技术领域technical field
本发明属于变电站巡检系统设计领域，尤其涉及一种地空异构式变电站全方位巡检系统。The invention belongs to the field of substation inspection system design, in particular to a ground-air heterogeneous type substation omnidirectional inspection system.
背景技术Background technique
变电站设备巡检是为有效保证变电站设备安全运行、提高供电可靠性而进行的一项重要工作。长期以来，我国电力行业沿用的变电站设备人工巡检作业方式，由于变电站巡检线路长，范围广，部分变电站地域偏僻，海拔较高，地理条件与气象环境恶劣，经常出现大风、大雾、冰雪、雷雨等恶劣天气，这使得每天至少两次的例行巡检只靠人工巡检工作困难、效率低，管理成本高，完成质量不理想。且在高压、超高压条件下，人工巡检具有很大的危险性。因此人们开始向机器人巡检系统进行探索。Substation equipment inspection is an important task to effectively ensure the safe operation of substation equipment and improve the reliability of power supply. For a long time, my country's electric power industry has followed the manual inspection method of substation equipment. Due to the long inspection lines and wide range of substation inspections, some substations are remote and high in altitude, and the geographical conditions and weather conditions are harsh. Strong winds, fog, ice and snow often occur , thunderstorms and other bad weather, which makes routine inspections at least twice a day only manual inspections work difficult, low efficiency, high management costs, and unsatisfactory completion quality. And under high pressure and ultra-high pressure conditions, manual inspection is very dangerous. Therefore, people began to explore the robot inspection system.
目前，存在的变电站机器人巡检设计往往是地面移动机器人或飞行机器人单独完成巡检。由于变电站设备大小不一，用地面移动机器人无法全方位巡检所有设备；而飞行机器人虽然视角灵活可变，但飞行时间有限，很难一次性完成全程巡检。故将地面移动机器人与飞行机器人结合起来协作巡检，有助于在变电站中长期、全方位地巡检各类设备。At present, the existing substation robot inspection design is often the ground mobile robot or flying robot to complete the inspection alone. Due to the different sizes of substation equipment, mobile robots on the ground cannot inspect all equipment in an all-round way. Although the viewing angle of flying robots is flexible and variable, the flight time is limited, and it is difficult to complete the entire inspection at one time. Therefore, the combination of ground mobile robots and flying robots for collaborative inspections is helpful for long-term and comprehensive inspections of various equipment in substations.
发明内容Contents of the invention
针对上述背景技术中所述的目前变电站巡检方式存在的不足，本发明提出了一种地空异构式变电站全方位巡检系统。In view of the deficiencies in the current substation inspection methods described in the above background technology, the present invention proposes a ground-air heterogeneous substation omnidirectional inspection system.
一种地空异构式变电站全方位巡检系统，其特征在于，所述系统包括地面巡检移动机器人子系统、空中巡检飞行机器人子系统、监控中心和能源补给站；所述地面巡检移动机器人子系统包括多传感器数据采集及控制模块、导航模块、能源管理模块、运动控制模块、第一控制器、第一无线通信模块、任务分解与规划模块和降落平台；所述空中巡检飞行机器人子系统包括自主飞行控制模块、传感器模块、能源供给与管理模块、第二控制器、第二无线通信模块和图像采集模块；A ground-air heterogeneous substation all-round inspection system, characterized in that the system includes a ground inspection mobile robot subsystem, an air inspection flying robot subsystem, a monitoring center and an energy supply station; the ground inspection The mobile robot subsystem includes a multi-sensor data acquisition and control module, a navigation module, an energy management module, a motion control module, a first controller, a first wireless communication module, a task decomposition and planning module and a landing platform; the aerial inspection flight The robot subsystem includes an autonomous flight control module, a sensor module, an energy supply and management module, a second controller, a second wireless communication module and an image acquisition module;
其中，所述多传感器数据采集及控制模块、导航模块、能源管理模块、运动控制模块、第一无线通信模块和任务分解与规划模块分别与所述第一控制器连接；所述多传感器数据采集及控制模块用于实时数据的采集与控制，控制地面巡检移动机器人获得周围设备的状态；所述运动控制模块用于控制地面巡检移动机器人进行移动；所述导航模块用于对地面巡检移动机器人进行定位，实现精准避障和位置识别；所述能源管理模块用于补给地面巡检移动机器人自身能源以及空中巡检机器人能源；第一无线通信模块用于将采集到的实时数据在地面巡检移动机器人和空中巡检飞行机器人器人之间及地面巡检移动机器人与监控中心之间进行交互；所述任务分解与规划模块用于将监控中心发来的任务进行分解，将任务分成地面执行部分和空中执行部分，并规划出巡检路径和重点观察的设备，以及空中巡检飞行机器人起飞时间，观察视点和飞行轨迹；所述第一控制器通过发送控制指令对地面巡检机器人进行控制；Wherein, the multi-sensor data acquisition and control module, navigation module, energy management module, motion control module, first wireless communication module and task decomposition and planning module are respectively connected to the first controller; the multi-sensor data acquisition And the control module is used for the acquisition and control of real-time data, controls the ground inspection mobile robot to obtain the state of surrounding equipment; The motion control module is used to control the ground inspection mobile robot to move; The navigation module is used for the ground inspection The mobile robot performs positioning to realize accurate obstacle avoidance and position identification; the energy management module is used to supply the energy of the ground inspection mobile robot and the energy of the air inspection robot; the first wireless communication module is used to transfer the collected real-time data to the ground Interaction between the inspection mobile robot and the air inspection flying robot and between the ground inspection mobile robot and the monitoring center; the task decomposition and planning module is used to decompose the tasks sent by the monitoring center, and divide the tasks into The ground execution part and the air execution part, and plan the inspection path and key observation equipment, as well as the take-off time of the air inspection flying robot, observation viewpoint and flight trajectory; the first controller sends control instructions to the ground inspection robot to control;
所述自主飞行控制模块、传感器模块、能源供给与管理模块、第二无线通信模块和图像采集模块分别与所述第二控制器连接；所述自主飞行控制模块用于实时测量空中巡检飞行机器人的飞行姿态；所述传感器模块用于测量变电站中的气压、温度、湿度和风速；所述能源供给与管理模块用于为空中巡检飞行机器人测算飞行时间和提供所需能量；所述第二无线通信模块用于空中巡检飞行机器人与监控中心子以及地面巡检移动机器人子系统进行通信，交互任务信息，相对位置和能量水平及采集到的设备状态信息，并接受监控中心子系统发出的控制指令；所述图像采集模块用于采集设备状态信息；所述第二控制器通过发送控制指令对空中巡检飞行机器人进行控制；The autonomous flight control module, the sensor module, the energy supply and management module, the second wireless communication module and the image acquisition module are respectively connected to the second controller; the autonomous flight control module is used for real-time measurement of the aerial inspection flying robot The flight attitude; the sensor module is used to measure the air pressure, temperature, humidity and wind speed in the substation; the energy supply and management module is used to calculate the flight time and provide the required energy for the aerial inspection flying robot; the second The wireless communication module is used for the aerial inspection flying robot to communicate with the monitoring center subsystem and the ground inspection mobile robot subsystem, to exchange task information, relative position and energy level and the collected equipment status information, and to receive the information sent by the monitoring center subsystem Control instructions; the image acquisition module is used to collect equipment status information; the second controller controls the aerial inspection flying robot by sending control instructions;
所述第一无线通信模块分别与第二无线通信模块和监控中心通过无线信号连接；The first wireless communication module is respectively connected with the second wireless communication module and the monitoring center through wireless signals;
所述第二无线通信模块分别与所述第一无线通信模块和监控中心通过无线信号连接。The second wireless communication module is respectively connected with the first wireless communication module and the monitoring center through wireless signals.
所述监控中心包括数据存储服务器、巡检系统软件服务器和显示屏；所述数据存储服务器、巡检系统软件服务器和显示屏顺次连接；所述数据存储服务器用于将接收到的实时数据进行存储，并将实时数据传给巡检系统软件服务器；所述巡检系统软件服务器用于通过无线信号发送控制信息，并将接收的实时数据显示在显示屏上。The monitoring center includes a data storage server, an inspection system software server and a display screen; the data storage server, the inspection system software server and the display screen are connected in sequence; the data storage server is used to process the received real-time data Store and transmit the real-time data to the inspection system software server; the inspection system software server is used to send control information through wireless signals, and display the received real-time data on the display screen.
所述能源补给站包括两种充电方式；所述充电方式包括即到即充方式和定时充电方式；所述能源补给站用于为巡检机器人补给能源。The energy supply station includes two charging methods; the charging method includes an instant charging method and a regular charging method; the energy supply station is used to supply energy for the inspection robot.
所述能源补给站包括若干充电机柜；所述充电机柜侧面装有自动旋转除尘刷，用于为巡检机器人表面进行清理。The energy supply station includes several charging cabinets; the sides of the charging cabinets are equipped with automatic rotating dust removal brushes for cleaning the surface of the inspection robot.
所述能源补给站站顶部包括遮光罩，用于恶劣天气时，对巡检机器人进行保护。The top of the energy supply station includes a shading cover, which is used to protect the inspection robot in bad weather.
所述能源管理模块充电方式包括能源补给站补给方式和太阳能充电方式。The charging method of the energy management module includes the charging method of energy supply station and the charging method of solar energy.
本发明的有益效果是：The beneficial effects of the present invention are:
1.本发明利用机器人组合进行变电站巡检，巡检角度灵活，视线全面，从而节省人力资源，降低恶劣地理条件与气象环境中的巡检难度，缩短巡检便利时间，提高日常检修效率。1. The invention uses a combination of robots to conduct substation inspections, with flexible inspection angles and comprehensive sightlines, thereby saving human resources, reducing the difficulty of inspections in harsh geographical conditions and meteorological environments, shortening the convenient time for inspections, and improving the efficiency of daily maintenance.
2.本系统通过空地异构机器人协作，地面巡检移动机器人子系统、空中巡检飞行机器人子系统、监控中心子系统相互实时交互，精确进行定位，解决了独立机器人进行巡检时的误判误操作情况。2. Through the cooperation of space-ground heterogeneous robots, the ground inspection mobile robot subsystem, the air inspection flying robot subsystem, and the monitoring center subsystem interact with each other in real time to accurately locate and solve the misjudgment when independent robots conduct inspections mishandling situation.
3.本发明不仅适用于变电站巡检，可将其扩展，应用于更多领域的搜索与巡检。3. The present invention is not only applicable to substation inspection, but can be extended to search and inspection in more fields.
说明书附图Instructions attached
图1是本发明提供的一种地空异构式变电站全方位巡检系统的结构示意图；Fig. 1 is a schematic structural view of a ground-air heterogeneous substation all-round inspection system provided by the present invention;
图2是本发明提供的一种地空异构式变电站全方位巡检系统的系统结构方框图；Fig. 2 is a system structural block diagram of an all-round inspection system of a ground-air heterogeneous substation provided by the present invention;
图3是本发明提供的一种地空异构式变电站全方位巡检系统的地面巡检移动机器人子系统结构示意图；Fig. 3 is a schematic structural diagram of the ground inspection mobile robot subsystem of a ground-air heterogeneous substation omnidirectional inspection system provided by the present invention;
图4是本发明提供的一种地空异构式变电站全方位巡检系统的空中巡检飞行机器人子系统结构示意图；Fig. 4 is a schematic structural diagram of the aerial inspection flying robot subsystem of an all-round inspection system for ground-air heterogeneous substations provided by the present invention;
图5是本发明提供的一种地空异构式变电站全方位巡检系统的监控中心结构示意图；Fig. 5 is a schematic structural diagram of a monitoring center of a ground-air heterogeneous substation all-round inspection system provided by the present invention;
其中：1-空中巡检飞行机器人子系统；2-监控中心；3-降落平台；4-能源管理模块；5-地面巡检移动机器人子系统；6-能源补给站。Among them: 1-air inspection flying robot subsystem; 2-monitoring center; 3-landing platform; 4-energy management module; 5-ground inspection mobile robot subsystem; 6-energy supply station.
具体实施方式Detailed ways
下面结合附图，对优选实施例作详细说明。应该强调的是下述说明仅仅是示例性的，而不是为了限制本发明的范围及其应用。The preferred embodiments will be described in detail below in conjunction with the accompanying drawings. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.
图1是本发明提供的一种地空异构式变电站全方位巡检系统的结构示意图。图1中，本发明提供的一种地空异构式变电站全方位巡检系统包括空中巡检飞行机器人子系统1、监控中心2、降落平台3、能源管理模块4、地面巡检移动机器人子系统5和能源补给站6。Fig. 1 is a schematic structural diagram of an all-round inspection system for a ground-air heterogeneous substation provided by the present invention. In Fig. 1, a ground-air heterogeneous substation comprehensive inspection system provided by the present invention includes an aerial inspection flying robot subsystem 1, a monitoring center 2, a landing platform 3, an energy management module 4, and a ground inspection mobile robot subsystem. System 5 and energy supply station 6.
图2是本发明提供的一种地空异构式变电站全方位巡检系统的系统结构方框图。图2中，本发明提供的一种地空异构式变电站全方位巡检系统的空中巡检飞行机器人子系统1、监控中心2和地面巡检移动机器人子系统5通过无线信号相互连接，实现了空中巡检飞行机器人与监控中心子以及地面巡检移动机器人子系统进行通信，交互任务信息，相对位置和能量水平及采集到的设备状态信息，并接受监控中心子系统发出的控制指令。Fig. 2 is a system structural block diagram of a ground-air heterogeneous substation all-round inspection system provided by the present invention. In Fig. 2, the aerial inspection flying robot subsystem 1, the monitoring center 2 and the ground inspection mobile robot subsystem 5 of a ground-air heterogeneous substation comprehensive inspection system provided by the present invention are connected to each other through wireless signals to realize The aerial inspection flying robot communicates with the monitoring center subsystem and the ground inspection mobile robot subsystem, exchanges task information, relative position and energy level, and collected equipment status information, and accepts control commands issued by the monitoring center subsystem.
图3是本发明提供的一种地空异构式变电站全方位巡检系统的地面巡检移动机器人子系统结构示意图。图3中，地面巡检移动机器人子系统包括多传感器数据采集及控制模块、导航模块、能源管理模块、运动控制模块、第一控制器、第一无线通信模块、任务分解与规划模块和降落平台。所述多传感器数据采集及控制模块、导航模块、能源管理模块、运动控制模块、第一无线通信模块和任务分解与规划模块分别与所述第一控制器连接。Fig. 3 is a schematic structural diagram of a ground inspection mobile robot subsystem of an all-round inspection system for a ground-air heterogeneous substation provided by the present invention. In Figure 3, the ground inspection mobile robot subsystem includes a multi-sensor data acquisition and control module, a navigation module, an energy management module, a motion control module, a first controller, a first wireless communication module, a task decomposition and planning module, and a landing platform . The multi-sensor data acquisition and control module, navigation module, energy management module, motion control module, first wireless communication module and task decomposition and planning module are respectively connected to the first controller.
所述多传感器数据采集及控制模块用于实时数据的采集与控制，控制地面巡检移动机器人获得周围设备的状态；所述运动控制模块用于控制地面巡检移动机器人进行移动；所述导航模块用于对地面巡检移动机器人进行定位，实现精准避障和位置识别；所述能源管理模块用于补给地面巡检移动机器人自身能源以及空中巡检机器人能源；第一无线通信模块用于将采集到的实时数据在地面巡检移动机器人和空中巡检飞行机器人器人之间及地面巡检移动机器人与监控中心之间进行交互；所述任务分解与规划模块用于将监控中心发来的任务进行分解，将任务分成地面执行部分和空中执行部分，并规划出巡检路径和重点观察的设备，以及空中巡检飞行机器人起飞时间，观察视点和飞行轨迹；所述第一控制器通过发送控制指令对地面巡检机器人进行控制。The multi-sensor data collection and control module is used for real-time data collection and control, and controls the ground inspection mobile robot to obtain the status of surrounding equipment; the motion control module is used to control the ground inspection mobile robot to move; the navigation module It is used to locate the mobile robot for ground inspection and realize accurate obstacle avoidance and position identification; the energy management module is used to supply the energy of the mobile robot for ground inspection and the energy of the robot for aerial inspection; the first wireless communication module is used to collect The real-time data obtained interacts between the mobile robot for ground inspection and the flying robot for air inspection and between the mobile robot for ground inspection and the monitoring center; the task decomposition and planning module is used to Decompose, divide the task into the ground execution part and the air execution part, and plan the inspection path and the equipment for key observation, as well as the take-off time of the air inspection flying robot, observation viewpoint and flight trajectory; Command to control the ground inspection robot.
图4是本发明提供的一种地空异构式变电站全方位巡检系统的空中巡检飞行机器人子系统结构示意图。图4中，空中巡检飞行机器人子系统包括自主飞行控制模块、传感器模块、能源供给与管理模块、第二控制器、第二无线通信模块和图像采集模块；所述自主飞行控制模块、传感器模块、能源供给与管理模块、第二无线通信模块和图像采集模块分别与所述第二控制器连接。Fig. 4 is a schematic structural diagram of an aerial inspection flying robot subsystem of a ground-air heterogeneous substation omnidirectional inspection system provided by the present invention. Among Fig. 4, aerial inspection flying robot subsystem comprises autonomous flight control module, sensor module, energy supply and management module, second controller, second wireless communication module and image acquisition module; Described autonomous flight control module, sensor module The energy supply and management module, the second wireless communication module and the image acquisition module are respectively connected to the second controller.
所述自主飞行控制模块用于实时测量空中巡检飞行机器人的飞行姿态；所述传感器模块用于测量变电站中的气压、温度、湿度和风速；所述能源供给与管理模块用于为空中巡检飞行机器人测算飞行时间和提供所需能量；所述第二无线通信模块用于空中巡检飞行机器人与监控中心子以及地面巡检移动机器人子系统进行通信，交互任务信息，相对位置和能量水平及采集到的设备状态信息，并接受监控中心子系统发出的控制指令；所述图像采集模块用于采集设备状态信息；所述第二控制器通过发送控制指令对空中巡检飞行机器人进行控制；The autonomous flight control module is used for real-time measurement of the flight attitude of the air patrol flying robot; the sensor module is used for measuring the air pressure, temperature, humidity and wind speed in the substation; the energy supply and management module is used for air patrol inspection The flying robot calculates the flight time and provides the required energy; the second wireless communication module is used for the aerial inspection flying robot to communicate with the monitoring center sub-system and the ground inspection mobile robot subsystem to exchange task information, relative position and energy level and The collected device status information is accepted by the monitoring center subsystem to send control instructions; the image acquisition module is used to collect device status information; the second controller controls the aerial inspection flying robot by sending control instructions;
图5是本发明提供的一种地空异构式变电站全方位巡检系统的监控中心结构示意图。图5中，所述监控中心包括数据存储服务器、巡检系统软件服务器和显示屏；所述数据存储服务器、巡检系统软件服务器和显示屏顺次连接；所述数据存储服务器用于将接收到的实时数据进行存储，并将实时数据传给巡检系统软件服务器；所述巡检系统软件服务器用于通过无线信号发送控制信息，并将接收的实时数据显示在显示屏上。Fig. 5 is a schematic structural diagram of a monitoring center of a ground-air heterogeneous substation all-round inspection system provided by the present invention. Among Fig. 5, described monitoring center comprises data storage server, inspection system software server and display screen; Described data storage server, inspection system software server and display screen are connected in sequence; Described data storage server is used for receiving The real-time data is stored, and the real-time data is transmitted to the software server of the inspection system; the software server of the inspection system is used to send control information through wireless signals, and display the received real-time data on the display screen.
实施例：Example:
巡检工作开始进行时，首先由监控中心2发出任务，通过无线通讯模块传输给地面巡检移动机器人子系统1。该子系统的任务分解与规划模块立即将所接收任务分解为地面执行部分和空中执行部分，地面机器人开始移动，规划出本次任务路径以及重点观察设备；同时空中执行部分信息被无线传输至空中巡检飞行机器人子系统5。空中巡检飞行机器人按照信息中所得到的起飞时间起飞，并规划出观察视点及飞行轨迹。When the inspection work starts, the monitoring center 2 sends out a task first, and transmits it to the ground inspection mobile robot subsystem 1 through the wireless communication module. The task decomposition and planning module of this subsystem immediately decomposes the received task into the ground execution part and the air execution part, and the ground robot starts to move, plans the mission path and key observation equipment; at the same time, the information of the air execution part is wirelessly transmitted to the air Inspect the flying robot subsystem 5. The aerial inspection flying robot takes off according to the take-off time obtained in the information, and plans the observation viewpoint and flight trajectory.
巡检过程中，地面巡检移动机器人子系统1与空中巡检飞行机器人子系统5不间断得通过无线通讯将实时信息共享并发回监控中心2。信息包括：环境数据采集信息、位置信息、自身能量水平信息和图像信息。变电站内每隔设定距离安装一个能源补给站6，当地面巡检移动机器人子系统通过和能源管理模块4监测到自身能源不足且当前太阳能不足以充满电时，其将自主前往站内进行充电；而当空中巡检飞行机器人需要补充能源时，则将寻到地面巡检移动机器人子系统5上的降落平台3，根据标识符确定降落地点和姿态位置，而后通过自主导航降落至地面巡检移动机器人降落平台上进行充电。During the inspection process, the ground inspection mobile robot subsystem 1 and the air inspection flying robot subsystem 5 continuously share real-time information through wireless communication and send it back to the monitoring center 2 . The information includes: environmental data collection information, location information, own energy level information and image information. An energy supply station 6 is installed at every set distance in the substation. When the ground inspection mobile robot subsystem and the energy management module 4 detect that its own energy is insufficient and the current solar energy is not enough to fully charge, it will autonomously go to the station for charging; And when the air inspection flying robot needs to replenish energy, it will find the landing platform 3 on the ground inspection mobile robot subsystem 5, determine the landing site and attitude position according to the identifier, and then land to the ground inspection mobile robot through autonomous navigation. The robot lands on the platform for charging.
当监控中心2发现传回图像或数据中出现异常情况，监控人员可向空中巡检飞行机器人子系统发出手控操作指令，对故障点进行全角度重复拍摄，并紧急调地面巡检移动机器人至故障点所在设备附近，做出可行性处理并为飞行机器人补充能量做准备。同时维护人员将根据所传回位置信息及时到达现场，对异常情况进行处理。When the monitoring center 2 finds that there is an abnormal situation in the returned image or data, the monitoring personnel can issue a manual operation command to the subsystem of the aerial inspection flying robot, repeat shooting at all angles of the fault point, and urgently dispatch the ground inspection mobile robot to The fault point is located near the equipment, and the feasible treatment is made to prepare for the supplementary energy of the flying robot. At the same time, the maintenance personnel will arrive at the scene in time according to the returned location information, and deal with the abnormal situation.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201210310915.3ACN102856827B (en) | 2012-08-28 | 2012-08-28 | Omnibearing ground-space isomeric substation polling system |
| Application Number | Priority Date | Filing Date | Title |
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| CN201210310915.3ACN102856827B (en) | 2012-08-28 | 2012-08-28 | Omnibearing ground-space isomeric substation polling system |
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| CN102856827A CN102856827A (en) | 2013-01-02 |
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| CN201210310915.3AExpired - Fee RelatedCN102856827B (en) | 2012-08-28 | 2012-08-28 | Omnibearing ground-space isomeric substation polling system |
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