CN107063331A - A kind of power transformer interior fault detecting system based on microrobot - Google Patents
A kind of power transformer interior fault detecting system based on microrobot Download PDFInfo
- Publication number
- CN107063331A CN107063331A CN201610984516.3A CN201610984516A CN107063331A CN 107063331 A CN107063331 A CN 107063331A CN 201610984516 A CN201610984516 A CN 201610984516A CN 107063331 A CN107063331 A CN 107063331A
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- microrobot
- rotating mechanism
- system based
- detecting system
- power transformer
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000003463 adsorbent Substances 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000002828 fuel tank Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 18
- 238000012423 maintenance Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- General Physics & Mathematics (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention discloses a kind of power transformer interior fault detecting system based on microrobot, including the microrobot being arranged in oil tank of transformer and the display control apparatus being arranged on outside transformer, microrobot is connected by wireless communication module with display control apparatus；Microrobot includes walking rotating mechanism, it is the equal cube of surrounding length, an obstacle detouring traveling crawler is circumferentially adsorbed with by adsorbent equipment in walking rotating mechanism, walking rotating mechanism is circumferential to be provided with propeller and supersonic range finder per one side, propeller is driven by motor driven systems A, walking rotating mechanism bottom is provided with rotatable flexible bar, its end is provided with camera, rotatable flexible bar is driven by motor driven systems B, it is provided with hoofing part mechanism and motor driven systems A, motor driven systems B, adsorbent equipment, supersonic range finder, camera and wireless communication module associated controls；The system can not drain the oil in transformer, not carry out real-time fault detection to its inside in the case of suspended core.
Description
Technical field
The present invention relates to transformer fault detection field, more particularly to a kind of inside transformer event based on microrobot
Hinder detecting system.
Background technology
Since power industry development starts, the operation maintenance of power equipment just turns into a weight for ensureing power network reliability service
Work, and the process of transformation is gradually safeguarded by traditional periodic maintenance steering state.All kinds of high-tension electricity equipment are in operation
In such or such exception inevitably occurs.The directly perceived, inspection of deep layer, detection are carried out to device interior, is equipment
Operation, safeguard, the method that management and decision-maker at different levels yearn for, be the quick state confirmation to equipment and trouble shoot, directly
And effective means.Transformer as it is most important in power system be also one of equipment of most expensive, be the hinge of power system
Abnormal, existing detection means such as high pressure (insulation, straight resistance, partial discharge etc.), oil occur for the transformer in equipment, Operation of Electric Systems
Change (chromatogram) etc., be difficult to make accurate judgement in the case of fault signature is not bery obvious, impacted as caused by external factor,
Often puncture or produce high temperature in the weak part moment of transformer galvanic circle (coil), the local of galvanic circle is produced material
Material variation (material structure changes, resistance, mechanical strength etc. deterioration) now high pressure tactics is difficult to measure, impact moment and
Die, in oil characteristic gas also not substantially, using close-ups and the state of equipment is confirmed detection means and failure is looked into
Looking for becomes very necessary, and equipment state confirms that speed and accuracy directly influence the recovery of equipment and the safety of power network.Transformation
When device failure or operation exception, the existing live pendant-core examination method used will expend great manpower and materials, more important
Be the absence of microscopic observation and detection means, there is also larger difficulty on state confirmation and trouble shoot, while extending shape
State confirms and trouble shooting time, the increase that look at equipment and power grid risk that can only be helpless.In face of important and expensive at present
Power equipment, will really reach state-maintenance, how understand its internal state at any time in equipment operation, be that electric power is set
The target that standby maintenance is pursued always, but the water that current detection (monitoring) equipment is shown also in data statistics, wavy curve
Flat, its accuracy, validity, ease for use and the property assessed need to improve, and the maturation of infrared imagery technique makes power equipment
Temperature detection (monitoring) realize temperature-visualizedization detection, the appearance of ultraviolet imagery technology climbs the surface of high voltage installation
Electrical imaging detection is possibly realized.But transformer, reactor internal structure are complicated, most of failure is frequently occurred in inside it,
Sizable difficulty is brought for the condition adjudgement of power equipment, fault diagnosis, if one kind can be directly monitored by transformation
Detection (monitoring) instrument inside the power equipments such as device, then the state-detection of the equipment such as transformer, fault diagnosis will become ten
Divide simple, it is this accurately to detect the instrument of the device interior situation such as transformer, it has also become power equipment maintenance department is urgent
The equipment needed.Also will be that development trend is safeguarded in status of electric power detection (monitoring).The power equipments such as power transformer can
Electric power maintenance detection technique will be made to have a revolutionary change depending on makeup is standby.
The content of the invention
In view of this, system is detected it is an object of the invention to provide a kind of power transformer interior fault based on microrobot
System, can carry out high definition in inside transformer optional position and clap picture, and upload to outside display control apparatus, be pressed through certain algorithm
Coordinate, which restores the three-dimensional image of high definition, to be given and shows, the picture of periods of history different to same position carries out graphical analysis, obtains
Go out difference, so as to realize the purpose of equipment state confirmation and trouble shoot.
The purpose of the present invention is achieved through the following technical solutions：
A kind of power transformer interior fault detecting system based on microrobot, including be arranged on micro- in oil tank of transformer
Humanoid robot and the display control apparatus being arranged on outside transformer, the microrobot pass through wireless communication module and display
Control device is connected；
The microrobot includes walking rotating mechanism, and the walking rotating mechanism is equal cube of surrounding length
Body, is circumferentially adsorbed with an obstacle detouring traveling crawler, the walking rotating mechanism is circumferentially every in walking rotating mechanism by adsorbent equipment
While being provided with propeller and supersonic range finder, the propeller is driven by motor driven systems A, and the walking is rotated
Actuator base is provided with rotatable flexible bar, and the rotatable flexible bar end is provided with camera, the rotatable flexible bar
Driven by motor driven systems B, control system, the control system and motor drivetrain are provided with the hoofing part mechanism
System A, motor driven systems B, adsorbent equipment, supersonic range finder, camera are connected with wireless communication module.
Further, the adsorbent equipment is electromagnet group.
Further, the wireless communication module passes through the antenna transmission signal that is arranged at the top of hoofing part mechanism.
Further, the display control apparatus is high performance graphicses work station.
Further, the hoofing part mechanism is square.
Further, the rotatable flexible bar includes motor, expansion link, gyrocompass and automatically controlled bearing, described automatically controlled
Bearing is connected on motor, and the telescopic rod is connected by gyrocompass with automatically controlled bearing, the motor and motor drivetrain
The B that unites is connected.
The beneficial effects of the invention are as follows：
The power transformer interior fault detecting system based on microrobot of the present invention, has the advantages that：
1. the present invention can not drain the oil in transformer, not carry out real time fail inspection to inside transformer in the case of suspended core
Survey, shorten detection time, saved human cost, substantially increase operating efficiency；
2. the present invention can realize to detect data mass memory and comparison so that reach to inside transformer state with
The purpose of track detection, for pinpointing the problems ahead of time, Judging fault is significant in advance, it is to avoid unnecessary manpower, thing
The waste of power and resource.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.The target and other advantages of the present invention can be wanted by following specification and right
Book is sought to realize and obtain.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
The detailed description of one step, wherein：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is rotating mechanism schematic diagram of being walked in the present invention；
Fig. 3 is rotatable flexible bar structural representation in the present invention.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.It should be appreciated that preferred embodiment
Only for the explanation present invention, the protection domain being not intended to be limiting of the invention.
As Figure 1-3, a kind of power transformer interior fault detecting system based on microrobot, including be arranged on transformation
Microrobot 1 and the display control apparatus 2 being arranged on outside transformer in device fuel tank 3, microrobot passes through channel radio
News module is connected with display control apparatus；
Microrobot includes walking rotating mechanism, and walking rotating mechanism is the equal cube of surrounding length, in walking
Rotating mechanism is circumferentially adsorbed with an obstacle detouring traveling crawler 11 by adsorbent equipment, during ensureing to touch cabinet wall with any limit,
Effectively, reliably it can be attached and walk, walking rotating mechanism is circumferential to be provided with propeller 13 and ultrasonic wave per one side
Range unit 14, propeller can promote body accurately to be moved to assigned direction as needed, and propeller is by motor driven systems A
Driving, walking rotating mechanism bottom is provided with rotatable flexible bar, and rotatable flexible bar end is provided with camera 20, in not work
As when be designed as being contracted in inside walking rotating mechanism, realize that expansion link vertically scale is acted by motor control during work, from
And the shooting that moves up and down of high-definition camera is completed, realize that expansion link integral level rotates by motor control, so as to complete height
The circumferential shooting of clear camera, rotatable flexible bar is driven by motor driven systems B, and control system is provided with hoofing part mechanism
System, control system and motor driven systems A, motor driven systems B, adsorbent equipment, supersonic range finder, camera and wireless
Communication module is connected.
Control for inside transformer microrobot, and display micromachine are realized by display control apparatus software
Real-time pictures captured by people, by 3-dimensional image restructing algorithm, realize to 360 degree of three-dimensional imagings of inside transformer object, lead to
Image matching algorithm is crossed, realizes and same position picture comparison is carried out to the magnanimity history image data stored, event is found in advance
Barrier.
Adsorbent equipment is electromagnet group 12 or vacuum absorption device.
Wireless communication module is by the transmission signal of an antenna 15 that is arranged at the top of hoofing part mechanism, high definition to be taken the photograph
On the display control apparatus outside picture real-time Transmission to transformer shot as head.
Display control apparatus is high performance graphicses work station.
Hoofing part mechanism is square or cuboid.
Rotatable flexible bar includes motor, expansion link 19, gyrocompass 18 and automatically controlled bearing 16, and automatically controlled bearing is connected to electricity
On machine, telescopic rod is connected by gyrocompass with automatically controlled bearing, and motor is connected with motor driven systems B, and gyrocompass drives
Expansion link is rotated, and then camera is carried out circumferential shooting, and motor control expansion link stretches, to shoot different height.
The system can be additionally used in transformer, GIS, breaker, boiler of power plant, pipeline etc. and be not easy to setting for internal fault lookup
It is standby.
The power transformer interior fault detecting system based on microrobot of the present invention, has the advantages that：
1. the present invention can not drain the oil in transformer, not carry out real time fail inspection to inside transformer in the case of suspended core
Survey, shorten detection time, saved human cost, substantially increase operating efficiency；
2. the present invention can realize to detect data mass memory and comparison so that reach to inside transformer state with
The purpose of track detection, for pinpointing the problems ahead of time, Judging fault is significant in advance, it is to avoid unnecessary manpower, thing
The waste of power and resource.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of the technical program, it all should cover in the present invention
Right among.
Claims (6)
1. a kind of power transformer interior fault detecting system based on microrobot, it is characterised in that：Including being arranged on transformer
Microrobot and the display control apparatus being arranged on outside transformer in fuel tank, the microrobot pass through wireless telecommunications
Module is connected with display control apparatus；
The microrobot includes walking rotating mechanism, and the walking rotating mechanism is the equal cube of surrounding length,
Walking rotating mechanism is circumferential to be adsorbed with an obstacle detouring traveling crawler by adsorbent equipment, and the walking rotating mechanism is circumferential equal per one side
Propeller and supersonic range finder are provided with, the propeller is driven by motor driven systems A, the walking rotating mechanism bottom
Portion is provided with rotatable flexible bar, and the rotatable flexible bar end is provided with camera, and the rotatable flexible bar is by motor
Drive system B is driven, and control system, the control system and motor driven systems A, electricity are provided with the hoofing part mechanism
Machine drive system B, adsorbent equipment, supersonic range finder, camera are connected with wireless communication module.
2. a kind of power transformer interior fault detecting system based on microrobot according to claim 1, its feature exists
In：The adsorbent equipment is electromagnet group.
3. a kind of power transformer interior fault detecting system based on microrobot according to claim 1 or 2, its feature
It is：The wireless communication module passes through the antenna transmission signal that is arranged at the top of hoofing part mechanism.
4. a kind of power transformer interior fault detecting system based on microrobot according to claim 3, its feature exists
In：The display control apparatus is high performance graphicses work station.
5. a kind of power transformer interior fault detecting system based on microrobot according to claim 4, its feature exists
In：The hoofing part mechanism is square.
6. a kind of power transformer interior fault detecting system based on microrobot according to claim 5, its feature exists
In：The rotatable flexible bar includes motor, expansion link, gyrocompass and automatically controlled bearing, and the automatically controlled bearing is connected to motor
On, the telescopic rod is connected by gyrocompass with automatically controlled bearing, and the motor is connected with motor driven systems B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984516.3A CN107063331A (en) | 2016-11-09 | 2016-11-09 | A kind of power transformer interior fault detecting system based on microrobot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610984516.3A CN107063331A (en) | 2016-11-09 | 2016-11-09 | A kind of power transformer interior fault detecting system based on microrobot |
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| CN107063331A true CN107063331A (en) | 2017-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610984516.3A Pending CN107063331A (en) | 2016-11-09 | 2016-11-09 | A kind of power transformer interior fault detecting system based on microrobot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109285668A (en) * | 2018-12-04 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer inspection robot and strong oil air cooling device linkage controller |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detection robot |
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of transformer internal detection robot control system and control method |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | An internal fault detection system of power transformer based on wall-climbing robot |
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991892A (en) * | 2017-12-29 | 2019-07-09 | 中国科学院沈阳自动化研究所 | A kind of transformer internal detection robot control system and control method |
| CN109405870A (en) * | 2018-08-21 | 2019-03-01 | 深圳供电局有限公司 | Detection robot |
| CN109285668A (en) * | 2018-12-04 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer inspection robot and strong oil air cooling device linkage controller |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | An internal fault detection system of power transformer based on wall-climbing robot |
| CN112345531A (en) * | 2020-10-19 | 2021-02-09 | 国网安徽省电力有限公司电力科学研究院 | Transformer fault detection method based on bionic robot fish |
| CN112345531B (en) * | 2020-10-19 | 2024-04-09 | 国网安徽省电力有限公司电力科学研究院 | A transformer fault detection method based on bionic robotic fish |
| CN117053876A (en) * | 2023-10-11 | 2023-11-14 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
| CN117053876B (en) * | 2023-10-11 | 2023-12-19 | 深圳市铭昱达电子有限公司 | Transformer fault detection positioning method |
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Application publication date: 20170818 |