A power distribution room inspection robot

Abstract

The present application relates to the technical field of inspection robots, and provides a power distribution room inspection robot, which comprises a robot main body, a controller arranged on the robot main body, a thermal imager for collecting the surface temperature of a measured device, and a temperature sensor for collecting the ambient temperature of the power distribution room; the controller is configured to acquire the real-time load current of the measured device and the cumulative running time after this power-on, simultaneously acquire the collection information of the thermal imager and the temperature sensor, calculate the abnormal temperature rise according to the device surface temperature, the ambient temperature, the load current and the running time, and issue a temperature rise abnormality alarm when the abnormal temperature rise exceeds a preset temperature rise threshold. The present application eliminates the normal temperature rise of the device caused by objective factors such as load, running time and ambient temperature, obtains a more real abnormal temperature rise, improves the accuracy of detection data, and can greatly reduce the false alarm and missed alarm rates of the inspection robot.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically, to a power distribution room inspection robot. Background Technology

[0002] During long-term operation, electrical equipment such as switchgear, circuit breakers, and busbars in the electrical room may experience increased contact resistance due to loose screws, contact oxidation, and mechanical wear. This can lead to abnormal heating under load current. If not detected in time, it may cause insulation aging, arcing, or even fire.

[0003] Currently, power distribution room inspection robots have gradually replaced manual inspections. They automatically travel along a preset path and collect equipment temperature data at designated inspection points using an onboard infrared thermal imager. The data is then compared using a fixed threshold comparison method, which involves setting a temperature alarm threshold in advance. When the measured temperature exceeds this threshold, an alarm is triggered.

[0004] However, equipment temperature depends not only on the health status of the equipment itself, but also on factors such as ambient temperature, load current, and equipment operating time. Existing direct acquisition of equipment temperature is prone to being too high or too low, resulting in false alarms and missed alarms, and poor reliability. Summary of the Invention

[0005] The purpose of this invention is to provide a power distribution room inspection robot to overcome the above-mentioned deficiencies of the prior art.

[0006] This invention is achieved through the following technical solution: A power distribution room inspection robot includes a robot body, a controller mounted on the robot body, a thermal imager for collecting the surface temperature of the equipment under test, and a temperature sensor for collecting the ambient temperature of the power distribution room. The controller is configured to acquire the real-time load current and cumulative running time of the equipment under test after power-on, and simultaneously acquire the information collected by the thermal imager and the temperature sensor. It calculates the abnormal temperature rise based on the equipment surface temperature, ambient temperature, load current, and running time, and issues an abnormal temperature rise alarm when the abnormal temperature rise exceeds a preset temperature rise threshold. Abnormal temperature rise gauge The calculation formula is:

[0007] in: The surface temperature of the equipment collected by the thermal imager; The ambient temperature of the power distribution room is collected by a temperature sensor; This refers to the real-time load current of the device under test. This refers to the cumulative operating time of the device under test since it was powered on this time. The steady-state temperature rise generated per square unit current under healthy conditions of the tested equipment; The thermal time constant of the tested equipment under healthy conditions; It is a natural constant.

[0008] Furthermore, it also includes a memory located on the robot body for storing multiple sets of normal historical operating data under the health status of the tested device; the controller is configured to obtain the data based on the normal historical operating data using a nonlinear least squares method. and stated .

[0009] Furthermore, it also includes a wireless communication module, through which the controller communicates with the power monitoring system of the power distribution room to obtain the real-time load current of the device under test and the cumulative running time after this power-on.

[0010] Furthermore, it also includes a gas sensor installed on the robot body, and the controller is configured to compare the data collected by the gas sensor with a preset gas concentration, and issue a gas abnormality alarm when the collected data is greater than the preset gas concentration.

[0011] Furthermore, the controller can issue alarms in at least one of the following ways: by issuing an alarm on-site via an audible and visual alarm, by sending alarm information to a remote monitoring platform via a wireless communication module, or by displaying alarm content on a monitor on the robot body.

[0012] Furthermore, the controller is also configured to periodically determine the ambient temperature in the power distribution room. When the change in ambient temperature within the period exceeds a preset change value, the abnormal temperature rise determination is paused and an abnormal ambient temperature alarm is issued.

[0013] Furthermore, the temperature sensor includes a main temperature sensor and a backup temperature sensor. The controller is configured to determine whether the data collected by the main temperature sensor and the backup temperature sensor are consistent before each inspection. If they are inconsistent, the abnormal temperature rise judgment is paused and an abnormal temperature sensor alarm is issued.

[0014] Furthermore, the controller is also configured to detect and calculate at least three abnormal temperature rises for each device under test, and take the average of the three measurement results as the final judgment basis.

[0015] Furthermore, the robot body includes a walking chassis and a robotic arm, the controller and the temperature sensor are located on the walking chassis, and the thermal imager is located at the end of the robotic arm.

[0016] Furthermore, the end of the robotic arm is equipped with a distance sensor for detecting the distance between the thermal imager and the device under test.

[0017] The technical solution of this invention has at least the following advantages and beneficial effects: In this invention, the real-time load current of the device under test, the cumulative running time after this power-on, the ambient temperature, and the surface problems of the device under test are introduced to construct an abnormal temperature rise calculation model. The calculation formula includes… "This represents the theoretical temperature rise of the tested equipment under a given current and a given running time. By subtracting the ambient temperature and the theoretical temperature rise from the surface temperature of the equipment, the normal temperature rise caused by objective factors such as load, running time and ambient temperature is eliminated, resulting in a more realistic abnormal temperature rise. This improves the accuracy of the detection data and can greatly reduce the false alarm and missed alarm rates of the inspection robot." Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of a power distribution room inspection robot provided by the present invention; Figure 2 A schematic diagram of the control principle of a power distribution room inspection robot provided by the present invention; Reference numerals: 1-Walking chassis, 2-Robotic arm, 3-Thermal imager, 4-Controller, 5-Temperature sensor, 6-Gas sensor, 7-Display, 8-Audio-visual alarm, 9-Distance sensor. Detailed Implementation

[0019] refer to Figure 1 A power distribution room inspection robot includes a robot body, a controller 4 mounted on the robot body, a thermal imager 3 for collecting the surface temperature of the equipment under test, and a temperature sensor 5 for collecting the ambient temperature of the power distribution room. In a preferred embodiment, the robot body consists of a walking chassis 1 and a robotic arm 2. In practical applications, a robotic arm 2 with multiple degrees of freedom is selected. The temperature sensor 5 is mounted on the walking chassis 1, and the thermal imager 3 is mounted at the end of the robotic arm 2.

[0020] refer to Figure 2 The controller 4 is configured to acquire the real-time load current and cumulative operating time of the device under test (DUT) since power-on, while also acquiring information from the thermal imager 3 and temperature sensor 5. In a preferred embodiment, this example also includes a wireless communication module. The controller 4 communicates with the power monitoring system in the distribution room via the wireless communication module to acquire the real-time load current and cumulative operating time of the DUT since power-on. In other embodiments, other methods can be used to acquire the real-time load current and cumulative operating time of the DUT, such as using an inspection robot to measure the current and record the operating time of the device since power-on.

[0021] Controller 4 calculates abnormal temperature rise based on equipment surface temperature, ambient temperature, load current, and operating time. When the abnormal temperature rise exceeds a preset temperature rise threshold, it issues an abnormal temperature rise alarm. The abnormal temperature rise meter is... The calculation formula is:

[0022] in: The temperature of the equipment surface collected by thermal imager 3 is in °C. The ambient temperature of the power distribution room is collected by temperature sensor 5, in °C. This represents the real-time load current of the device under test, in amperes (A). The total operating time of the device under test since this power-on, in minutes; The steady-state temperature rise per square unit current under healthy conditions of the tested equipment, expressed in °C / A. 2 ; The thermal time constant of the tested equipment under healthy conditions, in minutes; It is a natural constant.

[0023] It is worth noting that in the calculation formula, " "This represents the theoretical temperature rise of the tested equipment under a given current and a given running time. By subtracting the ambient temperature and the theoretical temperature rise from the surface temperature of the equipment, the normal temperature rise caused by objective factors such as load, running time and ambient temperature is eliminated, resulting in a more realistic abnormal temperature rise. This improves the accuracy of the detection data and can greatly reduce the false alarm and missed alarm rates of the inspection robot."

[0024] Building upon the above, the inspection robot also includes a memory (not shown in the figure, preferably located on the chassis 1, near the controller 4) mounted on the robot body. This memory stores multiple sets of historical operating data related to the health status of the tested equipment (each set includes the surface temperature of the tested equipment, ambient temperature, load current, and operating time since power-on). The controller 4 is configured to obtain the calculation formula based on the historical operating data using a nonlinear least squares fitting method. and The fitted result and Stored in memory, controller 4 can directly access different devices. and It should be noted that "health status" should be understood as the absence of defects in the tested equipment that would cause abnormal heating, as confirmed by human intervention (i.e., all electrical and mechanical functions are functioning properly).

[0025] This embodiment also includes a gas sensor 6 installed on the robot body (either on the walking chassis 1 or the robotic arm 2) to collect the gas concentration in the power distribution room (e.g., the concentration of harmful gases such as SF6 and methane). The controller 4 is configured to compare the data collected by the gas sensor 6 with a preset gas concentration and issue a gas abnormality alarm when the collected data is greater than the preset gas concentration.

[0026] In this embodiment, the controller 4 issues alarms in at least one of the following ways: Method 1: An on-site alarm is triggered via an audible and visual alarm 8, for example, an audible and visual alarm 8 is installed on the walking chassis 1, and the controller 4 issues an audible and visual signal when an abnormality is detected; Method 2: Alarm information is sent to a remote monitoring platform via a wireless communication module (e.g., 5G, Wi-Fi, or LoRa), including the alarm time, the number of the device under test, and the abnormal temperature rise value; Method 3: The alarm content is displayed on the display 7 on the robot body. Those skilled in the art should understand that, in practical applications, a combination of the above three alarm methods is preferred.

[0027] Controller 4 is also configured to periodically check (e.g., check every 10 seconds) the ambient temperature inside the power distribution room. When the change in ambient temperature within the period (i.e., the temperature difference between two adjacent time intervals) exceeds a preset change value, the abnormal temperature rise detection is paused and an abnormal ambient temperature alarm is issued. This is to determine whether a sudden change in ambient temperature has occurred, preventing false alarms caused by non-equipment malfunctions such as the start / stop of air conditioning, sudden opening of doors and windows, or operation of ventilation equipment.

[0028] In this embodiment, the temperature sensor 5 includes a main temperature sensor and a backup temperature sensor. The controller 4 is configured to determine whether the data collected by the main temperature sensor and the backup temperature sensor are consistent before each inspection. If they are inconsistent, the abnormal temperature rise detection is paused and an abnormal alarm is issued for the temperature sensor 5. It is easy to understand that the main temperature sensor and the backup temperature sensor should be installed in close proximity on the robot body (either on the chassis 1 or the robotic arm 2). When the data collected by the main temperature sensor and the backup temperature sensor are inconsistent, it indicates that one of them has malfunctioned, thus ensuring the accuracy of ambient temperature detection.

[0029] Controller 4 is also configured to detect and calculate at least three abnormal temperature rises for each device under test, taking the average of the three measurements as the final judgment criterion to reduce random measurement errors. It's easy to understand that the time interval between each detection should not be too large; in practical applications, an interval of 3-10 seconds is acceptable, for example, a 5-second interval can be chosen.

[0030] In this embodiment, the end of the robotic arm 2 is equipped with a distance sensor 9, which is used to detect the distance between the thermal imager 3 and the device under test. In practical applications, when the detected distance exceeds a preset distance, the controller 4 controls the robotic arm 2 to move so that the distance between the thermal imager 3 and the device under test meets the requirements.

[0031] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A power distribution room inspection robot, comprising a robot body, characterized in that, It also includes a controller mounted on the robot body, a thermal imager for collecting the surface temperature of the device under test, and a temperature sensor for collecting the ambient temperature of the power distribution room. The controller is configured to acquire the real-time load current of the device under test and the cumulative running time after this power-on, and at the same time acquire the information collected by the thermal imager and the temperature sensor. It calculates the abnormal temperature rise based on the device surface temperature, ambient temperature, load current and running time, and issues an abnormal temperature rise alarm when the abnormal temperature rise exceeds the preset temperature rise threshold. Abnormal temperature rise gauge The calculation formula is: in: The surface temperature of the equipment collected by the thermal imager; The ambient temperature of the power distribution room is collected by a temperature sensor; This refers to the real-time load current of the device under test. This refers to the cumulative operating time of the device under test since it was powered on this time. The steady-state temperature rise generated per square unit current under healthy conditions of the tested equipment; The thermal time constant of the tested equipment under healthy conditions; It is a natural constant.

2. The power distribution room inspection robot according to claim 1, characterized in that, It also includes a memory located on the robot body for storing multiple sets of normal historical operating data of the tested device in its health state; the controller is configured to obtain the data based on the normal historical operating data using a nonlinear least squares method. and stated .

3. The power distribution room inspection robot according to claim 1, characterized in that, It also includes a wireless communication module, through which the controller communicates with the power monitoring system of the power distribution room to obtain the real-time load current of the device under test and the cumulative running time after this power-on.

4. The power distribution room inspection robot according to claim 1, characterized in that, It also includes a gas sensor installed on the robot body. The controller is configured to compare the data collected by the gas sensor with a preset gas concentration and issue a gas abnormality alarm when the collected data is greater than the preset gas concentration.

5. The power distribution room inspection robot according to claim 1, characterized in that, The controller can issue alarms in at least one of the following ways: by issuing an alarm on-site via an audible and visual alarm, by sending alarm information to a remote monitoring platform via a wireless communication module, or by displaying alarm content on a monitor on the robot body.

6. The power distribution room inspection robot according to claim 1, characterized in that, The controller is also configured to periodically determine the ambient temperature in the power distribution room. When the change in ambient temperature within a period exceeds a preset change value, the abnormal temperature rise determination is paused and an abnormal ambient temperature alarm is issued.

7. The power distribution room inspection robot according to claim 1, characterized in that, The temperature sensor includes a main temperature sensor and a backup temperature sensor. The controller is configured to determine whether the data collected by the main temperature sensor and the backup temperature sensor are consistent before each inspection. If they are inconsistent, the abnormal temperature rise judgment is paused and an abnormal temperature sensor alarm is issued.

8. The power distribution room inspection robot according to claim 1, characterized in that, The controller is also configured to detect and calculate at least three abnormal temperature rises for each device under test, and take the average of the three measurement results as the final judgment basis.

9. The power distribution room inspection robot according to claim 1, characterized in that, The robot body includes a walking chassis and a robotic arm. The controller and the temperature sensor are located on the walking chassis, and the thermal imager is located at the end of the robotic arm.

10. The power distribution room inspection robot according to claim 9, characterized in that, The robotic arm is equipped with a distance sensor at its end, which is used to detect the distance between the thermal imager and the device under test.

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