existing technologies fail to effectively consider the reusability of pre-set image detection equipment at different observation points during substation equipment inspections, resulting in low suitability for the use of imaging devices and an unreasonable inspection process.
Based on the inspection tasks of substation equipment, the inspection route and nodes are determined, inspection image acquisition devices are set up, and the relevant shooting devices are determined by introducing inspection data. Automatic inspection is carried out by capturing target inspection images.
The suitability of the associated imaging devices and the rationality of the inspection process have been improved, ensuring that the inspection process is more efficient and accurate.
Smart Images
Figure CN120049609B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of power system inspection technology, and in particular to an automatic inspection method and system for substation equipment. Background Technology
[0002] Substations are crucial facilities in power systems for the conversion and distribution of electrical energy. They use transformers to convert high-voltage transmission lines into lower voltages suitable for distribution and use. Common substation equipment includes transformers, circuit breakers, switchgear, capacitors, and reactors. Automated inspection systems 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 promptly, generating early warning information. This allows maintenance personnel to take timely corrective measures to avoid power outages and losses caused by equipment failures.
[0003] Common technologies and equipment for automated inspection of substation equipment include: video surveillance systems, wireless sensor networks, remote monitoring systems, fault diagnosis and early warning systems, and machine learning and artificial intelligence technologies. Through automated inspection technologies and equipment, substations can achieve real-time monitoring and fault early warning of equipment, improving equipment reliability and safety, reducing the workload of manual inspections, and increasing operation and maintenance efficiency.
[0004] Patent application number CN201710991807.X discloses an automatic inspection method and system for substation equipment. The method includes: first, determining observation points in the substation according to inspection requirements and formulating an inspection route based on these points; then, determining the installation positions of image detection devices based on each observation point; and finally, controlling the image detection devices at each observation point to acquire images of the corresponding areas of the substation according to the established inspection route. By using multiple image detection devices and following the corresponding inspection route, the operating status information of each corresponding area of the substation can be obtained, thereby achieving reliable and comprehensive automatic inspection of the substation equipment. Furthermore, the inspection route can be adjusted according to the focus of the inspection; therefore, the above-mentioned automatic inspection method can perform targeted intelligent inspections, improving the flexibility of automatic inspections. In addition, the above-mentioned automatic inspection method is not affected by time of day or other conditions, and can achieve 24-hour uninterrupted inspection.
[0005] However, the aforementioned existing technology, when inspecting substation equipment, controls the preset image detection devices at each observation point to collect images for inspection. It does not take into account the situation where preset image detection devices at different observation points are reused in reality. The suitability of calling up the shooting device 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 system for substation equipment to at least address the aforementioned shortcomings. Summary of the Invention
[0007] One objective of this invention is to provide an automatic inspection method for substation equipment. Based on the inspection task, an inspection route is determined, and image acquisition devices are set up according to the inspection nodes along the route. By introducing inspection criteria, the associated imaging devices for the current inspection node are determined to automatically capture target inspection images for inspection, improving the suitability of the associated imaging device deployment and making the inspection process more rational.
[0008] The automatic inspection method for substation equipment provided in this embodiment of the invention includes:
[0009] Step 1: Obtain inspection tasks for substation equipment;
[0010] Step 2: Determine the patrol route based on the patrol mission;
[0011] Step 3: Determine the inspection nodes along the inspection route and set up the inspection image acquisition device;
[0012] Step 4: Determine the current inspection node among the inspection nodes;
[0013] Step 5: Obtain the inspection basis for the substation equipment corresponding to the current inspection node, and determine the associated shooting device for the current inspection node in the inspection image acquisition device based on the inspection basis;
[0014] Step 6: Control the associated shooting device to automatically capture images of the target for inspection and perform corresponding automatic inspection.
[0015] Preferably, step 1: obtaining the inspection task of the substation equipment includes:
[0016] Attempt to obtain a work order for the inspection of substation equipment;
[0017] If the attempt to obtain the information is successful, determine the inspection task based on the inspection application work order;
[0018] If the attempt to obtain the data fails, retrieve the substation's scheduled maintenance plan and historical inspection records.
[0019] The inspection tasks are determined based on the regular maintenance plan and historical inspection records.
[0020] Preferably, step 2: determining the patrol route based on the patrol task includes:
[0021] Obtain the substation equipment distribution map;
[0022] Analyze the patrol mission and acquire patrol equipment;
[0023] Determine the patrol equipment's location on the station's distribution map;
[0024] Get the location attributes of the patrol location;
[0025] Determine the patrol route based on location attributes.
[0026] Preferably, determining the patrol route based on location attributes includes:
[0027] Parse the location attributes to obtain the location layout of the patrol location;
[0028] Based on route planning technology and the location layout, a pre-selected planned route is determined. The determination of the pre-selected planned route involves:
[0029] Obtain the selection value for the target route. The formula for calculating the selection value is as follows:
[0030]
[0031] Where select is the selection value, ρ t Let be the planned resource of the t-th planned location in the location layout, n be the total number of planned locations in the location layout, N be the total number of locations in the location layout, and exp be an exponential function with the base of the natural logarithm and e as the base.
[0032] If the selected value is greater than or equal to the preset selected value threshold, the corresponding target route will be used as the pre-selected planned route.
[0033] Parse the location attributes to obtain the key values of the patrol location;
[0034] Obtain the planning sequence of key values corresponding to the inspection locations in the pre-selected planning route;
[0035] Determine the standard inversion number corresponding to the planning sequence;
[0036] Obtain the actual number of inversions in the planned sequence;
[0037] The target difference is obtained by subtracting the standard number of inversions from the actual number of inversions.
[0038] Based on a pre-set target difference and a reasonableness comparison database, the reasonable value of the pre-selected planned route is determined;
[0039] The pre-selected route with the highest reasonable value will be used as the inspection route.
[0040] Preferably, step 3: determining the inspection nodes on the inspection route and setting up the inspection image acquisition device includes:
[0041] Obtain the node inspection requirements of the inspection nodes;
[0042] Based on the node inspection requirements, determine the device type of the inspection image acquisition device;
[0043] Set up the corresponding inspection image acquisition device according to the device type.
[0044] Preferably, step 5: obtaining the inspection basis for the substation equipment corresponding to the current inspection node, and determining the associated imaging device for the current inspection node in the inspection image acquisition device based on the inspection basis, including:
[0045] The location of the patrol image acquisition device on the station distribution map is obtained, and the first shooting parameters of the patrol image acquisition device are obtained at the same time.
[0046] Based on the preset shooting circle generation rules, the shooting circle is determined according to the device position and the first shooting parameters;
[0047] Determine the inspection location corresponding to the current inspection node and use it as the target inspection location;
[0048] Based on the inspection data, determine the second imaging parameters required for the target inspection location;
[0049] Based on the second shooting parameters and the shooting circle where the target inspection position is located, the associated shooting device is determined.
[0050] Preferably, based on the inspection criteria, the second imaging parameters required to determine the target inspection location include:
[0051] Analyze the basis for the inspection and identify the types of basis for the inspection. The types of basis include: inspection requirements, equipment importance, safety requirements, and technical applicability.
[0052] Based on the type of inspection criteria, sub-criteria for inspection are obtained;
[0053] Based on each type of evidence in the inspection sub-evidence, determine the shooting parameter conversion template;
[0054] The inspection sub-parameters are converted into templates based on the input shooting parameters to obtain the shooting sub-parameters;
[0055] Collect the shooting sub-parameters output by the conversion template for each shooting parameter to obtain the second shooting parameter.
[0056] Preferably, the associated shooting device is determined based on the second shooting parameters and the shooting circle where the target inspection position is located, including:
[0057] Iterate through the shooting circles where the target inspection position is located in turn. During each iteration, the shooting circle being traversed is taken as the target shooting circle.
[0058] Obtain the target's patrol location within the target's shooting circle;
[0059] Based on the points within the circle and the shooting parameters corresponding to the target shooting circle, a template is extracted to determine the third shooting parameter corresponding to the points within the circle to the target shooting circle;
[0060] Match the second and third shooting parameters to determine if they match.
[0061] If a match is found, the patrol image acquisition device corresponding to the target shooting circle is used as a sub-associative shooting device;
[0062] Once the shooting circle containing the target's location has been traversed, all the sub-associated shooting devices are collectively considered as associated shooting devices.
[0063] The automatic inspection method for substation equipment provided in this embodiment of the invention further includes:
[0064] Step 7: Attempt to acquire patrol interference events during the automatic patrol process. If the acquisition is successful, perform interference elimination.
[0065] This includes attempting to acquire patrol interference events during the automatic patrol process, including:
[0066] Obtain sensor disconnection information during automatic inspection;
[0067] Determine the location of the disconnection based on the sensor disconnection information;
[0068] Based on the patrol image acquisition device, the image at the location of the disconnection is determined according to the location of the disconnection;
[0069] Analyze the acquired images to identify patrol interference events;
[0070] If the attempt to obtain the data is successful, interference elimination will be performed, including:
[0071] Based on the incidents of interference during inspections, conduct an analysis of the necessity of eliminating human interference.
[0072] If the analysis results of the necessity analysis for eliminating human interference indicate that it is necessary to eliminate human interference, then human interference elimination shall be carried out.
[0073] If the analysis result of the necessity analysis for eliminating human interference is that it is not necessary to eliminate human interference, then the event area of the inspection interference event is obtained.
[0074] The substation equipment in the event area was identified;
[0075] The hazard level of the power equipment is determined based on the pre-set power equipment-hazard level database;
[0076] If the danger level of any power equipment is greater than or equal to the preset first threshold and / or the level and value of the danger level of the power equipment are greater than or equal to the preset second threshold, then the target robot is dispatched to the offline location to eliminate the interference.
[0077] Otherwise, randomly dispatch the target robot or staff to the offline location to eliminate the interference.
[0078] The automatic inspection system for substation equipment provided in this embodiment of the invention includes:
[0079] The inspection task acquisition subsystem is used to acquire inspection tasks for substation equipment.
[0080] The patrol route determination subsystem is used to determine the patrol route based on the patrol task.
[0081] The device is set up as a subsystem to determine the inspection nodes on the inspection route and to set up the inspection image acquisition device;
[0082] The current inspection node determination subsystem is used to determine the current inspection node among the inspection nodes;
[0083] The associated imaging device determination subsystem is used to obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated imaging device of the current inspection node in the inspection image acquisition device based on the inspection basis.
[0084] The automatic inspection subsystem is used to control the associated imaging device to automatically capture images of the target for inspection and to carry out corresponding automatic inspections.
[0085] The beneficial effects of this invention are as follows:
[0086] This invention determines the inspection route based on the inspection tasks of substation equipment and sets up inspection image acquisition devices according to the inspection nodes along the route. By introducing inspection criteria, it determines the associated imaging devices for the current inspection node to automatically capture target inspection images for inspection, improving the suitability of the associated imaging devices and making the inspection process more rational.
[0087] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.
[0088] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0089] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:
[0090] Figure 1 This is a schematic diagram of an automatic inspection method for substation equipment in an embodiment of the present invention;
[0091] Figure 2 This is a schematic diagram of an automatic inspection system for substation equipment in an embodiment of the present invention. Detailed Implementation
[0092] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.
[0093] This invention provides an automatic inspection method for substation equipment, such as... Figure 1 As shown, it includes:
[0094] Step 1: Obtain the inspection task for substation equipment; the substation equipment includes: transformers, switchgear, and insulators, etc.; the inspection task is: the substation equipment to be inspected and the inspection time.
[0095] Step 2: Determine the inspection route based on the inspection task; the inspection route is the order of inspection 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 along the inspection route and set up the inspection image acquisition device; wherein, the inspection node is: the sequence position of each inspection equipment in the inspection sequence of substation equipment; the inspection image acquisition device is: an image capturing device;
[0097] Step 4: Determine the current inspection node among the inspection nodes; where the current inspection node is: the inspection node that is currently being inspected;
[0098] Step 5: Obtain the inspection basis for the substation equipment corresponding to the current inspection node. Based on the inspection basis, determine the associated shooting device for the current inspection node in the inspection image acquisition device. The inspection basis includes: inspection requirements, equipment importance, safety requirements, and technical applicability. The associated shooting device is: an inspection image acquisition device suitable for shooting the substation equipment corresponding to the current inspection node.
[0099] Step 6: Control the associated imaging device to automatically capture target inspection images and perform corresponding automatic inspections. The target inspection image is a summary of images of the substation equipment corresponding to each currently inspected node, captured by the associated imaging device at that node.
[0100] The working principle and beneficial effects of the above technical solution are as follows:
[0101] This application determines the inspection route based on the substation equipment inspection task and sets up inspection image acquisition devices according to the inspection nodes along the route. By introducing inspection criteria, it determines the associated imaging devices for the current inspection node to automatically capture target inspection images for inspection, improving the suitability of associated imaging device mobilization and making the inspection process more rational.
[0102] In one embodiment, step 1: obtaining the substation equipment inspection task includes:
[0103] Attempt to obtain a work order for the inspection of substation equipment; the work order for the inspection is obtained from the form requested by the substation management department, and includes: the inspection date and time, the area or equipment to be inspected, and the purpose and requirements of the inspection;
[0104] If the attempt to obtain the information is successful, determine the inspection task based on the inspection application work order;
[0105] If the attempt to retrieve the data fails, retrieve the substation's periodic maintenance plan and historical inspection records. The periodic maintenance plan records the maintenance cycle of the substation equipment. The historical inspection records can be retrieved from the local database and include the inspection time for each piece of equipment in the substation.
[0106] Inspection tasks are determined based on the regular maintenance plan and historical inspection records. Specifically, when determining inspection tasks based on the regular maintenance plan and historical inspection records, an inspection task is automatically generated when the substation equipment reaches the inspection cycle recorded in the regular maintenance plan.
[0107] The working principle and beneficial effects of the above technical solution are as follows:
[0108] When this application receives a proactively requested inspection work order, it prioritizes processing such orders. Otherwise, it automatically determines the inspection task based on the substation's periodic maintenance plan and historical inspection records, making the acquisition of inspection tasks more rational and intelligent.
[0109] In one embodiment, step 2: determining the patrol route based on the patrol task includes:
[0110] Obtain the substation equipment distribution map; the substation distribution map is a schematic diagram showing the distribution of substation equipment within the substation.
[0111] Analyze the inspection task and obtain the inspection equipment; the inspection equipment refers to the substation equipment that needs to be inspected in the inspection task.
[0112] Determine the patrol equipment's location on the station's distribution map;
[0113] Obtain the location attributes of the patrol location; the location attributes include: location point and location importance;
[0114] Determine the patrol route based on location attributes.
[0115] The working principle and beneficial effects of the above technical solution are as follows:
[0116] This application introduces a substation equipment distribution map to determine the inspection locations of the equipment on the map. The introduction of location attributes helps determine the inspection route, making the route selection more appropriate.
[0117] In one embodiment, determining the patrol route based on location attributes includes:
[0118] Parse the location attributes to obtain the location layout of the patrol location; where the location layout is: the distribution of points at each patrol location;
[0119] Based on route planning technology and the location layout, a pre-selected planned route is determined. The determination of the pre-selected planned route involves:
[0120] Obtain the selection value for the target route. The formula for calculating the selection value is as follows:
[0121]
[0122] Where select is the selection value, ρ t Let t be the planned resource of the t-th planned location in the location layout, n be the total number of planned locations in the location layout, N be the total number of locations in the location layout, exp be an exponential function with the base of the natural logarithm and e as the base; the target route is a route planned based on route planning technology.
[0123] If the selected value is greater than or equal to the preset selected value threshold, the corresponding target route will be used as the pre-selected planned route; the preset selected value threshold is set manually.
[0124] Parse the location attributes to obtain the key values of the patrol location; the higher the importance of the patrol location, the higher the key value, and the importance of the patrol location is determined according to the patrol task.
[0125] Obtain the planning order sequence of key values corresponding to the inspection locations in the pre-selected planning route; wherein, the planning order sequence is: the sequence obtained by arranging the key values of the inspection locations according to the traversal order of the inspection locations in the pre-selected planning route;
[0126] Determine the standard inversion number corresponding to the planning sequence; where the standard inversion number is the number of inversion pairs obtained by sorting the key values in the planning sequence in descending order of key values. For example, if the planning sequence is (0.3, 0.1, 0.4, 0.2), the standard inversion number is 6.
[0127] Get the actual number of inversions in the planned sequence; for example: if the planned sequence is (0.3, 0.1, 0.4, 0.2), the actual number of inversions is 3.
[0128] The target difference is obtained by subtracting the standard number of inversions from the actual number of inversions.
[0129] Based on a preset target difference and a reasonableness comparison database, the reasonable value of the pre-selected planned route is determined; the reasonableness comparison database stores multiple one-to-one target differences and reasonable values, and the higher the target difference, the smaller the reasonable value.
[0130] The pre-selected route with the highest reasonable value will be used 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 equipment being inspected, the higher its priority. Therefore, this application first introduces route planning technology to determine multiple pre-selected planned routes and simultaneously obtains the key values of the inspection locations. A planning order sequence is introduced, and the standard inversion number corresponding to the planning order sequence is determined. The standard inversion number is the number of inversions in the planning order sequence when the key values are arranged from largest to smallest. Next, the actual inversion number of the planning order sequence is obtained, and a target difference is determined by subtracting the standard inversion number from the actual inversion number. The larger the target difference, the less important the equipment is being inspected. Therefore, a reasonableness benchmark is introduced to quantify the reasonableness of the pre-selected planned routes, determine the reasonable value of the pre-selected planned routes, and select the pre-selected planned route with the largest reasonable value as the inspection route, resulting in more accurate route determination.
[0133] In one embodiment, step 3: determining the inspection nodes along the inspection route and setting up the inspection image acquisition device includes:
[0134] Obtain the node inspection requirements of the inspection nodes; where the node inspection requirements are: which devices' status and information need to be monitored and recorded;
[0135] Based on the node inspection requirements, determine the device type for the inspection image acquisition device; the device type includes the type of imaging equipment, such as cameras and infrared thermal imagers.
[0136] Set up the corresponding inspection image acquisition device according to the device type. When setting it up, simply place it in the available area around the inspection equipment corresponding to the inspection node, based on the device's shooting distance.
[0137] The working principle and beneficial effects of the above technical solution are as follows:
[0138] This application introduces the requirements for node inspection, determines the device type of the inspection image acquisition device, and sets up the inspection image acquisition device according to the device type, making the setting process of the inspection image acquisition device more suitable.
[0139] In one embodiment, step 5: Obtain the inspection basis for the substation equipment corresponding to the current inspection node, and determine the associated imaging device for the current inspection node in the inspection image acquisition device based on the inspection basis, including:
[0140] The location of the inspection image acquisition device in the station distribution map is obtained, and the first shooting parameters of the inspection image acquisition device are also obtained. The device location is the location of the inspection image acquisition device in the schematic diagram of the distribution of substation equipment in the substation. The first shooting parameters are the device type, shooting angle, shooting range, and various settings and options used during the photography or shooting process.
[0141] Based on the preset shooting circle generation rules, the shooting circle is determined according to the device position and the first shooting parameters; wherein, the shooting circle generation rules are preset manually.
[0142] Determine the inspection location corresponding to the current inspection node and use it as the target inspection location;
[0143] Based on the inspection criteria, the second imaging parameters required for the target inspection location are determined; the second imaging parameters are determined based on the inspection needs, safety requirements, and importance of the inspection equipment at the target inspection location.
[0144] Based on the second shooting parameters and the shooting circle where the target inspection position is located, the associated shooting device is determined. Specifically, when determining the associated shooting device, if the second shooting parameters meet the shooting requirements within the shooting circle, then the inspection image acquisition device corresponding to the shooting circle is selected as the associated shooting device.
[0145] The working principle and beneficial effects of the above technical solution are as follows:
[0146] This application introduces a shooting circle generation rule, which determines the shooting circle based on the device location of the inspection image acquisition device in the station distribution map and the first shooting parameters. Based on the inspection data, the second shooting parameters required for the target inspection location are determined. Based on the second shooting parameters and the shooting circle where the target inspection location is located, the associated shooting devices are determined, making the determination of associated shooting devices more reasonable.
[0147] In one embodiment, the second imaging parameters required to determine the target inspection location include:
[0148] Analyze the inspection basis and identify the types of basis, including: inspection needs, equipment importance, safety requirements, and technical applicability. Inspection needs refer to: which equipment status and information need to be monitored and recorded; equipment importance refers to: the degree of importance of the substation equipment; safety requirements refer to: the electrical safety standards and specifications that the substation equipment needs to comply with; and technical applicability refers to: the ability of the substation equipment to meet design, operation, and performance requirements in the application environment.
[0149] Based on the type of inspection criteria, sub-criteria for inspection are obtained;
[0150] Based on each basis type of the inspection sub-basis, a shooting parameter conversion template is determined; among them, the shooting parameter conversion template constraint only generates the shooting parameters corresponding to the basis type, and does not generate other content;
[0151] The inspection sub-parameters are converted into templates based on the input shooting parameters to obtain shooting sub-parameters; among them, shooting sub-parameters are: the setting parameters required by the associated shooting device, such as: exposure setting parameters, shutter speed and aperture setting, etc.
[0152] Collect the shooting sub-parameters output by the conversion template for each shooting parameter to obtain the second shooting parameter.
[0153] The working principle and beneficial effects of the above technical solution are as follows:
[0154] This application splits the inspection basis according to the basis type to obtain inspection sub-basis. At the same time, it determines the shooting parameter conversion template corresponding to the basis type, inputs the inspection sub-basis into the corresponding shooting parameter conversion template to obtain shooting sub-parameters, and merges them to obtain the second shooting parameter, thereby improving the accuracy of the second shooting parameter.
[0155] In one embodiment, determining the associated shooting device based on the second shooting parameters and the shooting circle where the target inspection position is located includes:
[0156] Iterate through the shooting circles where the target inspection position is located in turn. During each iteration, the shooting circle being traversed is taken as the target shooting circle.
[0157] Obtain the target's patrol location within the target's shooting circle;
[0158] Based on the extraction template of the shooting parameters corresponding to the points within the circle and the target shooting circle, the third shooting parameters corresponding to the points within the circle and the target shooting circle are determined. Among them, the shooting parameter extraction template only extracts 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 parameters based on the relative positions of the points within the circle and the target shooting circle. The third shooting parameters are: the shooting parameters of the inspection image acquisition device corresponding to the target shooting circle at the target inspection position.
[0159] Match the second and third shooting parameters and determine if they match. If the second shooting parameter is within the range of the third shooting parameter, the match is successful; otherwise, the match is unsuccessful.
[0160] If a match is found, the patrol image acquisition device corresponding to the target shooting circle is used as a sub-associative shooting device;
[0161] Once the shooting circle containing the target's location has been traversed, all the sub-associated shooting devices are collectively considered as associated shooting devices.
[0162] The working principle and beneficial effects of the above technical solution are as follows:
[0163] This application introduces a shooting parameter extraction template. Based on the points within the target shooting circle where the target inspection position is located, the third shooting parameter corresponding to the points within the circle is determined. The second and third shooting parameters are matched, and it is determined whether the match is satisfactory. If the second shooting parameter is within the range of the third shooting parameter, the match is satisfactory; otherwise, the match is not satisfactory. If the match is satisfactory, 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 then used as a sub-associative shooting device. After the shooting circle where the target inspection position is located has been traversed, all the sub-associative shooting devices are used together as the associated shooting device. The process of determining the associated shooting device is more reasonable and comprehensive.
[0164] This invention provides an automatic inspection method for substation equipment, which further includes:
[0165] Step 7: Attempt to acquire inspection interference events during the automatic inspection process. If the acquisition is successful, perform interference elimination. Among them, inspection interference events are events that cause interference to the inspection process, such as: dust on a sensor of a certain device causing the sensor to malfunction, or: a certain device being damaged.
[0166] This includes attempting to acquire patrol interference events during the automatic patrol process, including:
[0167] Acquire sensor disconnection information during automatic inspection; where sensor disconnection information refers to sensor disconnection signals emitted by sensors in power equipment.
[0168] Based on the sensor disconnection information, determine the location of the disconnection; where the disconnection location is: which sensor of which substation;
[0169] Based on the patrol image acquisition device, the image at the location of the disconnection is determined according to the location of the disconnection; wherein, the acquired image is: the image of the location of the disconnection captured by the patrol image acquisition device;
[0170] Analyze the acquired images to identify inspection interference events;
[0171] If the attempt to obtain the data is successful, interference elimination will be performed, including:
[0172] Based on the inspection interference events, a necessity analysis for eliminating human interference is conducted. This analysis involves obtaining a necessity analysis model for eliminating human interference by inputting the event characteristics of the inspection interference events (i.e., image characteristics of the collected images, such as image color and texture) into the model for analysis. The necessity analysis model for eliminating human interference is an intelligent AI model that is obtained through machine learning based on the analysis records of manual human interference elimination.
[0173] If the analysis results of the necessity analysis for eliminating human interference indicate that it is necessary to eliminate human interference, then human interference elimination shall be carried out.
[0174] If the analysis result of the necessity analysis for eliminating human interference is that it is not necessary to eliminate human interference, then the event area of the inspection interference event is obtained; where the event area is: the area within the substation where the inspection interference event occurs;
[0175] The substation equipment in the event area was identified;
[0176] Based on the preset power equipment-hazard level database, the hazard level of the power equipment is determined; the power equipment-hazard level database stores multiple one-to-one correspondences between power equipment and hazard level, and the higher the hazard level, the higher the risk of manual maintenance.
[0177] If the hazard level of any power equipment is greater than or equal to the preset first threshold and / or the hazard level of the power equipment is greater than or equal to the preset second threshold, then the target robot is dispatched to the offline location to eliminate the interference; wherein, the preset first threshold and the preset second threshold are both set manually in advance;
[0178] Otherwise, randomly dispatch the target robot or staff to the offline location to eliminate the interference.
[0179] The working principle and beneficial effects of the above technical solution are as follows:
[0180] When interference occurs in substation inspection equipment (e.g., image acquisition devices) (e.g., dust accumulation on optical sensors), interference removal is necessary. However, given the presence of high-voltage equipment within substations, a necessity analysis model for human interference removal is introduced. Based on inspection interference events, the necessity of human interference removal is analyzed. When human interference removal is absolutely necessary (e.g., manual obstacle repair), personnel are dispatched to perform the repair. When human interference removal is not necessary, it indicates that a target robot can assist in interference removal. Therefore, a substation equipment-hazard level library is introduced. If the hazard level of any substation equipment is greater than or equal to a preset first threshold and / or the sum of the hazard levels of the substation equipment is greater than or equal to a preset second threshold, it indicates a high risk of operation in the event area. In this case, a target robot is dispatched to the offline location to remove the interference. Otherwise, if the risk of operation in the event area is low and both manual and robotic operations are feasible, no restrictions are imposed. This improves the safety of personnel working within the substation and enhances intelligence.
[0181] This invention provides an automatic inspection system for substation equipment, such as... Figure 2 As shown, it includes:
[0182] Inspection Task Acquisition Subsystem 1 is used to acquire inspection tasks for substation equipment.
[0183] The patrol route determination subsystem 2 is used to determine the patrol route based on the patrol task;
[0184] The device is set up as subsystem 3, which is used to determine the inspection nodes on the inspection route and set up the inspection image acquisition device;
[0185] Current Inspection Node Determination Subsystem 4 is used to determine the current inspection node among the inspection nodes;
[0186] The associated imaging device determination subsystem 5 is used to obtain the inspection basis of the substation equipment corresponding to the current inspection node, and determine the associated imaging device of the current inspection node in the inspection image acquisition device based on the inspection basis.
[0187] Automatic inspection subsystem 6 is used to control the associated imaging device to automatically capture images of the target for inspection and to carry out corresponding automatic inspection.
[0188] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
Claims
1. An automatic inspection method for substation equipment, characterized in that, include: Step 1: Obtain inspection tasks for substation equipment; Step 2: Determine the patrol route based on the patrol mission; Step 3: Determine the inspection nodes along the inspection route and set up the inspection image acquisition device; Step 4: Determine the current inspection node among the inspection nodes; Step 5: Obtain the inspection basis for the substation equipment corresponding to the current inspection node. Based on the inspection basis, determine the associated imaging device for the current inspection node in the inspection image acquisition device, including: The location of the patrol image acquisition device on the station distribution map is obtained, and the first shooting parameters of the patrol image acquisition device are obtained at the same time. Based on the preset shooting circle generation rules, the shooting circle is determined according to the device position and the first shooting parameters; Determine the inspection location corresponding to the current inspection node and use it as the target inspection location; Based on the inspection criteria, determine the second imaging parameters required for the target inspection location, including: analyzing the inspection criteria and obtaining the type of the inspection criteria, which includes: inspection requirements, equipment importance, safety requirements, and technical applicability; Based on the second shooting parameters and the shooting circle where the target inspection position is located, determine the associated shooting devices, including: Iterate through the shooting circles where the target inspection position is located in turn. During each iteration, the shooting circle being traversed is taken as the target shooting circle. Obtain the target's patrol location within the target's shooting circle; Based on the points within the circle and the shooting parameters corresponding to the target shooting circle, a template is extracted to determine the third shooting parameter corresponding to the points within the circle to the target shooting circle; Match the second and third shooting parameters to determine if they match. If a match is found, the patrol image acquisition device corresponding to the target shooting circle is used as a sub-associative shooting device; Once the shooting circle containing the target's location has been traversed, all the sub-associated shooting devices are collectively considered as associated shooting devices. Step 6: Control the associated shooting device to automatically capture images of the target for inspection and perform corresponding automatic inspection.
2. The automatic inspection method for substation equipment as described in claim 1, characterized in that, Step 1: Obtaining the inspection task for substation equipment, including: Attempt to obtain a work order for the inspection of substation equipment; If the attempt to obtain the information is successful, determine the inspection task based on the inspection application work order; If the attempt to obtain the data fails, retrieve the substation's scheduled maintenance plan and historical inspection records. The inspection tasks are determined based on the regular maintenance plan and historical inspection records.
3. The automatic inspection method for substation equipment as described in claim 1, characterized in that, Step 2: Based on the patrol mission, determine the patrol route, including: Obtain the substation equipment distribution map; Analyze the patrol mission and acquire patrol equipment; Determine the patrol equipment's location on the station's distribution map; Get the location attributes of the patrol location; Determine the patrol route based on location attributes.
4. The automatic inspection method for substation equipment as described in claim 3, characterized in that, The process of determining the patrol route based on location attributes includes: Parse the location attributes to obtain the location layout of the patrol location; Based on route planning technology and the location layout, a pre-selected planned route is determined. The determination of the pre-selected planned route involves: Obtain the selection value for the target route. The formula for calculating the selection value is as follows: ； in, To select values, For the position layout, the first Planning resources for locations traversed by the plan. This represents the total number of locations planned in the location layout. This represents the total number of positions in the location layout. The base of the natural logarithm An exponential function with base 0; If the selected value is greater than or equal to the preset selected value threshold, the corresponding target route will be used as the pre-selected planned route. Parse the location attributes to obtain the key values of the patrol location; Obtain the planning sequence of key values corresponding to the inspection locations in the pre-selected planning route; Determine the standard inversion number corresponding to the planning sequence; Obtain the actual number of inversions in the planned sequence; The target difference is obtained by subtracting the standard number of inversions from the actual number of inversions. Based on a pre-set target difference and a reasonableness comparison database, the reasonable value of the pre-selected planned route is determined; The pre-selected route with the highest reasonable value will be used as the inspection route.
5. The automatic inspection method for substation equipment as described in claim 1, characterized in that, Step 3: Determine the inspection nodes along the inspection route and set up the inspection image acquisition device, including: Obtain the node inspection requirements of the inspection nodes; Based on the node inspection requirements, determine the device type of the inspection image acquisition device; Set up the corresponding inspection image acquisition device according to the device type.
6. The automatic inspection method for substation equipment as described in claim 1, characterized in that, Based on the inspection data, the second imaging parameters required to determine the target inspection location also include: Based on the type of inspection criteria, sub-criteria for inspection are obtained; Based on each type of evidence in the inspection sub-evidence, determine the shooting parameter conversion template; The inspection sub-parameters are converted into templates based on the input shooting parameters to obtain the shooting sub-parameters; Collect the shooting sub-parameters output by the conversion template for each shooting parameter to obtain the second shooting parameter.
7. The automatic inspection method for substation equipment as described in claim 1, characterized in that, Also includes: Step 7: Attempt to acquire patrol interference events during the automatic patrol process. If the acquisition is successful, perform interference elimination. This includes attempting to acquire patrol interference events during the automatic patrol process, including: Obtain sensor disconnection information during automatic inspection; Determine the location of the disconnection based on the sensor disconnection information; Based on the patrol image acquisition device, the image at the location of the disconnection is determined according to the location of the disconnection; Analyze the acquired images to identify inspection interference events; If the attempt to obtain the data is successful, interference elimination will be performed, including: Based on the incidents of interference during inspections, conduct an analysis of the necessity of eliminating human interference. If the analysis results of the necessity analysis for eliminating human interference indicate that it is necessary to eliminate human interference, then human interference elimination shall be carried out. If the analysis result of the necessity analysis for eliminating human interference is that it is not necessary to eliminate human interference, then the event area of the inspection interference event is obtained. The substation equipment in the event area was identified; The hazard level of the power equipment is determined based on the pre-set power equipment-hazard level database; If the danger level of any power equipment is greater than or equal to the preset first threshold and / or the level and value of the danger level of the power equipment are greater than or equal to the preset second threshold, then the target robot is dispatched to the offline location to eliminate the interference. Otherwise, randomly dispatch the target robot or staff to the offline location to eliminate the interference.
8. An automatic inspection system for substation equipment, characterized in that, include: The inspection task acquisition subsystem is used to acquire inspection tasks for substation equipment. The patrol route determination subsystem is used to determine the patrol route based on the patrol task. The device is set up as a subsystem to determine the inspection nodes on the inspection route and to set up the inspection image acquisition device; The current inspection node determination subsystem is used to determine the current inspection node among the inspection nodes; The associated imaging device determination subsystem is used to acquire inspection data for the substation equipment corresponding to the current inspection node, and to determine the associated imaging device for the current inspection node in the inspection image acquisition device based on the inspection data, including: The location of the patrol image acquisition device on the station distribution map is obtained, and the first shooting parameters of the patrol image acquisition device are obtained at the same time. Based on the preset shooting circle generation rules, the shooting circle is determined according to the device position and the first shooting parameters; Determine the inspection location corresponding to the current inspection node and use it as the target inspection location; Based on the inspection data, the second imaging parameters required to determine the target inspection location are as follows: Analyze the basis for the inspection and identify the types of basis for the inspection. The types of basis include: inspection requirements, equipment importance, safety requirements, and technical applicability. Based on the second shooting parameters and the shooting circle where the target inspection position is located, determine the associated shooting devices, including: Iterate through the shooting circles where the target inspection position is located in turn. During each iteration, the shooting circle being traversed is taken as the target shooting circle. Obtain the target's patrol location within the target's shooting circle; Based on the points within the circle and the shooting parameters corresponding to the target shooting circle, a template is extracted to determine the third shooting parameter corresponding to the points within the circle to the target shooting circle; Match the second and third shooting parameters to determine if they match. If a match is found, the patrol image acquisition device corresponding to the target shooting circle is used as a sub-associative shooting device; Once the shooting circle containing the target's location has been traversed, all the sub-associated shooting devices are collectively considered as associated shooting devices. The automatic inspection subsystem is used to control the associated imaging device to automatically capture images of the target for inspection and to carry out corresponding automatic inspections.