CN113541314A - A substation joint inspection system and its control method - Google Patents
A substation joint inspection system and its control methodDownload PDFInfo
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- CN113541314A CN113541314ACN202110788919.1ACN202110788919ACN113541314ACN 113541314 ACN113541314 ACN 113541314ACN 202110788919 ACN202110788919 ACN 202110788919ACN 113541314 ACN113541314 ACN 113541314A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
- H02J13/00034—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving an electric power substation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the technical field of transformer substation monitoring, in particular to a transformer substation combined inspection system and a control method thereof.
Background
At present, a transformer substation is provided with systems for monitoring an inspection robot, monitoring videos and the like to realize inspection and monitoring functions, but the video monitoring and the combined inspection of the inspection robot are not realized at a station end, a main station end needs to be respectively accessed with videos and robots in the station, meanwhile, management of remote inspection tasks and result collection of the video inspection are realized at the main station end, and the debugging workload of the main station is large. With the increasing number of substations governed by the operation and maintenance class, the lower personnel allocation rate and structural shortage of personnel commonly exist in the national network company provinces and the primary operation and inspection service departments in cities, which are increasingly contradictory with the realization of comprehensive monitoring of equipment information and intelligentization of operation and inspection operation.
Disclosure of Invention
The embodiment of the invention aims to provide a transformer substation combined inspection system and a control method thereof.
In order to solve the above technical problem, a first aspect of an embodiment of the present invention provides a substation joint inspection system, including: the system comprises a patrol control module, a robot patrol module and a video patrol module;
the robot patrol module and the video patrol module carry out combined patrol on each patrol point position according to the patrol instruction of the patrol control module, acquire patrol data and send the patrol data to the patrol control module;
the patrol control module sends out patrol instructions to the robot patrol module and the video patrol module according to external control instructions and daily patrol tasks;
the inspection control module also receives the inspection data uploaded by the robot inspection module and the video inspection module, generates an inspection result and an inspection report after carrying out image identification and analysis on the inspection data, and sends an alarm signal.
Furthermore, the patrol control module comprises an instruction generation unit, a data acquisition unit, a data processing unit and a data correction unit;
the instruction generating unit receives the external control instruction and the daily patrol task and sends out the patrol instruction to the robot patrol module and the video patrol module;
the data acquisition unit receives the patrol data acquired by the robot patrol module and the video patrol module and sends the patrol data to the data processing unit;
the data processing unit receives video data and picture data in the patrol data, identifies patrol information of patrol points in the video data and the picture data to give a patrol result, generates a patrol report according to the patrol result, and pushes an alarm linkage strategy.
Further, the patrol control module further comprises: a data correction unit;
the data correction unit is electrically connected with the data acquisition unit and the data processing unit respectively;
and the data correction unit performs data calibration on the video data and the picture data according to a preset threshold corresponding to the inspection point location to obtain correction data of the inspection result of the inspection point location.
Further, the data processing unit acquires the inspection point location which is identified abnormally according to the video data and the picture data, and sends the inspection point location information which is identified abnormally to the instruction generating unit;
the instruction generating unit generates the patrol instruction according to the patrol point position information with abnormal identification, and controls the robot patrol module and the video patrol module to patrol in the next patrol period.
Further, the patrol control module further comprises: a data storage unit;
the data storage unit stores an equipment inspection point standard library and also stores historical data of the inspection data;
the equipment inspection point standard library comprises: hierarchy of substations, areas, bays, equipment and components.
Further, the priority of the external control instruction is higher than that of the patrol task.
Further, the external control instruction comprises: the system comprises a main and auxiliary equipment linkage instruction, a one-key sequential control video double confirmation instruction, a field control instruction and a superior system control instruction.
Furthermore, the priority of the main and auxiliary equipment linkage instruction, the one-key sequential control video double confirmation instruction, the field control instruction and the superior system control instruction is sequentially reduced.
Correspondingly, a second aspect of the embodiment of the invention provides a substation combined inspection system and a control method thereof, and the substation combined inspection system comprises the following steps:
acquiring an external control instruction, and sending a patrol instruction to the robot patrol module and the video patrol module according to the priority of the external control instruction;
receiving the patrol data of the robot patrol module and the video patrol module, carrying out image identification analysis on the patrol data to obtain patrol results of each patrol point position of the transformer substation, generating patrol reports, and pushing alarm linkage strategies
After the image recognition analysis is performed on the patrol data, the method further comprises the following steps:
and carrying out data calibration on the inspection data according to a preset threshold value corresponding to the inspection point position to obtain correction data of the inspection result of the inspection point position, and further generating an inspection report according to the correction data.
The technical scheme of the embodiment of the invention has the following beneficial technical effects:
the inspection module and the video inspection module are used for combined inspection through the robot, so that integration and advantage complementation of inspection data are realized, comprehensive coverage of inspection is realized, inspection accuracy is improved, and the equipment inspection task workload of substation workers is further reduced.
Drawings
Fig. 1 is a transformer substation combined inspection system architecture diagram provided by an embodiment of the invention;
fig. 2 is a flow chart of inspection task processing of the transformer substation combined inspection system provided by the embodiment of the invention;
fig. 3 is a flow chart for creating a point location model for equipment inspection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of task source classification provided by an embodiment of the invention;
FIG. 5 is a flow chart of a task execution service provided by an embodiment of the present invention;
FIG. 6 is a flow chart of an alarm linkage service provided by an embodiment of the present invention;
fig. 7 is a flow chart of the joint inspection result service provided by the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is an architecture diagram of a substation joint inspection system provided in an embodiment of the present invention.
Fig. 2 is a flow chart of inspection task processing of the substation combined inspection system according to the embodiment of the present invention.
Referring to fig. 1 and fig. 2, a first aspect of an embodiment of the present invention provides a substation joint inspection system, including: the system comprises a patrol control module, a robot patrol module and a video patrol module; the robot patrol module and the video patrol module perform combined patrol on each patrol point position according to the patrol instruction of the patrol control module, acquire patrol data and send the patrol data to the patrol control module; the patrol control module sends patrol instructions to the robot patrol module and the video patrol module according to external control instructions and daily patrol tasks; the inspection control module also receives inspection data uploaded by the robot inspection module and the video inspection module, generates an inspection result and an inspection report after image recognition and analysis are carried out on the inspection data, and sends an alarm signal.
According to the scheme, the transformer substation high-definition video and the intelligent robot are jointly patrolled and examined, the intelligent patrol platform is relied on, data integration and advantage complementation of patrol data are achieved, the data are finally pushed to a related service system, the robot data are better played, the patrol coverage is comprehensive and is omitted, the patrol accuracy is greatly improved, and the video intelligent recognition automatically generates patrol reports and further lightens or even replaces operators to complete repeated and fussy patrol work.
The transformer substation combined inspection system is deployed at a transformer substation end and mainly comprises an inspection control module, a robot inspection module, a video inspection module and the like. The inspection control module issues instructions such as control and inspection tasks, the robot inspection module and the video inspection module are controlled to carry out combined inspection operation of indoor and outdoor equipment, and inspection data, acquired files and the like are transmitted to the inspection control module after inspection is finished; the inspection control module intelligently analyzes the acquired data to form an inspection result and an inspection report, and timely sends an alarm signal.
Furthermore, the patrol control module comprises an instruction generation unit, a data acquisition unit, a data processing unit and a data correction unit; the command generation unit receives an external control command and a daily patrol task and sends a patrol command to the robot patrol module and the video patrol module; the data acquisition unit receives the patrol data acquired by the robot patrol module and the video patrol module and sends the patrol data to the data processing unit; the data processing unit receives the video data and the picture data in the patrol data, identifies patrol information of patrol point positions in the video data and the picture data, gives a patrol result, generates a patrol report and pushes an alarm linkage strategy.
Further, the patrol control module further comprises: and a data correction unit. The data correction unit is electrically connected with the data acquisition unit and the data processing unit respectively; and the data correction unit performs data calibration on the video data and the picture data according to a preset threshold corresponding to the inspection point location to obtain correction data of the inspection result of the inspection point location.
Further, the data processing unit acquires the inspection point position with abnormal identification according to the video data and the picture data, and sends the inspection point position information with abnormal identification to the instruction generating unit;
the instruction generating unit generates a patrol instruction according to the patrol point position information with abnormal identification, and controls the robot patrol module and the video patrol module to patrol in the next patrol period.
Further, the patrol control module further comprises: a data storage unit; the data storage unit stores an equipment inspection point standard library and historical data of inspection data; the equipment inspection point standard library comprises: hierarchy of substations, areas, bays, equipment and components.
Fig. 3 is a flow chart for creating a point location model for equipment inspection according to an embodiment of the present invention.
Referring to fig. 3, an equipment patrol point standard library is established according to the hierarchical relationship of substation → region → interval → equipment → component, the station patrol point standard library is scanned according to the substation equipment patrol point standard library to obtain required information, an xml format file is generated, the substation combined patrol system imports the xml file and stores the xml file into a data storage unit to complete import modeling of patrol point, and an alarm threshold is set according to the point attribute established by the point type.
FIG. 4 is a diagram illustrating task source classification according to an embodiment of the present invention.
Specifically, referring to fig. 4, the priority of the external control command is higher than that of the patrol task. Further, the external control instruction comprises: the system comprises a main and auxiliary equipment linkage instruction, a one-key sequential control video double confirmation instruction, a field control instruction and a superior system control instruction. The task sources also include daily patrol tasks.
Furthermore, the priority of the main and auxiliary equipment linkage instruction, the one-key sequential control video double confirmation instruction, the field control instruction and the superior system control instruction is reduced in sequence.
The message bus monitors messages from various task sources, generates patrol tasks and stores a database. Wherein, the task source includes:
1) linkage instructions of main and auxiliary equipment: the inspection server receives the linkage signal, and according to the corresponding relation between the configured linkage signal and the inspection point location, the linkage robot inspection module executes a corresponding task, the video inspection module calls a preset position, and corresponding video pictures are automatically popped up, so that an inspection task is automatically generated.
2) One-key sequential control video double confirmation instruction: when the station end is operated in the one-key sequence control mode, the main and auxiliary equipment monitoring system sends the one-key sequence control operation information to the inspection control module through the forward isolating device and generates an inspection task.
3) And (3) field control instructions: and the field operation robot patrols the module or the video patrols the module to patrol.
4) Control instructions of the upper-level system: and the superior system remotely issues the inspection task.
In addition, the task sources further include: 5) and (5) performing daily patrol tasks. The robot or video in the station regularly and routinely patrols, the operation and maintenance personnel select the point positions to carry out correlation to generate a patrol task, and meanwhile, the patrol task can be set to be executed immediately, regularly and periodically according to different patrol types.
FIG. 5 is a flow chart of a task execution service provided by an embodiment of the present invention;
FIG. 6 is a flow chart of an alarm linkage service provided by an embodiment of the present invention;
fig. 7 is a flow chart of the joint inspection result service provided by the embodiment of the present invention.
Referring to fig. 5, 6 and 7, before executing the task, according to the sequence of the task priority, namely ' main and auxiliary equipment linkage ', ' one-key sequential control video double confirmation ', ' field control ', ' superior system control ', ' station-side daily patrol task ', ' the priority of the new task and the priority of the currently executed task are compared, if the priority of the new task is high, the current task is suspended, the new task is preferentially executed, and if the priority of the new task is low, the new task is queued to be executed; and meanwhile, comparing the priority of each task and the task generation time in the queued task to determine the next executed patrol task. And if the currently executed inspection task is suspended, updating the task state of the database, the inspection state and the result of each inspection point position, starting to execute from the breakpoint after the task is recovered, and continuing to inspect the incomplete inspection point position when the task is suspended according to the state recorded when the inspection task is suspended after the task is suspended and returned. And in the process of executing the tasks, acquiring the state and the progress of each inspection task, the inspection point information and the inspection equipment information of each inspection task in real time, and controlling the robot, the video and the inspection tasks.
Wherein, according to the difference of patrolling and examining the mode, can divide into alone the patrolling and examining of robot, the video is alone patrolled and examined, the robot video is jointly patrolled and examined.
And (3) robot inspection: the robot moves according to a planned patrol route, patrol data such as visible light pictures, infrared spectrums and audio of equipment facilities are collected after the robot reaches a patrol point, the patrol data are analyzed by the robot host, and the analyzed data are uploaded to a patrol control module through an interface between the robot host and the patrol host to carry out intelligent analysis on patrol results, task state data (progress, positions which are patrolled, positions which are not patrolled and the like) and the like.
Video inspection: and calling the preset position snap by the video host and transmitting the picture data to the data processing unit for analysis.
And (3) combined inspection: and the inspection control module is used for summarizing, comprehensively judging and storing the robot point location result and the video point location result. Such as: when an alarm occurs, the system links the robot to execute a corresponding task, the camera calls a preset position and automatically pops up a corresponding video picture according to an alarm linkage configuration strategy, and meanwhile, executes a corresponding linkage action according to the alarm linkage strategy. On the basis, the patrol control module performs comprehensive video analysis, patrol result analysis and image recognition on the acquired information, and comprehensively judges to generate an intelligent decision conclusion and an intelligent decision suggestion.
In addition, the patrol mode may further include: the robot/video linkage is triggered by executing tasks in two inspection modes of robot + and video +, wherein the robot + mode mainly realizes the full coverage of a transformer substation with a voltage level of 500kV or more and an outdoor and openly arranged 220kV transformer substation, and the video + mode mainly realizes the full coverage of an indoor 220kV transformer substation and a transformer substation with a voltage level of 110kV or less by video monitoring.
After the inspection task is finished, the system reads all the acquisition information, the threshold value and the original picture of each inspection point according to the inspection point setting sequence; counting, summarizing and identifying abnormal and unidentifiable point locations, supporting correction of data such as identification results and alarm levels on the basis of reserving original data, calling a report generation method after correction and verification are completed, calculating required data according to a task report template and storing the required data in a database. Meanwhile, comparison and analysis of routing inspection results are achieved according to requirements.
Correspondingly, a second aspect of the embodiment of the invention provides a substation combined inspection system and a control method thereof, and the substation combined inspection system comprises the following steps:
and S100, acquiring an external control instruction, and sending a patrol instruction to the robot patrol module and the video patrol module according to the priority of the external control instruction.
And S200, receiving the patrol data of the robot patrol module and the video patrol module, carrying out image recognition analysis on the patrol data to obtain the alarm level of each patrol point position of the transformer substation, and sending an alarm signal.
Further, in step S200, after performing image recognition analysis on the patrol data, the method further includes:
s210, calibrating the patrol data according to the preset threshold value corresponding to the patrol point location to obtain the correction data of the patrol result of the patrol point location, and generating a patrol report according to the correction data.
The embodiment of the invention aims to protect a transformer substation combined inspection system and a control method thereof, wherein the system comprises: the system comprises a patrol control module, a robot patrol module and a video patrol module; the robot patrol module and the video patrol module perform combined patrol on each patrol point position according to the patrol instruction of the patrol control module, acquire patrol data and send the patrol data to the patrol control module; the patrol control module sends patrol instructions to the robot patrol module and the video patrol module according to external control instructions and daily patrol tasks; the inspection control module also receives inspection data uploaded by the robot inspection module and the video inspection module, generates an inspection result and an inspection report after image recognition and analysis are carried out on the inspection data, and sends an alarm signal. The technical scheme has the following effects:
the inspection module and the video inspection module are used for combined inspection through the robot, so that integration and advantage complementation of inspection data are realized, comprehensive coverage of inspection is realized, inspection accuracy is improved, and the equipment inspection task workload of substation workers is further reduced.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110788919.1ACN113541314A (en) | 2021-07-13 | 2021-07-13 | A substation joint inspection system and its control method |
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Cited By (3)
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| CN114356519A (en)* | 2021-12-29 | 2022-04-15 | 海隆石油集团(上海)信息技术有限公司 | Robot inspection control method, inspection method, system, computer equipment and storage medium |
| CN116797576A (en)* | 2023-06-27 | 2023-09-22 | 广东电网有限责任公司东莞供电局 | Intelligent analysis system for substation joint inspection defects |
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