Inspection system suitable for power plant equipment

Abstract

The utility model discloses an inspection system suitable for power plant equipment, which comprises a local monitoring unit, an operation and maintenance station unit and an inspection vehicle, the local monitoring unit is connected with the operation and maintenance station unit through an internal network, and the local monitoring unit is wirelessly connected with an inspection workshop. The inspection vehicle can move around a preset line in the power plant to monitor various devices in the power plant; the inspection vehicle comprises a wheel type inspection vehicle body, and a power supply unit, a sensing unit, a control unit and a positioning navigation unit which are arranged on the wheel type inspection vehicle, the power supply unit, the sensing unit and the positioning navigation unit are all connected with the control unit, and the inspection vehicle has the technical characteristics that the inspection workload of workers can be reduced, and the inspection efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to an inspection system, and more specifically, to an inspection system applicable to power plant equipment, belonging to the field of power plants. Background Art

[0002] At present, the inspection of power equipment in most substations across the country is still carried out manually. The inspection content of the inspectors mainly includes equipment temperature, meter readings, or the joint state of high-voltage cables, etc. The inspection content is fixed and single, and the work efficiency of the inspectors is relatively low.

[0003] With the increasing requirements for the safe operation of the power grid, the necessity of using intelligent equipment in substations is also becoming stronger and stronger. It is very necessary to develop an intelligent inspection system for substation equipment. Summary of the Utility Model

[0004] In order to solve the above-mentioned problems in the prior art, the utility model provides an inspection system applicable to power plant equipment, which has the technical characteristics of being able to reduce the inspection workload of staff and improve the inspection efficiency.

[0005] In order to achieve the above object, the utility model is realized through the following technical solutions:

[0006] An inspection system applicable to power plant equipment includes a local monitoring unit, an operation and maintenance station unit, and an inspection vehicle. The local monitoring unit and the operation and maintenance station unit are connected through an internal network, and the local monitoring unit is wirelessly connected to the inspection vehicle. The inspection vehicle can move around a preset line in the power plant to monitor various equipment in the power plant;

[0007] The inspection vehicle includes a wheeled inspection vehicle body and a power supply unit, a sensing unit, a control unit, and a positioning and navigation unit arranged on the wheeled inspection vehicle. The power supply unit, the sensing unit, and the positioning and navigation unit are all connected to the control unit.

[0008] Preferably, the positioning and navigation unit includes a 3D lidar, which can obtain three-dimensional data of the surrounding environment of the inspection vehicle.

[0009] Preferably, the power supply unit is a lithium iron phosphate battery for power supply.

[0010] Preferably, the sensing unit includes a dual-spectrum thermal imaging pan-tilt head, and the two spectra respectively correspond to a thermal imaging channel and a visible light channel.

[0011] Preferably, the dual-spectrum thermal imaging pan-tilt head includes at least one infrared thermal imager and one high-definition camera.

[0012] Preferably, the local monitoring unit includes a first switch, a data server, a hard disk video recorder, and a local PC terminal connected to the first switch.

[0013] Preferably, the operation and maintenance station unit includes a second switch and a number of operation and maintenance PC terminals used by the operation and maintenance stations connected to the second switch.

[0014] Preferably, a wireless AP for power plant equipment is provided at each location of the equipment to be monitored in the power plant for the inspection vehicle to access. The first switch is connected to a wireless AP for the local end. The wireless AP for power plant equipment and the wireless AP for the local end establish a network connection to enable the inspection vehicle to access the network.

[0015] Beneficial effects: The purchase cost of manually holding an infrared thermal imager can be saved; the procurement and maintenance costs of installing a large number of fixed cameras can be saved; the operation and maintenance personnel can centrally browse and consult the data of one or more plant stations connected to the remote monitoring background. The inspection data is packaged and stored through the data server to establish a database for users with different needs to call and integrate by themselves; the work intensity of the inspection personnel is reduced and the work efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a block diagram of the principle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following further describes the present invention in conjunction with the accompanying drawings of the specification, but the present invention is not limited to the following embodiments.

[0018] Such as Figure 1Shown is a specific embodiment of an inspection system applicable to power plant equipment. This embodiment is an inspection system applicable to power plant equipment, including a local monitoring unit 1, an operation and maintenance station unit 2, and an inspection vehicle 3. The local monitoring unit 1 and the operation and maintenance station unit 2 are connected through an internal network. The local monitoring unit 1 is wirelessly connected to the inspection vehicle 3. The inspection vehicle 3 can move around a preset line in the power plant to monitor various equipment in the power plant. The inspection vehicle 3 includes a wheeled inspection vehicle body and a power supply unit 4, a sensing unit 5, a control unit 15, and a positioning and navigation unit 6 provided on the wheeled inspection vehicle 3. The power supply unit 4, the sensing unit 5, and the positioning and navigation unit 6 are all connected to the control unit 15. The positioning and navigation unit 6 includes a 3D lidar, which can obtain three-dimensional data of the surrounding environment of the inspection vehicle 3. The power supply unit 4 is a lithium iron phosphate battery for power supply. The sensing unit 5 includes a dual-spectrum thermal imaging pan-tilt head, and the two spectra respectively correspond to the thermal imaging channel and the visible light channel. The dual-spectrum thermal imaging pan-tilt head includes at least one infrared thermal imager and one high-definition camera. The local monitoring unit 1 includes a first switch 7 and a data server 8, a hard disk video recorder 9, and a local PC terminal 10 connected to the first switch 7.

[0019] The technical solution of this application is divided into a three-layer architecture, namely: the inspection vehicle 3, the local monitoring background (i.e., the local monitoring unit 1), and the remote centralized control background (i.e., the operation and maintenance station unit 2).

[0020] The inspection vehicle 3 conducts data, image, video and other information interactions with the local monitoring background through a wireless local area network. The remote centralized control background assigns tasks, monitors the status, and manages data for the local monitoring background and the inspection vehicle 3 through the applied power grid dedicated network.

[0021] Functions of each part in the three-layer architecture:

[0022] 1) The inspection vehicle 3 operates in the working area of substation equipment to collect visible light, infrared and other information of equipment such as power plants and substations.

[0023] 2) The local monitoring background (i.e., the local monitoring unit 1) is deployed in the control rooms of each unmanned substation. Through data interaction with the inspection vehicle 3, it completes real-time monitoring, video storage, image intelligent recognition, infrared analysis, and user interaction.

[0024] 3) The remote centralized control background (i.e., the operation and maintenance station unit 2) is deployed in the control room of the centralized control operation and maintenance station. Through the internal dedicated network of the power grid, it remotely monitors the status and inspection information of the inspection vehicles 3 in each plant station for operation and maintenance personnel to view information, browse images and videos, and query equipment.

[0025] In this application, the inspection vehicle 3 is powered by a battery. The battery uses a lithium iron phosphate battery, and the voltage meets the safety voltage requirements, not exceeding 36V. The battery capacity carried by the inspection vehicle 3 is sufficient to ensure normal operation for no less than 8 hours after one charge. The inspection vehicle 3 retains a manual charging function. In case of an emergency, the robot can be emergently charged using a manual charger to meet the needs of temporary tasks.

[0026] The inspection vehicle 3 includes a dual-spectrum thermal imaging pan-tilt head, which realizes the business functions such as viewing meters and contact temperatures in the original manual inspection.

[0027] 1) Dual-spectrum thermal imaging pan-tilt head - visible light channel:

[0028] The high-definition camera has 4 million pixels, and the maximum resolution can reach 2560×1440, with fast and accurate focusing.

[0029] Performance of the visible light high-definition camera device:

[0030] Minimum illumination: Color: 0.05Lux@(F1.6, AGC ON); Black and white: 0.01Lux@(F1.6, AGC ON);

[0031] 2) Dual-spectrum thermal imaging pan-tilt head - thermal imaging channel:

[0032] The imaging resolution of the infrared detection device is selectable from 256×192 / 384×288 / 640×512;

[0033] The temperature measurement range of the infrared thermal imager is not less than -20°C to +550°C; the temperature measurement accuracy is max(2°C or 2%);

[0034] The thermal sensitivity is ≤50mk;

[0035] The position and temperature value of the highest temperature point in the real-time display image are shown.

[0036] Introduction of components in this application:

[0037] In this application, the control unit is the central control system of the inspection vehicle 3, responsible for centrally processing various sensing data and controlling the actuators. The main control chip uses an industrial-grade chip of an internationally well-known brand, which has characteristics such as high main frequency, wide temperature range, and high reliability, and is designed with a RISC architecture. It adopts a low-power, fanless heat dissipation, and zero-noise design. All interfaces use isolation technology and an industrial-grade solid-state drive to ensure the long-term stable and reliable operation of the control unit in various harsh environments.

[0038] In this application, the 3D lidar is used for the inspection vehicle 3 to scan the surrounding environment, adopting a working mode of 360° real-time scanning. The three-dimensional data of the surrounding environment of the mobile platform obtained by the 3D lidar can be further combined with the inertial data of the inspection vehicle 3 obtained by inertial measurement and the odometer data of the inspection vehicle 3 obtained by the odometer to generate a three-dimensional point cloud map; the position of the current inspection vehicle 3 is calculated according to the three-dimensional point cloud map, and the parameters are as follows:

[0039] Scanning frequency range: 5Hz to 20Hz;

[0040] Scanning angle of view: 360°;

[0041] Detection distance: 100m;

[0042] Positioning angle accuracy range: 0.1° to 0.4°;

[0043] Positioning distance accuracy: ±3cm;

[0044] In summary, the technical solution of this application integrates the infrared thermal imaging online monitoring function, converts part of the accident maintenance into predictive maintenance, realizes the condition-based maintenance of electrical equipment, and provides a reliable scientific basis for the safe and normal operation of the equipment; it can save the purchase cost of manual handheld infrared thermal imagers; it can save the procurement and maintenance costs of large-scale installation of fixed cameras; adopting the digital processing method of the inspection vehicle can achieve unified standards and descriptions, thereby improving the standardization and intelligent level of the system and reducing management costs; the operation and maintenance personnel can centrally browse and consult the data of one or more substations connected to the remote monitoring background, and establish a database by packing and storing the inspection data through the data server 8 for users with different needs to call and integrate by themselves; intelligent inspection can reduce equipment losses caused by human negligence, missed inspections, etc., and reduce the safety production operation risks caused by the overall quality differences of production operation personnel. When a fault occurs, it can give a quick warning, provide a preliminary reference for accident handling, effectively ensure the safe and reliable operation of the equipment, and improve the work efficiency and quality of safety production.

[0045] In a preferred embodiment, the operation and maintenance station unit 2 includes a second switch 11 and a number of operation and maintenance PC terminals 12 used by the operation and maintenance station connected to the second switch 11 to realize the setting of the remote monitoring background.

[0046] In a preferred embodiment, a wireless AP 13 for power plant equipment is provided at each device to be monitored in the power plant for the inspection vehicle 3 to access. The first switch 7 is connected to a wireless AP 14 for the local end. The wireless AP 13 for power plant equipment and the wireless AP 14 for the local end establish a network connection to realize the network access of the inspection vehicle 3.

[0047] A network connection is established through the wireless AP (industrial wireless AP) for power plant equipment and the wireless AP 14 (wireless AP for local monitoring terminal) for the local terminal. The local monitoring terminal is used as a terminal for operation and maintenance personnel to operate and monitor the inspection vehicle 3 (intelligent inspection robot) at the plant station. It is arranged in the station and establishes a complete wireless network in the entire inspection area to realize two-way data interaction between the client and the vehicle terminal. At the same time, the local monitoring terminal is connected to the remote monitoring background of the operation and maintenance station through the hardware firewall and the private network.

[0048] In actual layout, one or more wireless APs are used to cover the inspection area according to its size: In general, in order to ensure good wireless network coverage, which is specifically manifested in smooth real-time HD video playback, one wireless AP is used for 110kV, 220kV and 500KV substations, and two wireless APs are used for 1000kV substations, so that there is no dead angle and full coverage of the substation wireless network, providing a good foundation for the inspection car 3 to achieve full coverage of the inspection. Wireless APs can be arranged on the inspection car 3 and connected to the wireless APs in the inspection area. When there are multiple APs in the inspection area, multiple APs can form an AP network. At this time, the inspection car 3 can roam anywhere without switching operations, so that the inspection car 3 can maintain seamless connection with the client in the entire inspection area.

[0049] Finally, it should be noted that the present invention is not limited to the above embodiments, and there are many variations. All variations that can be directly derived or associated with the content disclosed by ordinary technicians in this field should be considered as the protection scope of the present invention.

Claims

1. A patrol inspection system suitable for power plant equipment, characterized in that: The invention comprises a local monitoring unit (1), an operation and maintenance station unit (2), and a patrol vehicle (3), wherein the local monitoring unit (1) and the operation and maintenance station unit (2) are connected via an internal network, the local monitoring unit (1) and the patrol vehicle (3) are wirelessly connected, and the patrol vehicle (3) can move around a preset line in a power plant to monitor various equipment in the power plant; The inspection vehicle (3) comprises a wheeled inspection vehicle body, and a power supply unit (4), a sensor unit (5), a control unit (15), and a positioning and navigation unit (6) arranged on the wheeled inspection vehicle (3); the power supply unit (4), the sensor unit (5), and the positioning and navigation unit (6) are all connected to the control unit (15); The positioning and navigation unit (6) includes a 3D laser radar, which can obtain three-dimensional data of the surrounding environment of the inspection vehicle (3); The sensing unit (5) comprises a dual-spectrum thermal imaging gimbal, wherein the dual-spectrums correspond to a thermal imaging channel and a visible light channel respectively; The local monitoring unit (1) comprises a number one switch (7), a data server (8) connected to the number one switch (7), a hard disk video recorder (9), and a local PC terminal (10); The operation and maintenance station unit (2) comprises a No. 2 switch (11) and a plurality of operation and maintenance PC terminals (12) connected to the No. 2 switch (11) and used by the operation and maintenance stations.

2. The inspection system for power plant equipment according to claim 1, characterized in that: The power supply unit (4) is a lithium iron phosphate battery for power supply.

3. The inspection system for power plant equipment according to claim 1, characterized in that: The dual-spectrum thermal imaging gimbal includes at least one infrared thermal imager and one high-definition camera.

4. The inspection system for power plant equipment according to claim 1, characterized in that: A wireless AP (13) for power plant equipment is provided at each device to be monitored in the power plant for access by the inspection vehicle (3); the No. 1 switch (7) is connected to a wireless AP (14) for a local end; the wireless AP (13) for power plant equipment and the wireless AP (14) for a local end establish a network connection to enable the inspection vehicle (3) to access the network.

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