CN106863301A - A kind of effective robot used for intelligent substation patrol - Google Patents

Abstract

A kind of effective robot used for intelligent substation patrol, it is characterized in that, including crusing robot, wireless transport module and remote monitoring center, the crusing robot is used to realize automatic detecting to transformer station, the video information and parameter information of collection transformer station surrounding environment, the video information and parameter information are transferred to remote monitoring center by wireless transport module；The remote monitoring center is used to receive the video information and parameter information and carries out data processing, early warning is carried out when there are abnormal conditions, additionally, user can assign instruction by remote monitoring center to crusing robot, so that the running status of remote control crusing robot.Beneficial effects of the present invention are：Connected by the structure of modules, realize the intelligent and unmanned monitoring of transformer station, be easy to personnel to pinpoint the problems early, make incident response in time.

Description

A kind of effective robot used for intelligent substation patrol

Technical field

A kind of present invention design substation inspection technical field, and in particular to effective robot used for intelligent substation patrol.

Background technology

Transformer station is the hinge of power transmission network, and inspecting substation equipment is operated in guarantee transformer station's normal work and safety fortune Row aspect in occupation of and its consequence.Using manual type, this mode to consume greatly traditional substation inspection mode more Amount manpower, increased the workload of staff, further, since transformer station is generally high pressure, radiation device high, manual inspection has Very big danger, therefore, the drawbacks of existing a large amount of by the way of manual inspection transformer station.With sensor technology and The development of wireless communication technology, robot technology just develops towards more and more intelligentized direction, therefore with robot one It is a kind of inevitable development trend to transformer station's implementation automatic detecting to determine to replace in degree artificial.

The content of the invention

Regarding to the issue above, the present invention is intended to provide a kind of effective robot used for intelligent substation patrol.

The purpose of the invention is achieved through the following technical solutions：

A kind of effective robot used for intelligent substation patrol, including crusing robot, wireless transport module and remote monitoring Center, the crusing robot is for realizing automatic detecting, the video information and ginseng of collection transformer station surrounding environment to transformer station Number information, the video information and parameter information are transferred to remote monitoring center by wireless transport module；The remote monitoring Center is used to receive the video information and parameter information and carry out data processing, and early warning is carried out when there are abnormal conditions, Additionally, user can assign instruction by remote monitoring center to crusing robot, so that the fortune of remote control crusing robot Row state.

Preferably, the crusing robot includes that information acquisition unit, controller unit, instruction execution unit and chassis are moved Dynamic device, described information collecting unit includes video acquisition part and sensor collecting part, and the video acquisition part is used for Comprehensive video information collection is carried out to transformer station, the sensor collecting part is used to gather temperature, the electric current of transformer station With the parameter information of optical attenuation degree, the controller unit by instruction execution unit according to the instruction of user for controlling chassis The running status of mobile device.

Preferably, the chassis mobile device bottom is also equipped with sensor, for robot measurement running midsole Disk device and the coefficient of friction on ground.

Preferably, the crusing robot also includes patrolling and examining state evaluation unit, and the state evaluation unit of patrolling and examining includes Safe speed evaluation part and visibility evaluation part, the safe speed evaluation part are used to be assessed according to the coefficient of friction The safe speed of crusing robot traveling, so as to fast according to the operation of assessment result real-time adjustment robot by controller unit Degree, the visibility evaluation part is used to be assessed according to the delustring dough softening visibility of current environment, so as to by controller Unit controls the unlatching of substation illumination equipment according to assessment result.

Preferably, the safe speed evaluation part is used for the safety travelled according to the friction force estimation crusing robot Speed, specifically includes：

A. crusing robot is measured by sensor and calculates road surface slippery situation situation S, computing formula with the coefficient of friction on road surface For：

Wherein, f is the vehicle tyre and surface friction coefficient for measuring in real time, f₀It is tire and dry pavement average friction Coefficient, f₁It is tire and rainwater road surface average friction coefficient, f₂It is tire and ice and snow road average friction coefficient, a₀、a₁、a₂Respectively It is f₀、f₁And f₂Weight；

B. the non-linear relation between safe velocity V and road surface slippery situation situation S is drawn by fit equation, V can be with Tried to achieve by below equation：

V=e^0.5S/0.23S(1+S)

Preferably, the visibility evaluation part is used to be calculated according to the sensing data visibility system of current environment Number, specifically includes：

A. the visibility factor N of transformer station is determined by measuring optical attenuation degree in transformer station's air, computing formula is：

In formula, τ is extinction coefficient, and δ is the comparison threshold value of the human eye vision of the currently monitored point, and δ values take 0.02 here；

B. the collimated light beam that a branch of light intensity is g is defined, the transmitting terminal of light and the distance of receiving terminal are J, and light reaches receiving terminal Light intensity attenuation be g₀, then extinction coefficient τ be：

In formula, τ is extinction coefficient, g₀Be reach receiving terminal light intensity, g be original light intensity, j be light transmitting terminal to reception The distance at end；

C. it is the visibility minimum threshold for setting to set θ, when N is less than θ, that is, opens the lighting apparatus of transformer station.

Beneficial effects of the present invention are：Connected by the structure of modules, realize the intelligent of transformer station and nobody Change is patrolled and examined, and is easy to personnel to pinpoint the problems early, is made incident response in time.

Reference：

Innovation and creation are described further using accompanying drawing, but embodiment in accompanying drawing does not constitute and the invention is appointed What is limited, for one of ordinary skill in the art, on the premise of not paying creative work, can also be according to the following drawings Obtain other accompanying drawings.

Fig. 1 is schematic structural view of the invention；

Fig. 2 is to patrol and examine state evaluation unit structural representation.

Reference：

Crusing robot 1, wireless transport module 2, remote monitoring center 3, information acquisition unit 11, controller unit 12, State evaluation unit 13, instruction execution unit 14, chassis mobile device 15, safe speed evaluation part 131, visibility is patrolled and examined to comment Estimate part 132.

Specific embodiment

The invention will be further described with the following Examples.

Referring to Fig. 1, a kind of effective robot used for intelligent substation patrol of the present embodiment, including it is crusing robot 1, wireless Transport module 2 and remote monitoring center 3, the crusing robot 1 are used to realize transformer station automatic detecting that collection transformer station to be all The video information and parameter information in collarette border, the video information and parameter information are transferred to remotely by wireless transport module 2 Surveillance center 3；The remote monitoring center 3 is used to receive the video information and parameter information and carry out data processing, when going out Early warning is carried out during existing abnormal conditions, additionally, user can assign instruction by remote monitoring center 3 to crusing robot 1, from And the running status of remote control crusing robot 1.

The structure that this preferred embodiment passes through modules, realizes the intelligent and unmanned monitoring of transformer station, is easy to Personnel pinpoint the problems so as to make incident response early.

Preferably, the crusing robot includes information acquisition unit 11, controller unit 12, the and of instruction execution unit 14 Chassis mobile device 15, described information collecting unit 11 includes video acquisition part and sensor collecting part, and the video is adopted Collection part is used to carry out transformer station comprehensive video information collection, and the sensor collecting part is used to gather transformer station The parameter information of temperature, electric current and optical attenuation degree, the controller unit 12 is used to be performed by instructing according to the instruction of user Unit 14 controls the running status of chassis mobile device 15.

Preferably, the bottom of chassis mobile device 15 is also equipped with sensor, in robot measurement running Base apparatus and the coefficient of friction on ground.

Preferably, the crusing robot also includes patrolling and examining state evaluation unit 13, described to patrol and examine state evaluation unit 13 Including safe speed evaluation part 131 and visibility evaluation part 132, the safe speed evaluation part 131 is used for according to institute The safe speed of coefficient of friction assessment crusing robot traveling is stated, so that by controller unit 12 according to assessment result real-time adjustment The speed of service of robot, the visibility evaluation part 132 is used to be assessed according to the delustring dough softening energy of current environment Degree of opinion, so as to control the unlatching of substation illumination equipment according to assessment result by controller unit 12.

This preferred embodiment constitutes crusing robot module of the invention, realizes and adjusts robot according to user instruction State, effective collection of omni-directional video information and parameter information is carried out to transformer station, is that subsequent treatment is laid a good foundation.

Preferably, the safe speed evaluation part 131 is used for what is travelled according to the friction force estimation crusing robot Safe speed, specifically includes：

A. crusing robot is measured by sensor and calculates road surface slippery situation situation S, computing formula with the coefficient of friction on road surface For：

Wherein, f is the vehicle tyre and surface friction coefficient for measuring in real time, f₀It is tire and dry pavement average friction Coefficient, f₁It is tire and rainwater road surface average friction coefficient, f₂It is tire and ice and snow road average friction coefficient, a₀、a₁、a₂Respectively It is f₀、f₁And f₂Weight；

B. the non-linear relation between safe velocity V and road surface slippery situation situation S is drawn by fit equation, V can be with Tried to achieve by below equation：

V=e^0.5S/0.23S(1+S)

This preferred embodiment calculates the wet and slippery of road surface by the coefficient of friction measured between crusing robot and road surface Situation, so as to calculate the safety patrol inspection speed of crusing robot, controller is adjusted according to the safety patrol inspection speed being calculated The polling rate of whole robot, it is ensured that the normal operation of crusing robot.

Preferably, the visibility evaluation part 132 is used to calculate seeing for current environment according to the sensing data Degree coefficient, specifically includes：

A. the visibility factor N of transformer station is determined by measuring optical attenuation degree in transformer station's air, computing formula is：

In formula, τ is extinction coefficient, and δ is the comparison threshold value of the human eye vision of the currently monitored point, and δ values take 0.02 here；

B. the collimated light beam that a branch of light intensity is g is defined, the transmitting terminal of light and the distance of receiving terminal are J, and light reaches receiving terminal Light intensity attenuation be g₀, then extinction coefficient τ be：

In formula, τ is extinction coefficient, g₀Be reach receiving terminal light intensity, g be original light intensity, j be light transmitting terminal to reception The distance at end；C. it is the visibility minimum threshold for setting to set θ, when N is less than θ, that is, opens the lighting apparatus of transformer station.

This preferred embodiment determines the visibility factor of transformer station by measuring optical attenuation degree in transformer station's air, in energy See the lighting apparatus that transformer station is opened when spending low.

Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected The limitation of scope is protected, although being explained to the present invention with reference to preferred embodiment, one of ordinary skill in the art should Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention Matter and scope.

Claims (6)

1. a kind of effective robot used for intelligent substation patrol, it is characterized in that, including crusing robot, wireless transport module and remote Range monitoring center, the crusing robot is used to realize transformer station automatic detecting that the video of collection transformer station surrounding environment to be believed Breath and parameter information, the video information and parameter information are transferred to remote monitoring center by wireless transport module；It is described remote Range monitoring center is used to receive the video information and parameter information and carry out data processing, is carried out when there are abnormal conditions Early warning, additionally, user can assign instruction by remote monitoring center to crusing robot, so that remote control crusing robot Running status.

2. a kind of effective indoor crusing robot according to claim 1, it is characterized in that, the crusing robot includes Information acquisition unit, controller unit, instruction execution unit and chassis mobile device, described information collecting unit are adopted including video Collection part and sensor collecting part, the video acquisition part are used to carry out transformer station comprehensive video information collection, The sensor collecting part is used for the parameter information of the temperature, electric current and optical attenuation degree for gathering transformer station, the controller list The running status that unit passes through instruction execution unit control chassis mobile device for the instruction according to user.

3. a kind of effective robot used for intelligent substation patrol according to claim 2, it is characterized in that, the chassis movement Bottom of device is also equipped with sensor, for base apparatus in robot measurement running and the coefficient of friction on ground.

4. a kind of effective robot used for intelligent substation patrol according to claim 3, it is characterized in that, the inspection machine People also includes patrolling and examining state evaluation unit, and the state evaluation unit of patrolling and examining is assessed including safe speed evaluation part and visibility Part, the safe speed evaluation part is used to assess the safe speed that crusing robot is travelled according to the coefficient of friction, from And by controller unit according to the speed of service of assessment result real-time adjustment robot, the visibility evaluation part is used for basis The delustring dough softening assesses the visibility of current environment, so as to control substation illumination according to assessment result by controller unit The unlatching of equipment.

5. a kind of effective robot used for intelligent substation patrol according to claim 4, it is characterized in that, the safe speed Evaluation part is used for the safe speed travelled according to the friction force estimation crusing robot, specifically includes：

A. crusing robot is measured by sensor and calculates road surface slippery situation situation S with the coefficient of friction on road surface, computing formula is：

$S=e\left(\frac{f}{a_0{f}_0+a_1{f}_1+a_2{f}_2}\right)$

Wherein, f is the vehicle tyre and surface friction coefficient for measuring in real time, f₀It is tire and dry pavement average friction coefficient, f₁It is tire and rainwater road surface average friction coefficient, f₂It is tire and ice and snow road average friction coefficient, a₀、a₁、a₂Respectively it is f₀、f₁And f₂Weight；

B. the non-linear relation between safe velocity V and road surface slippery situation situation S is drawn by fit equation, V can by with Lower equation is tried to achieve：

V=e^0.5S/0.23S(1+S)

6. a kind of effective robot used for intelligent substation patrol according to claim 5, it is characterized in that, the visibility is commented Estimating part is used to be calculated according to the sensing data visibility factor of current environment, specifically includes：

A. the visibility factor N of transformer station is determined by measuring optical attenuation degree in transformer station's air, computing formula is：

$N=-\frac{ln\mathrm{\δ}}{\mathrm{\τ}}$

In formula, τ is extinction coefficient, and δ is the comparison threshold value of the human eye vision of the currently monitored point, and δ values take 0.02 here；

B. the collimated light beam that a branch of light intensity is g is defined, the transmitting terminal of light and the distance of receiving terminal are J, and light reaches the light of receiving terminal Decay to g by force₀, then extinction coefficient τ be：

$\mathrm{\τ}=-\frac{ln\frac{g_0}{g}}{j}$

In formula, τ is extinction coefficient, g₀It is the light intensity for reaching receiving terminal, g is original light intensity, and j is the transmitting terminal of light to receiving terminal Distance；

C. it is the visibility minimum threshold for setting to set θ, when N is less than θ, that is, opens the lighting apparatus of transformer station.