CN108155595A - Cable duct of substation intelligent patrol system - Google Patents

Abstract

The invention discloses an intelligent inspection system for a cable trench in a substation, which includes an intelligent track installed above the cable trench in the substation and a patrol robot installed on the intelligent track. The two-degree-of-freedom platform is equipped with an infrared camera and an infrared thermometer, and the housing is provided with a power supply for the patrol robot and a GPS positioning system that automatically locates the position of the patrol robot, wherein, The network cloud sends inspection route and inspection time information to the intelligent track, and the inspection video collected by the infrared camera is automatically uploaded to the network cloud. The infrared thermometer calculates the surface temperature of the cable by measuring the infrared radiation intensity emitted by the cable and automatically uploads it to the network cloud. The GPS positioning system automatically uploads the real-time position of the inspection robot to the network cloud. The invention facilitates inspection, and can discover and record hidden dangers and defects in time, so as to avoid power outage accidents caused by cable damage.

Description

Intelligent Inspection System for Substation Cable Trench

technical field

The invention relates to electric power inspection technology, in particular to an intelligent inspection system for cable trenches in substations.

Background technique

The cable trench is an indispensable infrastructure of the power grid. The cable in the trench not only involves power transmission, but also involves equipment such as relay protection, automatic control, communication, measurement and metering. It is the nerve center of the power grid. Once a cable fails, not only inspection and processing It is difficult and takes a long time, and it may also cause the relay protection or control circuit to fail, causing the accident to expand or even damage the main equipment, and the production cannot be resumed for a long time. Therefore, it is of great significance to strengthen the status monitoring and management of cable trenches, discover hidden dangers of cables in time, and protect cables from damage, which is of great significance to the safe operation of power grids.

At present, there are many problems in the use of cable trenches, mainly as follows:

(1) Accidents such as power outages caused by cable damage have a great impact. The width of the cable trench in the substation generally does not exceed 0.8 meters, and the depth can reach 1.5 meters. , resulting in a power outage in the substation, which brings great inconvenience to the lives of residents and business production, and can cause huge economic losses in severe cases.

(2) Cable trench inspection is important but difficult. The inspection of substation equipment is one of the most important tasks for substation operation and maintenance personnel. Among them, the inspection of cable equipment in the cable trench is the most difficult to carry out, because the cable trench is often located underground, and the space in the trench is small, and the operation and maintenance personnel often need to Open the cable cover (35-45kg in weight) and observe the cable equipment in the ditch to see if there are any dangerous situations such as damage, short circuit and ignition.

(3) It is difficult to find and record hidden defects. After a defect is found, the operation and maintenance personnel need to rely on a small camera to take pictures in a narrow space. Due to insufficient space and insufficient light, it is difficult to carefully observe the defects of cable equipment, and the clarity of the photos taken by the operation and maintenance personnel with the camera is often difficult to analyze the defects. Carrying a flashlight and using it with a camera often fails to effectively observe and record the hidden dangers of the cable equipment in the cable trench, which makes it very difficult to find hidden dangers in the cable equipment, and also brings great inconvenience to the work of operation and maintenance personnel.

Contents of the invention

Aiming at the deficiencies and limitations of current cable trench status monitoring, the technical problem to be solved by the present invention is to provide an intelligent inspection system for cable trenches in substations, which can automatically walk and monitor in narrow and complicated cable trenches, and record and upload real-time inspections of cable trenches. The situation found in the process, so as to realize the monitoring of the actual operating status and operating environment of the cable trench.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the substation cable trench intelligent patrol system, including the smart track installed above the substation cable trench and the patrol robot installed on the smart track, the smart track and the patrol robot and the network cloud Using wireless communication connection, the intelligent track is provided with a transmission line that is connected to the patrol robot and drives the patrol robot to move along the smart track. The patrol robot includes a shell and a two-degree-of-freedom platform protruding downward from the shell. The two-degree-of-freedom platform is provided with an infrared camera and an infrared thermometer, and the housing is provided with a power supply for the patrol robot and a GPS positioning system that automatically locates the position of the patrol robot, wherein the network cloud sends a patrol to the smart track Route and inspection time information, the inspection video collected by the infrared camera is automatically uploaded to the network cloud. The location is automatically uploaded to the network cloud.

Preferably, the substation operation and maintenance personnel access the network cloud through a mobile phone app or a webpage, and view inspection videos collected by infrared cameras, cable temperature information, and the real-time position of inspection robots.

Preferably, if the temperature of the cable sensed by the infrared thermometer exceeds the set threshold, the location of the heat will be automatically recorded through the GPS positioning system, and an alarm will be sent to the background of the web page or the mobile phone app through the network cloud to remind the operation and maintenance personnel of the substation.

Preferably, the power supply includes a storage battery and a wireless charging module for charging the storage battery. The cable trench of the substation is equipped with a wireless charging transmission module at a fixed position. When the patrol robot moves to a fixed position, the wireless charging transmission module will automatically pass the wireless charging module. Battery charging.

Preferably, the two-degree-of-freedom pan/tilt is controlled by two cross servos.

Preferably, the transmission line of the intelligent track is a conveyor chain/conveyor belt, and the patrol robot is connected to the conveyor chain/conveyor belt through a lifting ring, and the conveyor chain/conveyor belt is driven by a track motor, and the track motor is controlled by a controller , the controller is set with a patrol route, and the controller regularly controls the operation of the track motor, so that the patrol robot completes the regular and fixed-point patrol.

Preferably, the inspection robot is also equipped with a smoke sensor.

The technical solution adopted by the present invention is that the inspection robot replaces the manual inspection of the cable trench. Among them, the intelligent track can enable the inspection robot to complete timing and fixed-point inspections, and the infrared camera can realize the intelligent tracking function of dynamic objects by sensing the position change of infrared energy, detecting After arriving at a moving object, it can automatically capture its movement trajectory, track and shoot, and the inspection video taken during the inspection will be automatically uploaded to the network cloud. The operation and maintenance personnel of the power substation can also control the camera through the mobile phone app or web page to observe the situation of the cable anytime and anywhere. The infrared thermometer can calculate the surface temperature of the cable by measuring the infrared radiation intensity emitted by the cable without touching the target. All temperature information will be automatically recorded in the network cloud. If the temperature of the cable is sensed to exceed the set threshold, it will pass the GPS positioning system. Automatically record the heating location, and at the same time send an alarm to the background of the webpage or the mobile app to remind the operation and maintenance personnel of the substation. Therefore, the inspection robot can walk autonomously in the narrow and complex cable trenches, and realize the comprehensive monitoring of the actual operating status and operating environment of the cable trenches by means of high-definition cameras and infrared thermometers. The inspectors only need to view the inspection videos online And cable temperature records, you can complete the all-round inspection of the cable trench of the substation, which is convenient for inspection, and can detect and record hidden defects in time to avoid accidents such as power outages caused by cable damage.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

Fig. 1 is a system block diagram of the inspection robot;

Fig. 2 is a schematic diagram of a power supply wireless charging module;

Fig. 3 is a partial structural schematic diagram of a patrolling robot;

Fig. 4 is the structural representation of transmission chain;

Fig. 5 is a structural schematic diagram of the outer chain plate of the transmission chain.

Detailed ways

The substation cable trench intelligent inspection system includes an intelligent track installed above the substation cable trench and an inspection robot installed on the intelligent track. The intelligent track and the inspection robot are connected to the network cloud by wireless communication. The robot connects and drives the transmission line where the inspection robot moves along the smart track, and the network cloud sends the inspection route and inspection time information to the smart track, and the smart track drives the patrol robot to move along the smart track.

As shown in Figures 1 and 3, the patrol robot is provided with an ARM processor, an infrared camera 101 connected to the ARM processor, an infrared thermometer 102, a communication module 103, a memory 104, a test interface circuit 105, and also includes a A storage battery 106 for power supply, the patrol robot includes a housing 10 and a two-degree-of-freedom platform 100 protruding downward from the housing, and an infrared camera 101 and an infrared thermometer 102 are arranged on the two-degree-of-freedom platform. The two-degree-of-freedom gimbal is controlled by two cross servos. The communication module 103, the memory 104, the test interface circuit 105, and the storage battery 106 are all installed in the housing. In addition, the housing is provided with a GPS positioning system that automatically locates the position of the patrol robot, wherein the patrol video collected by the infrared camera is automatically uploaded. To the network cloud, the infrared thermometer calculates the surface temperature of the cable by measuring the infrared radiation intensity emitted by the cable and automatically uploads it to the network cloud. The GPS positioning system automatically uploads the real-time position of the inspection robot to the network cloud.

Substation operation and maintenance personnel access the network cloud through the mobile app or webpage, and view the inspection video collected by the infrared camera, cable temperature information, and the real-time position of the inspection robot. If the cable temperature sensed by the infrared thermometer exceeds the set threshold, it will automatically record the heating location through the GPS positioning system, and at the same time send an alarm to the web background or mobile app through the network cloud to remind the power substation operation and maintenance personnel.

As shown in Figure 2, the storage battery adopts wireless charging. In addition to the above storage battery, the power supply of the patrol robot also includes a wireless charging receiving module for charging the battery. The cable trench of the substation is equipped with a wireless charging transmitter module at a fixed position. When it arrives at a fixed position, the wireless charging transmitter module will automatically charge the battery through the wireless charging receiving module, and a booster module, a charging and protection module are arranged between the wireless charging receiving module and the battery.

The transmission line of the intelligent track is a conveyor chain/conveyor belt, and the patrol robot is connected to the conveyor chain/conveyor belt through a suspension ring. The conveyor chain/conveyor belt is driven by a track motor, and the track motor is controlled by a controller. A patrol route is set in the controller, and the controller regularly controls the running of the orbital motor, so that the patrol robot completes regular and fixed-point patrols.

With reference to Fig. 4 and shown in Fig. 5, in the present embodiment, transmission line adopts and comprises single-row conveying chain 20, and described single-row conveying chain comprises the inner chain plate that is arranged in pairs and the pin shaft that connects both sides inner and outer chain plate, so The pin shaft is covered with rollers between the inner chain plates on both sides, and a sleeve is sleeved between the roller and the pin shaft, and outer chain plates are arranged on the outer sides of the adjacent two inner chain plates. In addition, in order to hoist the inspection robot, a suspension mounting plate 201 is installed on one side of the single-row conveyor chain, and a hoisting hole is provided on the suspension installation plate for connecting with the suspension ring of the inspection robot. The suspension mounting plate 201 includes a side plate and a straight plate perpendicular to the side plate, and the side plate and the outer chain plate are laminated and fixed. Of course, those skilled in the art can understand that the conveyor chain can also be replaced by a conveyor belt or the like.

Those skilled in the art can install sensors on the patrol robot as needed to monitor more environmental conditions, for example, smoke sensors can be installed to monitor the concentration of flammable gases such as methane in the cable trench, and temperature and humidity sensors can be set for monitoring The ambient temperature and humidity in the cable trench. In order to realize the comprehensive monitoring of the actual operating status and operating environment of the cable trench.

The inspection robot stores the monitored information through the memory, and further, communicates wirelessly through the communication module to receive the control information sent by the network cloud, and can send the monitored information to the network cloud to realize potential hidden dangers and alarms. Timely treatment, eliminate hidden dangers and alarms in the bud, and avoid major economic losses.

Except above-mentioned preferred embodiment, the present invention also has other implementation modes, those skilled in the art can make various changes and distortions according to the present invention, as long as not departing from the spirit of the present invention, all should belong to the scope defined in the claims of the present invention .

Claims (7)

1. cable duct of substation intelligent patrol system, which is characterized in that including the intelligent rail being installed on above cable duct of substation Road and the inspecting robot on intelligent track, the intelligent track is with inspecting robot with network high in the clouds using wireless Communication connection, the intelligent track are equipped with and the transmission that inspecting robot is moved along intelligent track are connect and driven with inspecting robot Line, the inspecting robot include housing and the cradle head of two degrees of freedom that is extended downwardly from housing, on the cradle head of two degrees of freedom It is fixed equipped with the power supply powered for the inspecting robot and automatically in the housing equipped with infrared camera and infrared radiation thermometer The GPS positioning system of the position inspecting robot position, wherein, network high in the clouds sends patrol route and tour time to intelligent track Information, the tour video of infrared camera acquisition are automatically uploaded to network high in the clouds, what infrared radiation thermometer was emitted by measuring cable Infrared intensity calculates the surface temperature of cable and is automatically uploaded to network high in the clouds, and GPS positioning system is by inspecting robot Real time position is automatically uploaded to network high in the clouds.

2. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that power transformation operation maintenance personnel passes through Mobile phone app or webpage access network high in the clouds, check tour video, cable temperature information and the tour of infrared camera acquisition Robot real time position.

3. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that if infrared radiation thermometer senses The cable temperature arrived is more than given threshold, will record sites of heat generation automatically by GPS positioning system, while pass through network high in the clouds Alarm is sent out to webpage backstage or mobile phone app, reminds power transformation operation maintenance personnel.

4. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the power supply includes electric power storage Pond and the wireless charging module for accumulator charging, cable duct of substation are equipped with wireless charging transmitting mould in fixed position Block, when inspecting robot is moved to fixed position, wireless charging transmitting module will be electric power storage automatically by wireless charging module It charges in pond.

5. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the cradle head of two degrees of freedom By two right-angled intersection servos controls.

6. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the biography of the intelligent track Defeated line is carrier chain/conveyer belt, and the inspecting robot passes through hanging ring and carrier chain/conveying band connection, the carrier chain/conveying Band is driven by orbit motor, and the orbit motor is controlled by controller, and the controller is set with patrol route, the controller Timing controlled orbit motor is run, so that inspecting robot completion timing, fixed point are maked an inspection tour.

7. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the inspecting robot is also Smoke sensor device is installed.