CN113447845B - Electrical equipment maintenance method and system based on intelligent fence - Google Patents
Electrical equipment maintenance method and system based on intelligent fence Download PDFInfo
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- CN113447845B CN113447845B CN202110671600.0A CN202110671600A CN113447845B CN 113447845 B CN113447845 B CN 113447845B CN 202110671600 A CN202110671600 A CN 202110671600A CN 113447845 B CN113447845 B CN 113447845B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
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Abstract
The invention relates to an electric equipment maintenance method and system based on an intelligent fence, wherein the method comprises the steps of obtaining positioning data of each electric equipment in an area to be maintained, configuring an electromagnetic magnetic nail group with unique identification for each electric equipment, and generating a magnetic nail circuit diagram according to all positioning data and all electromagnetic magnetic nail groups; arranging an intelligent fence according to the magnetic nail circuit diagram; acquiring a task to be overhauled of the area to be overhauled, and generating an overhauling path diagram of a preset AGV trolley according to the task to be overhauled and the intelligent fence; and controlling the AGV trolley to overhaul according to the overhaul path diagram, and finishing overhaul of the electrical equipment in the area to be detected. According to the invention, the modified intelligent fence is combined with the AGV technology, so that the maintenance of the electrical equipment with low labor cost, low arrangement difficulty, high safety protection performance and high maintenance efficiency is realized.
Description
Technical Field
The invention relates to the field of electric power safety overhaul, in particular to an electric equipment overhaul method and system based on an intelligent fence.
Background
It is clearly specified in the electric industry safety working regulations that the electric equipment of the transformer substation is subjected to power outage maintenance, and a safety fence and a warning sign are arranged around nearby live equipment so as to prevent maintenance personnel from entering the live interval by mistake. Therefore, the safety fence can ensure the personal safety of the overhauling personnel, and further greatly improve the overhaul efficiency of the equipment. In the overhaul work of transformer substation equipment, in order to prevent an overhaul worker from running a wrong interval and mistakenly touching the electrified equipment, an operator is required to use an arranged safety fence to delineate a working place and plan a working path for the overhaul worker to isolate the electrified equipment, so that protection safety is realized.
However, existing security fence based service techniques suffer from several drawbacks:
1. the existing safety fence enables the operation area of the maintainer to be mainly rectangular, the length of the safety fence required to be connected in a surrounding mode is different according to different isolation ranges, and sometimes a few meters or tens of meters are required, and the common safety fence is heavier, so that the required labor force is larger, the labor cost is high, and the arrangement difficulty is large;
2. although the existing safety fence can play a role in protecting maintenance personnel, the safety fence has the advantages of more human participation, high labor cost, low efficiency, easy surrounding error or equipment missing and the like due to human uncontrollable factors in the arrangement process, and low maintenance efficiency due to the fact that the safety protection performance cannot reach an ideal state.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an electrical equipment overhaul method and system based on an intelligent fence, which can realize the electrical equipment overhaul with low labor cost, low arrangement difficulty, high safety protection performance and high overhaul efficiency by combining the modified intelligent fence with an AGV technology.
The technical scheme for solving the technical problems is as follows:
an electrical equipment overhauling method based on an intelligent fence comprises the following steps of:
step 1: acquiring positioning data of each electric device in the area to be overhauled, configuring an electromagnetic magnetic nail group with unique identification for each electric device, and generating a magnetic nail circuit diagram according to all positioning data and all electromagnetic magnetic nail groups;
step 2: arranging an intelligent fence according to the magnetic nail circuit diagram;
step 3: acquiring a task to be overhauled of the area to be overhauled, and generating an overhauling path diagram of a preset AGV trolley according to the task to be overhauled and the intelligent fence;
step 4: and controlling the AGV trolley to overhaul according to the overhaul path diagram, and finishing overhaul of the electrical equipment in the area to be detected.
According to another aspect of the invention, there is also provided an electrical equipment maintenance system based on an intelligent fence, which is applied to the electrical equipment maintenance method based on the intelligent fence in the invention, and comprises an equipment maintenance device and an AGV; the equipment maintenance device is in communication connection with the AGV trolley through a wireless network;
the equipment maintenance device comprises a data acquisition module, an allocation module, a circuit diagram generation module, a fence arrangement module, a path generation module and a maintenance control module;
the data acquisition module is used for acquiring positioning data of each electrical device in the area to be overhauled;
the distribution module is used for distributing electromagnetic magnetic nail groups with unique identifiers to each electrical device;
the circuit diagram generation module is used for generating a magnetic nail circuit diagram according to all the positioning data and all the electromagnetic magnetic nail groups;
the rail arrangement module is used for arranging intelligent rails according to the magnetic nail circuit diagram;
the data acquisition module is also used for acquiring a task to be overhauled of the area to be overhauled;
the path generation module is used for generating an overhauling path diagram of the AGV according to the task to be overhauled and the magnetic nail circuit diagram;
and the overhaul control module is used for controlling the AGV trolley to overhaul according to the overhaul path diagram, so as to finish overhaul of the electrical equipment in the area to be detected.
The intelligent fence-based electrical equipment overhaul method and system have the beneficial effects that: based on an electromagnetic magnetic nail technology, configuring an electromagnetic magnetic nail group with unique identification for each electric device, so that each magnetic nail represents a unique electric device in a magnetic nail circuit diagram generated by combining the acquired positioning data of each electric device, thereby being convenient for generating an intelligent fence conforming to the real situation of the area to be overhauled and generating an overhauling path diagram matched with the task to be overhauled; after an overhaul path diagram is generated according to the intelligent fence and the task to be overhauled, because the electromagnetic magnetic nail group is configured at the bottom of each electrical device when the intelligent fence is arranged, based on an AGV technology, the AGV trolley loaded with overhaulers is controlled to automatically identify the matched electromagnetic magnetic nail group according to the overhaul path diagram, and the AGV trolley is guided to run to the target electrical device to be overhauled, so that overhauling of the target electrical device by the overhaulers is realized;
according to the intelligent fence-based electrical equipment maintenance method and system, the improved intelligent fences are arranged based on the electromagnetic magnetic nails technology, the arrangement difficulty is low, the labor cost is low, maintenance work of electrical equipment in the fields of substations and the like can be achieved by combining the AGV technology, under the condition that the improved intelligent fences have higher safety protection performance, an intelligent factory concept is introduced into a traditional substation and the like, personal safety of maintenance personnel is ensured more intelligently, maintenance efficiency is improved greatly, and safety of the whole five-prevention system is improved.
Drawings
Fig. 1 is a schematic flow chart of an electrical equipment maintenance method based on an intelligent fence in a first embodiment of the invention;
FIG. 2 is a schematic diagram of a magnetic nail layout in accordance with a first embodiment of the present invention;
FIG. 3 is a flow chart of generating an overhaul path map according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electrical equipment maintenance system based on an intelligent fence in a second embodiment of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The present invention will be described below with reference to the accompanying drawings.
An embodiment one, as shown in fig. 1, is an electrical equipment maintenance method based on an intelligent fence, comprising the following steps:
s1: acquiring positioning data of each electric device in the area to be overhauled, configuring an electromagnetic magnetic nail group with unique identification for each electric device, and generating a magnetic nail circuit diagram according to all positioning data and all electromagnetic magnetic nail groups;
s2: arranging an intelligent fence according to the magnetic nail circuit diagram;
s3: acquiring a task to be overhauled of the area to be overhauled, and generating an overhauling path diagram of a preset AGV trolley according to the task to be overhauled and the intelligent fence;
s4: and controlling the AGV trolley to overhaul according to the overhaul path diagram, and finishing overhaul of the electrical equipment in the area to be detected.
Based on an electromagnetic magnetic nail technology, configuring an electromagnetic magnetic nail group with unique identification for each electric device, so that each magnetic nail represents a unique electric device in a magnetic nail circuit diagram generated by combining the acquired positioning data of each electric device, thereby being convenient for generating an intelligent fence conforming to the real situation of the area to be overhauled and generating an overhauling path diagram matched with the task to be overhauled; after an overhaul path diagram is generated according to the intelligent fence and the task to be overhauled, because the electromagnetic magnetic nail group is configured at the bottom of each electrical device when the intelligent fence is arranged, based on an AGV technology, the AGV trolley loaded with overhaulers is controlled to automatically identify the matched electromagnetic magnetic nail group according to the overhaul path diagram, and the AGV trolley is guided to run to the target electrical device to be overhauled, so that overhauling of the target electrical device by the overhaulers is realized;
the intelligent fence-based electrical equipment maintenance method is applied to a transformer substation, the improved intelligent fence is arranged based on the electromagnetic magnetic nail technology, the arrangement difficulty is low, the labor cost is low, maintenance work of the transformer substation electrical equipment is realized by combining the AGV technology, under the condition that the improved intelligent fence has higher safety protection performance, an intelligent factory concept is introduced into a traditional transformer substation, personal safety of maintenance personnel is ensured more intelligently, the maintenance efficiency is improved greatly, and then the safety of a five-prevention system of the whole transformer substation is improved.
Specifically, in this embodiment, each electromagnetic magnetic nail group has a unique code or ID, and in order to further improve the uniqueness of the electromagnetic magnetic nails, a unique number is also assigned to each electromagnetic magnetic nail in the electromagnetic magnetic nail group under each code or ID.
Specifically, the five-prevention system is a system for monitoring and controlling a transformer substation to realize electric five-prevention, and is usually a protection system preset by the transformer substation, and can directly edit a task to be overhauled and acquire related information of the task to be overhauled, for example, related electric equipment, electric equipment executing actions and the like, which are the prior art, and specific details are not repeated here. In order to ensure personal safety and equipment safety, the five electric five-prevention device (such as a high-voltage switch cabinet) should have five kinds of error-prevention functions for short, and is one of important measures for electric safety.
The five error prevention functions are specifically as follows:
1. the on-load on/off disconnecting switch (the disconnecting switch of the breaker, the load switch and the contactor can not be operated under the closing state) is prevented;
2. a circuit breaker, a load switch, and a contactor for preventing erroneous disconnection/disconnection (operation of the operated device is possible only if the operation command corresponds to the operated device);
3. circuit breaker and load switch capable of preventing the earthing switch from being in the closed position (the earthing switch can be closed only when the earthing switch is in the open state, the isolating switch or the handcart can be put into the working position, and the circuit breaker and the load switch can be operated to be closed)
4. The grounding switch is prevented from being turned on by mistake when the circuit breaker is electrified (the grounding switch can be turned on only when the disconnecting switch is in a disconnecting state, or the handcart can be operated to withdraw from a working position to a test position);
5. preventing misentry into the charging chamber (the compartment can only be opened to access the compartment if the compartment is not charged).
The AGV (Automated GuidedVehicle, automatic guided transport vehicle) is equipped with an automatic guiding device such as electromagnetic or optical, and is capable of traveling along a predetermined guide path, and has safety protection and various transfer functions. Generally, the travel route and behavior of the vehicle can be controlled by a computer program, or the travel route can be established by using electromagnetic tracks, which are stuck on the floor, and the unmanned carrier can move and act by means of the information brought by the electromagnetic tracks. The maintenance of the electrical equipment is realized based on the AGV trolley, and the automatic guided vehicle has the advantages of high working efficiency, low labor cost and management cost, high reliability, strong expandability, high safety and the like.
Preferably, as shown in fig. 2, the positioning data of each electrical device includes three-dimensional coordinates of each electrical device;
in S1, positioning data of each electrical device in the area to be overhauled is obtained, which specifically includes the following steps:
s11: establishing a three-dimensional coordinate system of the region to be detected;
s12: and obtaining the three-dimensional coordinate of each electrical device according to the three-dimensional coordinate system.
By establishing a three-dimensional coordinate system of the area to be detected, each electrical device is conveniently positioned, and corresponding positioning data are obtained; according to the three-dimensional coordinates obtained by the three-dimensional coordinate system, the electromagnetic magnetic nail group with unique identification is convenient to combine subsequently, and a more accurate and clear electromagnetic magnetic nail group distribution diagram, namely a magnetic nail circuit diagram, is generated, so that the intelligent degree of the electrical equipment is greatly improved, and the overhaul efficiency is further effectively improved.
Preferably, as shown in fig. 2, in S1, each electrical device is assigned an electromagnetic magnetic nail group with unique identification, and specifically includes the following steps:
s13: classifying all the electrical equipment in the area to be overhauled to obtain equipment types corresponding to each electrical equipment one by one;
s14: according to a preset configuration rule table, respectively distributing an electromagnetic magnetic nail group with unique identification to the electrical equipment under each three-dimensional coordinate according to the equipment type of each electrical equipment; each electromagnetic magnetic nail group comprises at least two electromagnetic magnetic nails;
the preset configuration rule table comprises the number of magnetic nails installed and the positions of the magnetic nails installed under each equipment type.
Before the electromagnetic magnetic nail group is distributed, the electrical equipment is classified, and then the proper magnetic nail installation quantity and the proper magnetic nail installation position are distributed according to the equipment type according to a preset configuration rule table, so that the intelligent fence which is arranged subsequently can be further enabled to accord with the real situation of the area to be overhauled of the transformer substation, and the safety protection performance is further improved.
Specifically, the device types include large-scale electrical devices (such as substation distribution transformers), high-voltage electrical devices (such as high-voltage electrical switches), and electrical switches configured in segments; the preset configuration rule table at least comprises the following contents:
for large-scale electrical equipment (such as a transformer substation distribution transformer), electromagnetic magnetic nails are arranged at four corners of the large-scale electrical equipment;
for high-voltage electrical equipment (such as a high-voltage electrical switch), electromagnetic magnetic nails are arranged at four corners of each distribution interval;
for the electric switch configured in sections, electromagnetic magnetic nails are arranged at two ends of the whole section of equipment.
Preferably, as shown in fig. 2, in S1, a magnetic nail line graph is generated according to all positioning data and all electromagnetic magnetic nail groups, and specifically includes the following steps:
s15: obtaining the two-dimensional coordinates of all electromagnetic magnetic nails of each electrical device according to the three-dimensional coordinates of each electrical device, the magnetic nail installation quantity and the magnetic nail installation position of all electromagnetic magnetic nails of each electrical device;
s16: and generating the magnetic nail circuit diagram according to the two-dimensional coordinates of all electromagnetic magnetic nails of all electrical equipment.
After the installation number and the installation positions of all the magnetic nails required to be installed of each electrical device are determined, for example, four corners of a transformer substation distribution transformer are provided with one electromagnetic magnetic nail according to electromagnetic magnetic nails, according to three-dimensional coordinates of the device, two-dimensional coordinates of each electromagnetic magnetic nail can be determined (a specific calculation method is the prior art and is not repeated here), a magnetic nail circuit diagram matched with magnetic nail identification in the whole region to be detected can be generated through the two-dimensional coordinates of the electromagnetic magnetic nails, and the distribution situation of the electrical devices in the region to be detected can be directly and clearly displayed through the magnetic nail circuit diagram, and the subsequent intelligent fence is conveniently arranged based on the electromagnetic magnetic nail technology.
Specifically, after the magnetic nail circuit diagrams are generated, the electromagnetic magnetic nail groups corresponding to each electric device are arranged according to the magnetic nail circuit diagrams, and corresponding fence posts and adjustable hinges are configured for each electric device, so that a complete intelligent fence effect can be achieved, and the final intelligent fence in the embodiment is obtained.
Specifically, after the present embodiment S2, further includes: and inputting the intelligent fence into a five-prevention machine system of a transformer substation.
Through the steps, follow-up maintenance path diagrams conforming to real conditions can be generated rapidly according to the tasks to be overhauled and the arranged intelligent fences, and efficiency is improved.
Preferably, as shown in fig. 3, S3 specifically includes the following steps:
s31: acquiring the task to be overhauled of the area to be detected;
s32: determining one or more target electrical devices in all electrical devices according to the task to be overhauled;
s33: generating position coordinates of the AGV trolley under each maintenance path point according to all target electrical equipment and the intelligent fence;
s34: and generating the overhaul path diagram according to the position coordinates under all the overhaul path points.
And determining the electrical equipment to be overhauled, namely target electrical equipment (comprising one or more) according to the task to be overhauled, and then determining the position coordinates of the AGV trolley under an overhauling path point matched with each target electrical equipment in the operation process based on the intelligent fence, so that an overhauling path diagram matched with the task to be overhauled can be generated, and the AGV trolley can be conveniently controlled to operate according to the overhauling path diagram.
Specifically, in the present embodiment S31, the task to be overhauled is obtained by using the five-prevention machine system of the substation.
Specifically, in this embodiment S4, when the AGV trolley is controlled to perform maintenance according to the maintenance route map, the AGV trolley is also used to identify the identification of the target electrical device on each maintenance route point.
By identifying the electromagnetic magnetic nail identifier, on one hand, the matching degree of maintenance work and a task to be maintained can be ensured, and maintenance work with higher completion degree and accuracy is realized; on the other hand, the maintenance personnel can be further effectively prevented from walking wrong electrified intervals, and the safety performance is improved.
Specifically, the maintenance path diagram further includes an identifier of the electromagnetic magnetic nail group under each maintenance path point, and when the AGV trolley is utilized to identify the identifier of the target electrical device on each maintenance path point, the maintenance path diagram further includes an alarm step, specifically:
and when the identification result is inconsistent with the identification of the electromagnetic magnetic nail group of the corresponding maintenance path point, sending out an alarm signal.
Through the alarming step, the safety performance of overhaul work can be further improved.
It should be noted that, in this embodiment, specific steps of controlling, identifying and alarming the AGV trolley are all in the prior art, and are not described herein.
In a second embodiment, as shown in fig. 4, an electrical equipment maintenance system based on an intelligent fence is applied to the electrical equipment maintenance method based on the intelligent fence in the first embodiment, and includes an equipment maintenance device and an AGV trolley; the equipment maintenance device is in communication connection with the AGV trolley through a wireless network;
the equipment maintenance device comprises a data acquisition module, an allocation module, a circuit diagram generation module, a fence arrangement module, a path generation module and a maintenance control module;
the data acquisition module is used for acquiring positioning data of each electrical device in the area to be overhauled;
the distribution module is used for distributing electromagnetic magnetic nail groups with unique identifiers to each electrical device;
the circuit diagram generation module is used for generating a magnetic nail circuit diagram according to all the positioning data and all the electromagnetic magnetic nail groups;
the rail arrangement module is used for arranging intelligent rails according to the magnetic nail circuit diagram;
the data acquisition module is also used for acquiring a task to be overhauled of the area to be overhauled;
the path generation module is used for generating an overhauling path diagram of the AGV according to the task to be overhauled and the magnetic nail circuit diagram;
and the overhaul control module is used for controlling the AGV trolley to overhaul according to the overhaul path diagram, so as to finish overhaul of the electrical equipment in the area to be detected.
The electrical equipment overhaul system based on the intelligent rail is applied to a transformer substation, the intelligent rail is arranged and modified based on the electromagnetic magnetic nail technology, the arrangement difficulty is low, the labor cost is low, the overhaul work of the electrical equipment of the transformer substation is realized by combining the AGV technology, the intelligent factory concept is introduced into the traditional transformer substation under the higher safety protection performance of the modified intelligent rail, the personal safety of an maintainer is ensured more intelligently, the overhaul efficiency is improved greatly, and the safety of the five-prevention system of the whole transformer substation is further improved.
Preferably, the positioning data of each electrical device comprises three-dimensional coordinates of each electrical device;
the data acquisition module is specifically configured to:
establishing a three-dimensional coordinate system of the region to be detected;
and obtaining the three-dimensional coordinate of each electrical device according to the three-dimensional coordinate system.
Preferably, the allocation module is specifically configured to:
classifying all the electrical equipment in the area to be overhauled to obtain equipment types corresponding to each electrical equipment one by one;
according to a preset configuration rule table, respectively distributing an electromagnetic magnetic nail group with unique identification to the electrical equipment under each three-dimensional coordinate according to the equipment type of each electrical equipment; each electromagnetic magnetic nail group comprises at least two electromagnetic magnetic nails;
the preset configuration rule table comprises the number of magnetic nails installed and the positions of the magnetic nails installed under each equipment type.
Preferably, the circuit diagram generating module is specifically configured to:
obtaining the two-dimensional coordinates of all electromagnetic magnetic nails of each electrical device according to the three-dimensional coordinates of each electrical device, the magnetic nail installation quantity and the magnetic nail installation position of all electromagnetic magnetic nails of each electrical device;
and generating the magnetic nail circuit diagram according to the two-dimensional coordinates of all electromagnetic magnetic nails of all electrical equipment.
Preferably, the path generation module is specifically configured to:
acquiring the task to be overhauled of the area to be detected by using a five-prevention machine system of the transformer substation;
determining a plurality of target electrical devices in all the electrical devices according to the task to be overhauled;
generating position coordinates of the AGV trolley under each maintenance path point according to all target electrical equipment and the intelligent fence;
and generating the overhaul path diagram according to the position coordinates under all the overhaul path points.
Details of the embodiment I and the detailed descriptions of FIGS. 1 to 3 are not repeated here.
An embodiment three is an intelligent fence, which is formed by arranging the method from S1 to S2 in the embodiment one.
The intelligent fence that forms is arranged in this embodiment, can reduce the cost of labor greatly, can realize substation electrical equipment's maintenance work better, ensures maintainer's personal safety more intelligently, is favorable to improving maintenance efficiency.
Details of the embodiment I and the detailed descriptions of FIGS. 1 to 3 are not repeated here.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An electrical equipment overhauling method based on an intelligent fence is characterized by comprising the following steps of:
step 1: acquiring positioning data of each electric device in the area to be overhauled, configuring an electromagnetic magnetic nail group with unique identification for each electric device, and generating a magnetic nail circuit diagram according to all positioning data and all electromagnetic magnetic nail groups;
step 2: arranging an intelligent fence according to the magnetic nail circuit diagram;
step 3: acquiring a task to be overhauled of the area to be overhauled, and generating an overhauling path diagram of a preset AGV trolley according to the task to be overhauled and the intelligent fence;
step 4: controlling the AGV trolley to overhaul according to the overhaul path diagram, and finishing overhaul of the electrical equipment in the area to be overhauled;
the positioning data of each electrical device includes three-dimensional coordinates of each electrical device;
in the step 1, positioning data of each electrical device in the area to be overhauled is obtained, and the method specifically comprises the following steps:
step 11: establishing a three-dimensional coordinate system of the area to be overhauled;
step 12: according to the three-dimensional coordinate system, obtaining the three-dimensional coordinate of each electrical device;
each electric device is assigned with an electromagnetic magnetic nail group with unique identification, and the method specifically comprises the following steps:
step 13: classifying all the electrical equipment in the area to be overhauled to obtain equipment types corresponding to each electrical equipment one by one;
step 14: according to a preset configuration rule table, respectively distributing an electromagnetic magnetic nail group with unique identification to the electrical equipment under each three-dimensional coordinate according to the equipment type of each electrical equipment; each electromagnetic magnetic nail group comprises at least two electromagnetic magnetic nails;
the preset configuration rule table comprises the number of magnetic nails installed and the positions of the magnetic nails installed under each equipment type.
2. The intelligent fence-based electrical equipment maintenance method according to claim 1, wherein in the step 1, a magnetic nail line graph is generated according to all positioning data and all electromagnetic magnetic nail groups, and specifically comprises the following steps:
step 15: obtaining the two-dimensional coordinates of all electromagnetic magnetic nails of each electrical device according to the three-dimensional coordinates of each electrical device, the magnetic nail installation quantity and the magnetic nail installation position of all electromagnetic magnetic nails of each electrical device;
step 16: and generating the magnetic nail circuit diagram according to the two-dimensional coordinates of all electromagnetic magnetic nails of all electrical equipment.
3. The intelligent-fence-based electrical equipment maintenance method according to claim 2, wherein the step 3 specifically comprises the following steps:
acquiring the task to be overhauled of the area to be overhauled;
determining one or more target electrical devices in all electrical devices according to the task to be overhauled;
generating position coordinates of the AGV trolley under each maintenance path point according to all target electrical equipment and the intelligent fence;
and generating the overhaul path diagram according to the position coordinates under all the overhaul path points.
4. An electrical equipment maintenance system based on an intelligent fence, which is applied to the electrical equipment maintenance method based on the intelligent fence as set forth in any one of claims 1 to 3, and comprises an equipment maintenance device and an AGV; the equipment maintenance device is in communication connection with the AGV trolley through a wireless network;
the equipment maintenance device comprises a data acquisition module, an allocation module, a circuit diagram generation module, a fence arrangement module, a path generation module and a maintenance control module;
the data acquisition module is used for acquiring positioning data of each electrical device in the area to be overhauled;
the distribution module is used for distributing electromagnetic magnetic nail groups with unique identifiers to each electrical device;
the circuit diagram generation module is used for generating a magnetic nail circuit diagram according to all the positioning data and all the electromagnetic magnetic nail groups;
the rail arrangement module is used for arranging intelligent rails according to the magnetic nail circuit diagram;
the data acquisition module is also used for acquiring a task to be overhauled of the area to be overhauled;
the path generation module is used for generating an overhauling path diagram of the AGV according to the task to be overhauled and the magnetic nail circuit diagram;
and the overhaul control module is used for controlling the AGV trolley to overhaul according to the overhaul path diagram, so as to finish overhaul of the electrical equipment in the area to be overhauled.
5. The intelligent rail-based electrical equipment servicing system of claim 4, wherein the positioning data for each electrical device comprises three-dimensional coordinates for each electrical device;
the data acquisition module is specifically configured to:
establishing a three-dimensional coordinate system of the area to be overhauled;
and obtaining the three-dimensional coordinate of each electrical device according to the three-dimensional coordinate system.
6. The intelligent-fence-based electrical equipment servicing system of claim 5, wherein the distribution module is specifically configured to:
classifying all the electrical equipment in the area to be overhauled to obtain equipment types corresponding to each electrical equipment one by one;
according to a preset configuration rule table, respectively distributing an electromagnetic magnetic nail group with unique identification to the electrical equipment under each three-dimensional coordinate according to the equipment type of each electrical equipment; each electromagnetic magnetic nail group comprises at least two electromagnetic magnetic nails;
the preset configuration rule table comprises the number of magnetic nails installed and the positions of the magnetic nails installed under each equipment type.
7. The intelligent-fence-based electrical equipment servicing system of claim 6, wherein the circuit diagram generation module is specifically configured to:
obtaining the two-dimensional coordinates of all electromagnetic magnetic nails of each electrical device according to the three-dimensional coordinates of each electrical device, the magnetic nail installation quantity and the magnetic nail installation position of all electromagnetic magnetic nails of each electrical device;
and generating the magnetic nail circuit diagram according to the two-dimensional coordinates of all electromagnetic magnetic nails of all electrical equipment.
8. The intelligent-fence-based electrical equipment servicing system of claim 7, wherein the path generation module is specifically configured to:
acquiring the task to be overhauled of the area to be overhauled;
determining one or more target electrical devices in all electrical devices according to the task to be overhauled;
generating position coordinates of the AGV trolley under each maintenance path point according to all target electrical equipment and the intelligent fence;
and generating the overhaul path diagram according to the position coordinates under all the overhaul path points.
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| CN109032130B (en) * | 2018-06-22 | 2021-08-27 | 青岛港国际股份有限公司 | Automatic wharf magnetic nail maintenance method and system |
| CN109961609A (en) * | 2019-04-26 | 2019-07-02 | 国网冀北电力有限公司检修分公司 | A kind of substation safety protection method, device and system |
| CN110598276A (en) * | 2019-08-26 | 2019-12-20 | 国网天津市电力公司 | Layout method and device for substation safety fence based on 3D modeling technology |
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