CN102255392B - Method for controlling switching operation sequences of full-automatic transformer substation based on mobile robot - Google Patents
Method for controlling switching operation sequences of full-automatic transformer substation based on mobile robot Download PDFInfo
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Abstract
The invention relates to a method for controlling switching operation sequences of a full-automatic transformer substation based on a mobile robot. The method comprises the following steps: 1) a transformer substation sequential control platform carries out a switching operation and simultaneously sends a device detection command to a mobile robot background through an IEC61850 protocol; 2) the mobile robot background receives the device detection command sent by the transformer substation sequential control platform and then issues the device detection command to the mobile robot; 3) the mobile robot receives the device detection command and then collects visible lights and infrared images of the related devices and uploads to the mobile robot background through a wireless network bridge; 4) the obtained visible lights and the infrared images are analyzed by utilizing an image analysis algorithm and the recognition result is reported to the transformer substation sequential control platform through the IEC61850 protocol; and 5) the transformer substation sequential control platform receives the device state reported by the mobile robot background, drives the continuation of the switching operation according to the state and automatically realizes the switching operation sequential control process for the transformer substation.
Description
Technical field
The present invention relates to a kind of fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot, belong to automation of transformation substations control field.
Background technology
In superhigh pressure transformer station, when electric equipment is transformed into another kind of state or is changed the operational mode of electric power system by a kind of state, need carry out a series of operation, be called the grid switching operation of electric equipment.In conventional substation, grid switching operation needs operations staff's local operation, and this pattern labour intensity is big, and the operating time is long, progressively is eliminated.Development along with digital transformer substation, grid switching operation improves to the remote automation direction of operating, but still need the operations staff participate in each operation and confirm manually by the Field Force whether operation is accurately finished, though this pattern has alleviated operations staff's labour intensity, shortened the operating time, but the subjective judgement to the Field Force relies on bigger, be subjected to constraints such as Field Force's knowledge, experience, erroneous judgement appears easily, particularly meet bad weather, field condition is relatively more dangerous, influences carrying out smoothly of grid switching operation more.
For addressing the above problem, domestic and international many mechanisms have all carried out deep research to this, and main achievement in research comprises:
1, the patent No. of announcing in State Intellectual Property Office and on December 14th, 2,005 200410024231.2, name is called and has proposed the technical scheme that an employing robot patrols and examines the converting equipment operation conditions automatically, the main automatic collection that realizes information such as device temperatures in the transformer station of this invention in the patent of " distribution equipment intelligence automatic crusing robot ".
2, State Intellectual Property Office and on May 18th, 2011 bulletin the patent No. 201110002034.0, name is called that propose in the patent of " possessing the transformer station of visual and interactivity along the control system " will the original artificial affirmation of " intelligent video system " access order chemical control system processed replacement.
Above-mentioned research has all obtained beneficial effect to a certain extent, but still there are the following problems:
1, " distribution equipment intelligence automatic crusing robot " can't realize the automatic identification of equipment state behind the grid switching operation, can't be mutual with transformer station sequential control platform, can't realize that also grid switching operation is along the control process.
2, " possesses the transformer station of visual and interactivity along the control system " and also can't realize the automatic identification of equipment state behind the grid switching operation, and " intelligent video system " of its use, need at all device locations of transformer station image capture device to be installed, system complex is invested huge.
Summary of the invention
Purpose of the present invention is exactly for solving above-mentioned the deficiencies in the prior art, a kind of fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot is provided, and that its system constitutes is simple, flexibly and invest lessly, can satisfy all weather operations demand.The present invention is based on existing mobile robot, mutual by IEC61850 agreement and transformer station's sequential control platform, utilize optimal path planning algorithm, graphical analysis, algorithm for pattern recognition to realize the automatic detection of the equipment state behind transformer station's grid switching operation, and recognition result sent to transformer station's sequential control platform by the IEC61850 agreement, close in the automatic school of equipment state behind the realization grid switching operation, and automatic, the execution smoothly of driving grid switching operation, really realize the one-touch sequential control of transformer station's grid switching operation.
For achieving the above object, concrete steps of the present invention are as follows:
1, transformer station's sequential control platform is carried out grid switching operation, passes through the IEC61850 agreement simultaneously to the transmitting apparatus sense command of mobile robot backstage;
2, after the mobile robot backstage receives the Equipment Inspection order that transformer station sends along the control platform, by being installed in transformer station's master control a pair of wireless bridge on side and the mobile apparatus human body upstairs, issue the Equipment Inspection order to the mobile robot;
3, after the mobile robot receives the Equipment Inspection order, automatically the position of calculating itself and attitude, calculate the residing RFID point of equipment to be detected, and according to optimal path planning algorithm calculating optimal path, and the operation along optimal path to target RFID point, after the mobile robot arrives impact point, call the cradle head preset positions that sets in advance and be stored in the database, gather relevant device visible light and infrared image, and upload to the mobile robot backstage by wireless bridge;
4, after the mobile robot backstage receives the visible light and infrared image of mobile robot's collection, utilize image analysis algorithm that the visible light and the infrared image that obtain are analyzed, realization is identified automatically to equipment states such as substation breakers, isolating switches, and recognition result is reported transformer station's sequential control platform by the IEC61850 agreement.
5, after transformer station's sequential control platform receives the equipment state that the mobile robot backstage reports, carry out according to the continuation of this state-driven grid switching operation, realize transformer station's grid switching operation sequence control procedure automatically.
Described transformer station sequential control platform is the existing comprehensive automation control system of transformer station or transformer station's information integral platform.
The integrated visible light of described mobile robot, infrared sensor are realized self-contained navigation and accurate location based on magnetic signal and RFID technology, possess autonomous charging, wireless transmission function, and auxiliary equipment such as rain brush, secondary light source are installed.It mainly contains with the lower part and constitutes: the robot body that driver, power supply and control computer are installed, the Magnetic Sensor that links to each other with robot body and RFID transducer, be installed in the The Cloud Terrace of robot body top, what be installed in the The Cloud Terrace top can be with light video camera, thermal camera, rain brush and secondary light source.
There is a mobile robot control background program on described mobile robot backstage for operation, the computer that links to each other along the control platform by network and transformer station.
Described graphical analysis, algorithm for pattern recognition comprise substation breakers, isolating switch equipment state automatic identification algorithm and algorithm for image enhancement such as (being commonly called as disconnecting link).The accurate location that the present invention adopts Retinex algorithm realization figure image intensifying, adopts the SIFT algorithm to realize equipment; Adopt Hough conversion scheduling algorithm to realize the identification of isolating switch state; Adopt the KNN scheduling algorithm to realize the identification of circuit-breaker status.Wherein, the Retinex algorithm comes from " the The Retinex theory ofcolor vision " that Edwin H.Land delivered at Scientific American in 1977; Come from " the Distinctive ImageFeatures from Scale-Invariant Keypoints " that David G.Lowe delivered at " International Journal of Computer Vision " in 2004 based on the feature extraction of SIFT and the recognizer of Hough conversion; The KNN algorithm comes from Yang, " the Anexample-based mapping method for text categorization and retrieval " that Y.and C.G.Chute delivered at " ACM Transactions on Information Systems " periodical in 1994.
The beneficial effect of this method comprises:
1, the present invention is based on the full-automatic execution that the mobile robot realizes transformer station's grid switching operation sequential control, can replace the operations staff to realize identification to equipment state behind the grid switching operation, alleviate operations staff's labour intensity greatly, shorten the operating time, eliminate the influence of Field Force's subjective factor, system is simple, flexible and invest less;
2, the present invention adopts the optimal path planning algorithm, can effectively save the time of substation equipment operation back mobile robot's UC, improves the practicality of invention;
3, the present invention is equipped with thermal camera, rain brush and secondary light source owing on the mobile robot, and adopts algorithm for image enhancement in the graphical analysis stage, can overcome special weather condition effect such as rain, mist, night, satisfies the demand of all weather operations.
Description of drawings
Fig. 1 is the fully-automatic conversion power station grid switching operation sequence control method flow chart based on the mobile robot.
Fig. 2 is the fully-automatic conversion power station grid switching operation sequence control method sequential chart based on the mobile robot.
Embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, Fig. 2, the present invention adopts the mobile robot, mutual by IEC61850 agreement and transformer station's sequential control platform, utilize optimal path planning algorithm, graphical analysis, algorithm for pattern recognition to realize the automatic detection of the equipment state behind transformer station's grid switching operation, and recognition result sent to transformer station's sequential control platform by the IEC61850 agreement, close in the automatic school of equipment state behind the realization grid switching operation, and automatic, the execution smoothly of driving grid switching operation, really realize the one-touch sequential control of transformer station's grid switching operation.
For further disclosing technical scheme of the present invention, now in conjunction with concrete grid switching operation explanation embodiments of the present invention.
Suppose that the long I line disconnecting link of Ji is positioned at the RFID point No. 1, grid switching operation along the control operating procedure is:
(1) close the Ji long I line disconnecting link
(2) check that the long I line disconnecting link of Ji really closes
(3) finish along control.
The concrete mode that the present invention realizes is as follows:
1, transformer station's sequential control platform is carried out grid switching operation " the long I line disconnecting link of the Ji of closing ", sends " checking that the long I line disconnecting link of Ji really closes " order to the mobile robot backstage by the IEC61850 agreement simultaneously, and concrete interactive step is as follows:
1.1 transformer station is along control platform selecting operation " long I line disconnecting link helps ";
1.2 reverting equipment was selected to confirm after the mobile robot received the equipment select command;
After 1.3 transformer station selects to confirm along the control platform equipment that receives, to the transmitting apparatus sense command of mobile robot backstage;
1.4 detecting along control platform reverting equipment to transformer station, the mobile robot backstage confirms;
2, after the mobile robot backstage receives the Equipment Inspection order that transformer station sends along the control platform, by being installed in transformer station's master control a pair of wireless bridge on side and the mobile apparatus human body upstairs, issue the long I line disconnecting link sense command of helping to the mobile robot;
3, after the mobile robot receives the sense command of the long I line disconnecting link of Ji, carry out following operation:
3.1 calculate mobile robot's position and attitude automatically, calculate optimal path according to the optimal path planning algorithm, and No. 1 RFID point operation along optimal path to impact point, after the mobile robot arrives impact point, call the cradle head preset positions that sets in advance and be stored in the database, gather visible light and the infrared image of the long I line disconnecting link of Ji;
3.2 by wireless bridge image information is uploaded to the mobile robot backstage;
4, after the mobile robot backstage receives the visible light and infrared image of mobile robot's collection, carry out following operation:
4.1 utilize image analysis algorithm that the visible light and the infrared image that obtain are analyzed, be implemented as follows:
At first image is carried out Retinex figure image intensifying computing, choosing Gauss's width parameter is 250 (scene experimental results demonstrate and strengthens best results).
Realize the matching process of SIFT characteristic vector then.Mainly contain two steps:
A) generate the SIFT characteristic vector of realtime graphic and template image and carry out image registration respectively.Suggestion to each key point use 4 * 4 totally 16 seeds put to describe, calculate the gradient orientation histogram of 8 directions, the SIFT characteristic vectors that i.e. final formation 128 is tieed up, adopt in two width of cloth images Euclidean distance between the key point characteristic vector to measure as similarity determination, determine a series of corresponding match point in realtime graphic and the template image.
B) by the matching relationship of the characteristic point between realtime graphic and template image, calculate the projective transformation matrix between two width of cloth images, finally realize the accurate location of equipment in the realtime graphic.
The identification of isolating switch state:
This method adopts the Hough mapping algorithm to realize.Its specific implementation process is as follows:
A) by the accurate location of SIFT algorithm realization isolating switch position, extract the image in isolating switch zone in the realtime graphic.
B) realize the extraction of isolating switch zone straight line according to the Hough conversion.After the image that previous step is obtained carries out preliminary treatment, realize the extraction of straight line by the Hough conversion.The parameter of general Hough conversion: the largest interval value that broken line segment connects is 10, and minimum line segment length is 30.
C) isolating switch condition judgement; If do not have straight line to exist in the isolating switch zone, think that then isolating switch is " branch " state; If there is straight line to exist in the isolating switch zone, then calculate the angle of the vertical edges of rectangle frame in detected straight line and the image to be matched, if the angle in straight line and isolating switch zone thinks then that less than a certain threshold value (this method is chosen for 5 degree) isolating switch is " closing " state; Otherwise think that isolating switch is " not getting togather " state.
The identification of circuit-breaker status:
This method adopts the KNN algorithm to realize.Its specific implementation process is as follows:
A) KNN training process
Gather that circuit-breaker status is respectively the branch position, each 50 width of cloth of image when closing, image is carried out cutting, only keep deciliter status display area, with this training sample as the KNN algorithm, choosing maximum number of categories is 2, carries out the training of KNN grader.
B) by the accurate location of SIFT algorithm realization circuit breaker deciliter indicating positions, extract the zone that folding condition shows in the realtime graphic, import the KNN grader that previous step trains into, the output result is deciliter state of circuit breaker.
Present embodiment is realized the long I line disconnecting link state that helps is identified automatically by above-mentioned isolating switch recognition methods, and analysis result has really closed for the long I line disconnecting link of Ji;
4.2 recognition result is reported transformer station's sequential control platform by the IEC61850 agreement;
5, after transformer station's sequential control platform receives the information that the long I line of Ji disconnecting link that the mobile robot backstage reports really closed, continue to carry out along the control operation, finish the grid switching operation sequential control.
Illustrate by present embodiment: the present invention can replace the operations staff to realize identification to equipment state behind the grid switching operation, alleviate operations staff's labour intensity greatly, shorten the operating time, eliminate the influence of Field Force's subjective factor, really realize the one-touch sequential control of transformer station's grid switching operation.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (5)
1. fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot is characterized in that its step is:
1) carries out grid switching operation by transformer station's sequential control platform, pass through the IEC61850 agreement simultaneously to the transmitting apparatus sense command of mobile robot backstage;
2) after the mobile robot backstage receives the Equipment Inspection order that transformer station sequential control platform sends, by being installed in transformer station's master control a pair of wireless bridge on side and the mobile apparatus human body upstairs, issue the Equipment Inspection order to the mobile apparatus human body;
3) after the mobile apparatus human body receives the Equipment Inspection order, automatically the position of calculating itself and attitude, calculate the residing RFID point of equipment to be detected, and according to optimal path planning algorithm calculating optimal path, and the operation along optimal path to target RFID point, after the mobile apparatus human body arrives impact point, call the cradle head preset positions that sets in advance and be stored in the database, gather relevant device visible light and infrared image, and upload to the mobile robot backstage by wireless bridge;
4) after the mobile robot backstage receives the visible light and infrared image of mobile apparatus human body collection, utilize image analysis algorithm that the visible light and the infrared image that obtain are analyzed, realization is identified automatically to substation breakers, isolated switchgear state, and recognition result is reported transformer station's sequential control platform by the IEC61850 agreement;
5) after transformer station's sequential control platform receives the equipment state that the mobile robot backstage reports, carry out according to the continuation of this state-driven grid switching operation, realize transformer station's grid switching operation sequence control procedure automatically;
In the described step 3), the accurate location of adopt Retinex algorithm realization figure image intensifying, adopting the SIFT algorithm to realize equipment, its concrete steps are:
A) generate the SIFT characteristic vector of realtime graphic and template image and carry out image registration respectively; To each key point use 4 * 4 totally 16 seeds put to describe, calculate the gradient orientation histogram of 8 directions, the SIFT characteristic vectors that i.e. final formation 128 is tieed up, adopt in two width of cloth images Euclidean distance between the key point characteristic vector to measure as similarity determination, determine a series of corresponding match point in realtime graphic and the template image;
B) by the matching relationship of the characteristic point between realtime graphic and template image, calculate the projective transformation matrix between two width of cloth images, finally realize the accurate location of equipment in the realtime graphic.
2. the fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot as claimed in claim 1 is characterized in that, described transformer station sequential control platform is the existing comprehensive automation control system of transformer station or transformer station's information integral platform.
3. the fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot as claimed in claim 1, it is characterized in that, described mobile robot comprises the robot body that driver, power supply and control computer are installed, robot body is connected with the RFID transducer with Magnetic Sensor, The Cloud Terrace is installed above robot body, light video camera, thermal camera, rain brush and secondary light source are installed above The Cloud Terrace; Described mobile robot backstage is the computer that links to each other with transformer station sequential control platform by network, and operation has the mobile robot control background program.
4. the fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot as claimed in claim 1 is characterized in that, in the described step 4), adopts the Hough mapping algorithm to realize the identification of isolating switch state, and its concrete steps are:
A) after realizing the accurate location of isolating switch position by the SIFT algorithm, extract the image in isolating switch zone in the realtime graphic;
B) according to the extraction of Hough conversion realization isolating switch zone straight line, after namely the image that previous step is obtained carries out preliminary treatment, realize the extraction of straight line by the Hough conversion; The parameter of Hough conversion: the largest interval value that broken line segment connects is 10, and minimum line segment length is 30;
C) isolating switch condition judgement: if there is not straight line to exist in the isolating switch zone, think that then isolating switch is " branch " state; If there is straight line to exist in the isolating switch zone, then calculate the angle of the vertical edges of rectangle frame in detected straight line and the image to be matched, if the angle in straight line and isolating switch zone thinks then that less than a certain threshold value isolating switch is " closing " state; Otherwise think that isolating switch is " not getting togather " state.
5. the fully-automatic conversion power station grid switching operation sequence control method based on the mobile robot as claimed in claim 1 is characterized in that, in the described step 4), the concrete steps that adopt the KNN algorithm to carry out the identification of circuit-breaker status are:
A) the KNN training process gathers that circuit-breaker status is respectively the branch position, an image each several when closing, and image is carried out cutting, only keeps deciliter status display area, and with this training sample as the KNN algorithm, choosing maximum number of categories is 2, carries out the training of KNN grader;
B) after realizing the accurate location of circuit breaker deciliter indicating positions by the SIFT algorithm, extract the zone that folding condition shows in the realtime graphic, import the KNN grader that previous step trains into, the output result is deciliter state of circuit breaker.
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