CN107196410B - ground transformer substation inspection system and method - Google Patents
ground transformer substation inspection system and method Download PDFInfo
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- CN107196410B CN107196410B CN201610318900.XA CN201610318900A CN107196410B CN 107196410 B CN107196410 B CN 107196410B CN 201610318900 A CN201610318900 A CN 201610318900A CN 107196410 B CN107196410 B CN 107196410B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/16—Electric power substations
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Abstract
The invention belongs to the field of transformer substation environment monitoring, and provides a ground and air transformer substation inspection system and a method, wherein the ground and air transformer substation inspection system comprises a ground inspection device and an air detection device, wherein the ground inspection device is provided with a fixed platform for carrying the air detection device, the ground inspection device receives an inspection instruction sent by a control terminal and acquires configuration information of equipment to be detected, the ground inspection device carries the air detection device to move to a preset target position and sends a corresponding detection instruction to the air detection device so as to control the air detection device to fly to a preset observation position to complete a detection task on the equipment to be detected.
Description
Technical Field
The invention belongs to the field of transformer substation environment monitoring, and particularly relates to an ground transformer substation inspection system and method.
Background
The transformer substation is an electric facility for converting voltage, distributing electric energy and controlling electric power flow direction in an electric power system, connects power grids of voltages of all levels through a transformer, and is a very important links in the electric power system.
under the same conditions, the operation and maintenance work of the transformer substation is completed by the electric power operation and maintenance personnel, and with the continuous development of intelligent technology, the intelligent inspection robot with the detection device gradually replaces the electric power operation and maintenance personnel, so that the inspection work of the transformer substation is more convenient and efficient.
However, when the existing intelligent inspection robot is used for inspecting equipment to be detected, a road needs to be additionally built for the intelligent inspection robot in a transformer substation so that the intelligent inspection robot can reach the position near the equipment to be detected, detection cost is increased, the existing intelligent inspection robot is small in size, detection devices carried by the existing intelligent inspection robot are fixedly arranged on a robot body, and due to the fact that the vertical pitch angle and the horizontal rotation angle of the detection devices are limited, parts of the equipment to be detected, which are deviated from a main road and are shielded by the equipment on the main road, parts of the equipment, which are higher in position and are arranged in a show window, cannot be accurately detected by the detection device carried by the intelligent inspection robot, detection efficiency and accuracy are low, and the use of the intelligent inspection robot is limited.
Disclosure of Invention
The embodiment of the invention aims to provide an ground transformer substation inspection system and method, and aims to solve the problems that when an existing intelligent inspection robot is used for inspection, roads need to be additionally repaired in a transformer substation, the detection cost is increased, the existing intelligent inspection robot is short and small, and detection devices carried by the existing intelligent inspection robot are fixedly arranged on a robot body, so that detection of some equipment to be detected, which deviates from a main trunk or is high in position, cannot be realized.
The embodiment of the invention is realized by the ground-air transformer substation inspection system, wherein the ground-air transformer substation inspection system is in wireless communication with a control terminal, and the ground-air transformer substation inspection system comprises a ground inspection device controlled by the control terminal and an air detection device controlled by the ground inspection device;
the ground inspection device comprises a positioning navigation module, an th communication module and a th main control module, wherein the th main control module is simultaneously connected with the positioning navigation module and the th communication module, and a fixed platform for carrying the aerial detection device is arranged on the ground inspection device;
the aerial detection device comprises a detection module, a second main control module and a second communication module, wherein the second main control module is simultaneously connected with the detection module and the second communication module;
the ground inspection device receives an inspection instruction sent by the control terminal through the th communication module and obtains configuration information of equipment to be inspected, the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and preset observation position information of the aerial detection device when the aerial detection device hovers, the st main control module controls the ground inspection device provided with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module, the ground inspection device sends a corresponding detection instruction to the second communication module through the th communication module, and the second main control module controls the aerial detection device to hover after flying to a preset observation position according to the detection instruction received by the second communication module and controls the detection module to detect the equipment to be inspected.
, the ground inspection device further comprises a power supply module, the power supply module is connected with the main control module, a th charging contact is arranged on the fixed platform, and the th charging contact is connected with the power supply module;
a second charging contact corresponding to the th charging contact is arranged on the aerial detection device, and the second charging contact is connected with the second main control module;
when aerial detection device accomplishes the detection task after, second host system control aerial detection device flies back to ground inspection device and berths on fixed platform, so that power module is through mutual contact charging contact with the second charging contact does aerial detection device charges.
, providing a plurality of infrared emitters on the fixed platform, the plurality of infrared emitters physically arranged in a predetermined pattern;
the aerial detection device is provided with an infrared camera, and the infrared camera is connected with the second main control module;
the infrared camera collects the preset patterns in real time, transmits the collected infrared light patterns to the second main control module, and the second main control module calculates the relative position information of the aerial detection device and the ground inspection device according to the infrared light patterns and adjusts the motion track of the aerial detection device according to the relative position information so that the aerial detection device can hover to a preset observation position.
, the relative position information of the aerial detection device and the ground inspection device comprises orientation information, height information and distance information of the aerial detection device relative to the ground inspection device;
acquiring a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera according to the following formula:
T＝NM-1；
the system comprises an aerial detection device, a ground inspection device, a plurality of infrared light emitters, a plurality of infrared cameras and a plurality of infrared cameras, wherein T is a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared cameras, M is a characteristic matrix of a preset pattern formed by the physical arrangement of the infrared light emitters, and N is a characteristic matrix of an infrared light pattern acquired by the infrared cameras in real time.
The invention also provides ground-air body substation inspection methods based on the ground-air body substation inspection system, wherein the ground-air body substation inspection method comprises the following steps:
the ground inspection device receives an inspection instruction sent by the control terminal through the th communication module and acquires configuration information of equipment to be inspected, wherein the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and preset observation position information of the aerial detection device when the aerial detection device hovers;
the th main control module controls the ground inspection device provided with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module;
the ground inspection device sends a corresponding detection instruction to the second communication module through the th communication module;
and the second main control module controls the aerial detection device to fly to a preset observation position and then hover according to the detection instruction received by the second communication module, and controls the detection module to detect the equipment to be detected.
The invention also provides another ground-air body substation inspection methods based on the ground-air body substation inspection system, wherein the ground-air body substation inspection method comprises the following steps:
the ground inspection device receives an inspection instruction sent by the control terminal through the th communication module and acquires configuration information of equipment to be inspected, wherein the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and preset observation position information of the aerial detection device when the aerial detection device hovers;
the th main control module controls the ground inspection device provided with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module;
the ground inspection device sends a corresponding detection instruction to the second communication module through the th communication module;
the second main control module controls the aerial detection device to fly to a preset observation position and then hover according to the detection instruction received by the second communication module, and controls the detection module to detect the equipment to be detected;
after the detection is finished, the second main control module controls the aerial detection device to fly back to the ground inspection device and stop on the fixed platform, so that the power module is charged through the th charging contact and the second charging contact which are in mutual contact with the aerial detection device.
The invention also provides another ground-air body substation inspection methods based on the ground-air body substation inspection system, wherein the ground-air body substation inspection method comprises the following steps:
the ground inspection device receives an inspection instruction sent by the control terminal through the th communication module and acquires configuration information of equipment to be inspected, wherein the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and preset observation position information of the aerial detection device when the aerial detection device hovers;
the th main control module controls the ground inspection device provided with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module;
the ground inspection device sends a corresponding detection instruction to the second communication module through the th communication module;
the second main control module controls the aerial detection device to take off and hover horizontally in the air according to the detection instruction received by the second communication module;
the infrared camera collects preset patterns formed by the plurality of infrared light emitters in real time and transmits the collected infrared light patterns to the second main control module;
and the second main control module calculates the relative position information of the aerial detection device and the ground inspection device according to the infrared light pattern, and adjusts the motion track of the aerial detection device according to the relative position information so that the aerial detection device can be hovered to a preset observation position.
, the step of calculating the relative position information of the aerial detection device and the ground inspection device by the second main control module according to the infrared light pattern, and adjusting the motion track of the aerial detection device according to the relative position information specifically includes:
acquiring a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera according to the following formula:
T＝NM-1；
wherein, T is a conversion matrix formed by azimuth information, height information, distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera, M is a feature matrix of a preset pattern formed by physical arrangement of the plurality of infrared light emitters, and N is a feature matrix of an infrared light pattern acquired by the infrared camera in real time;
and the second main control module adjusts the motion track of the aerial detection device according to the azimuth information, the height information and the distance information of the aerial detection device relative to the ground inspection device, so that the aerial detection device can hover to a preset observation position.
In the embodiment of the invention, the ground transformer substation inspection system comprises a ground inspection device and an aerial detection device, wherein a fixed platform for carrying the aerial detection device is arranged on the ground inspection device, the ground inspection device receives an inspection instruction sent by a control terminal and acquires configuration information of equipment to be detected, the ground inspection device carries the aerial detection device to move to a preset target position and sends a corresponding detection instruction to the aerial detection device so as to control the aerial detection device to fly to a preset observation position to complete a detection task of the equipment to be detected.
Drawings
Fig. 1 is a block diagram of an inspection system of a ground-to-air -body substation according to an embodiment of the present invention;
fig. 2 is a schematic physical structure diagram of an inspection system of a ground-to-air -body substation according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of a ground inspection device and an aerial detection device in an aerial -body substation inspection system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a preset pattern in which a plurality of infrared emitters are physically arranged in a ground-to-air -body substation inspection system according to an embodiment of the invention;
fig. 5 is a flowchart of a ground-to-air transformer substation inspection method according to a second embodiment of the present invention;
fig. 6 is a specific flowchart of step S104 in the ground-to-air transformer substation inspection method according to the second embodiment of the present invention.
Detailed Description
For purposes of making the objects, aspects and advantages of the present invention more apparent, the present invention will be described in detail below with reference to the accompanying drawings and examples.
Example :
an th embodiment of the invention provides a ground substation inspection system.
Fig. 1 shows a modular structure of an aerial -body substation inspection system provided by an -th embodiment of the present invention, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown.
and bodies of ground and air bodies of transformer substation inspection systems are in wireless communication with a control terminal, and each bodies of ground and air transformer substation inspection system comprises a ground inspection device 1 controlled by the control terminal and an aerial detection device 2 controlled by the ground inspection device 1.
The ground inspection device 1 comprises a positioning navigation module 12, an th communication module 10 and a th main control module 11, wherein the th main control module 11 is simultaneously connected with the positioning navigation module 12 and the th communication module 10, and a fixed platform 14 for carrying the aerial detection device 2 is arranged on the ground inspection device 1.
The aerial detection device 2 comprises a detection module 22, a second main control module 20 and a second communication module 21, wherein the second main control module 21 is connected with the detection module 22 and the second communication module 20 at the same time.
The ground inspection device 1 receives an inspection instruction sent by a control terminal through an communication module 10 to obtain configuration information of a device to be detected, wherein the configuration information comprises preset target position information when the ground inspection device 1 stops and preset observation position information when the aerial detection device 2 hovers, the main control module 11 controls the ground inspection device 1 provided with the aerial detection device 2 to move to a preset target position according to the configuration information and positioning information of a positioning navigation module 12, the ground inspection device 1 sends a corresponding detection instruction to a second communication module 20 through a communication module 10, and the second main control module 21 controls the aerial detection device 2 to hover after flying to a preset observation position according to a detection instruction received by the second communication module 20 and controls the detection module 22 to detect the device to be detected.
As an embodiment of the present invention, the positioning navigation module 12 specifically employs a laser radar-based SLAM (Simultaneous Localization And Mapping) navigation And positioning technology, which enables the robot to move from unknown positions in an unknown environment, performs self-positioning according to position estimation And a map during moving, And builds an incremental map on the basis of self-positioning to realize autonomous positioning And navigation of the robot, so that the robot can accurately stop at a target position.
In practical applications, the camera unit may employ a high-definition camera, the infrared thermal imaging unit may employ an existing infrared thermal imager, and the noise collection unit may employ a noise collection sensor, further , the detection module 22 may further include other detection sensors, which may be specifically configured according to actual requirements.
In this embodiment, the configuration information of the device to be detected is specifically stored in the database of the ground inspection device 1, and the configuration information of the device to be detected further includes: attitude information of the airborne detection apparatus 2 and parameter information of the detection module 22. Specifically, the parameter information of the detection module 22 includes parameter information of a camera unit, parameter information of an infrared thermal imaging unit, and parameter information of a noise collection unit.
In practical application, the control terminal can be an intelligent terminal such as a mobile phone, a tablet, a PC or a server, the ground inspection device 1 can be an intelligent robot, the intelligent robot has the capabilities of autonomous navigation, positioning and walking and can move on a flat road surface in a transformer substation, and a safety anti-collision module is installed on the intelligent robot body, so that the robot can be effectively prevented from being damaged due to collision with other equipment in the walking process.
As an embodiment of the present invention, the communication module 10 and the second communication module 20 may adopt a bluetooth module, a WIFI module, a ZIGBEE module, and the like, and may be specifically configured according to actual requirements.
Fig. 2 shows a physical structure of a ground-to-air -body substation inspection system provided by an -th embodiment of the present invention, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown.
As an embodiment of the present invention, the ground inspection device 1 further includes a power module 13, the power module 13 is connected to the th main control module 11, the fixed platform 14 is provided with a th charging contact 15, and the th charging contact 15 is connected to the power module 13.
The aerial detection device 2 is provided with a second charging contact 23 corresponding to the th charging contact 15, and the second charging contact 23 is connected with the second main control module 21.
After the aerial detection device 2 completes the detection task, the second main control module 21 controls the aerial detection device 2 to fly back to the ground inspection device 1 and stop at the fixed platform 14, so that the power module 13 charges the aerial detection device 2 through the -th charging contact 15 and the second charging contact 23 which are in contact with each other.
In this embodiment, the th charging contact 15 is specifically disposed on the upper surface of the fixed platform 14, the second charging contact 23 is specifically disposed on the bottom surface of the aerial detection device 2, and when the aerial detection device 2 is parked on the fixed platform 14, the upper surface of the fixed platform 14 contacts with the bottom surface of the aerial detection device 2. the th charging contact 15 is not limited to include only charging contacts, and likewise, the second charging contact 23 is not limited to charging contacts, but the th charging contact 15 and the second charging contact 23 are strictly corresponding in number and position, so as to ensure that the th charging contact 15 and the second charging contact 23 are correspondingly contacted to connect the power supply path of the power module 13 for supplying power to the aerial detection device 2 only when the aerial detection device 2 is parked on the fixed platform 14.
As an embodiment of the present invention, the side surface of the fixed platform 14 is further provided with a foot stand guide groove corresponding to the foot stand of the aerial detection device 2, so that when the aerial detection device 2 stops on the fixed platform 14, the foot stand of the aerial detection device 2 is just fixed in the foot stand guide groove, thereby ensuring that the stopping of the aerial detection device 2 is more stable.
In practical application, because of strong power frequency electromagnetic field interference in a transformer substation, the traditional satellite positioning modes such as GPS/Beidou and the like and the positioning modes such as ZIGBEE/WIFI/Bluetooth/UWB and the like which are established in recent years have the problems of incapability of positioning or large positioning error due to the fact that the positioning modes are easily interfered by electromagnetic waves, and the requirements of the system cannot be met. Therefore, the invention realizes the relative positioning between the ground inspection device 1 and the aerial detection device 2 by combining the optical and visual modes.
Fig. 3 shows physical structures of a ground inspection device and an aerial detection device in an aerial -body substation inspection system provided by an -th embodiment of the present invention, and for convenience of explanation, fig. 3 shows only parts related to the embodiment of the present invention.
As an embodiment of the invention, the fixed platform 14 is also provided with a plurality of infrared light emitters 16, the plurality of infrared light emitters 16 being physically arranged in a predetermined pattern.
An infrared camera 24 is installed on the aerial detection device 2, and the infrared camera 24 is connected with the second main control module.
The infrared camera 24 collects the preset patterns in real time, transmits the collected infrared light patterns to the second main control module 21, and the second main control module 21 calculates the relative position information of the aerial detection device 2 and the ground inspection device 1 according to the infrared light patterns and adjusts the motion track of the aerial detection device 2 according to the relative position information so that the aerial detection device 2 is suspended to the preset observation position.
In the present embodiment, the plurality of infrared light emitters 16 are arranged in a preset pattern by setting the mutual direction and distance relationship of the plurality of infrared light emitters 16.
Fig. 4 shows a preset pattern in which a plurality of infrared emitters are physically arranged in a ground substation inspection system according to an th embodiment of the present invention, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown.
As an embodiment of the invention, the relative position information of the aerial detection device 2 and the ground inspection device 1 comprises azimuth information, height information and distance information of the aerial detection device 2 relative to the ground inspection device 1.
A conversion matrix composed of the azimuth information, the altitude information, the distance information, and the parameter information of the infrared camera 24 of the aerial detection device 2 with respect to the ground inspection device 1 is obtained according to the following equation:
T＝NM-1；
wherein, T is a conversion matrix formed by the azimuth information, the altitude information, the distance information of the aerial detection device 2 relative to the ground inspection device 1 and the parameter information of the infrared camera 24, M is a feature matrix of a preset pattern physically arranged by the plurality of infrared light emitters 16, and N is a feature matrix of an infrared light pattern acquired by the infrared camera 24 in real time.
In this embodiment, when the aerial detection device 2 is at a different position, a different height, and a different distance from the ground inspection device 1, the infrared light patterns collected by the infrared camera 24 are different, and the shooting parameters of the infrared camera also affect the collected infrared light patterns, so that the relative position information between the aerial detection device 2 and the ground inspection device 1 can be accurately determined by the above method, so that the aerial detection device 2 can accurately hover to a preset observation position to complete the detection of the device to be detected.
As an embodiment of the invention, aerial detection device 2 further includes a storage module for storing information of the device under test acquired by detection module 22.
In this embodiment, the aerial detection device 2 may store the collected information of the device to be detected in the storage module, or directly transmit the collected information of the device to be detected to the ground inspection device 1 through the second communication module 24.
Example two:
based on the ground-air -body substation inspection system provided in the embodiment , the second embodiment of the present invention also provides a ground-air -body substation inspection method.
Fig. 5 shows an implementation flow of a ground-to-air transformer substation inspection method provided by a second embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown.
In step S101, the ground inspection device receives an inspection instruction sent by the control terminal through the communication module and obtains configuration information of the equipment to be detected, wherein the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and predicted observation position information of the aerial detection device when the aerial detection device hovers.
In this embodiment, the configuration information of the device to be detected is specifically stored in the database of the ground inspection device, and the configuration information of the device to be detected further includes: attitude information of the aerial detection device and parameter information of the detection module.
In practical application, the control terminal may be an intelligent terminal such as a mobile phone, a tablet, a PC, or a server. The ground inspection device can be an intelligent robot, the intelligent robot has the capabilities of autonomous navigation positioning and walking, and can move on a flat road in a transformer substation.
In step S102, the th main control module controls the ground inspection device equipped with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module.
In the embodiment, the positioning navigation module specifically adopts a SLAM (Simultaneous localization And Mapping) navigation And positioning technology based on a laser radar, the SLAM navigation And positioning technology can enable the robot to move from unknown positions in an unknown environment, self-positioning is carried out according to position estimation And a map in the moving process, And meanwhile, an incremental map is built on the basis of self-positioning, so that the autonomous positioning And navigation of the robot are realized, And the robot is enabled to accurately stop at a target position.
In practical application, aerial detection device can be unmanned aerial vehicle, and is more preferred, aerial detection device can be many rotor unmanned aerial vehicle.
In step S103, the ground inspection device sends a corresponding detection instruction to the second communication module through the -th communication module.
In step S104: and the second main control module controls the aerial detection device to fly to a preset observation position and then hover according to the detection instruction received by the second communication module, and controls the detection module to detect the equipment to be detected.
In this embodiment, when the device to be detected is detected, the detection module can obtain the corresponding information of the device to be detected by photographing, infrared thermal imaging, noise collection and the like for the device to be detected.
When the task of patrolling and examining is carried out, ground patrolling and examining device with aerial detection device can be to a plurality of check out test set that define in the task carry out detections one by one, when carrying out detections one by one to a plurality of check out test set, ground patrolling and examining device will read check out test set's configuration information one by one.
In this embodiment, the th communication module and the second communication module may adopt a bluetooth module, a WIFI module, a ZIGBEE module, or the like, and may be specifically configured according to actual needs.
The fixed platform according to embodiment of the present invention further includes a plurality of infrared light emitters physically arranged in a predetermined pattern, and the aerial detection device is installed with an infrared camera connected to the second main control module, so that, as shown in fig. 6, the above step S104 specifically includes the following steps:
step S1041: and the second main control module controls the aerial detection device to take off and hover horizontally in the air according to the detection instruction received by the second communication module.
Step S1042: the infrared camera collects preset patterns formed by the plurality of infrared light emitters in real time and transmits the collected infrared light patterns to the second main control module.
Step S1043: and the second main control module calculates the relative position information of the aerial detection device and the ground inspection device according to the infrared light pattern, and adjusts the motion track of the aerial detection device according to the relative position information so that the aerial detection device can be hovered to a preset observation position.
In practical application, because of strong power frequency electromagnetic field interference in a transformer substation, the traditional satellite positioning modes such as GPS/Beidou and the like and the positioning modes such as ZIGBEE/WIFI/Bluetooth/UWB and the like which are established in recent years have the problems of incapability of positioning or large positioning error due to the fact that the positioning modes are easily interfered by electromagnetic waves, and the requirements of the system cannot be met. Therefore, the ground inspection device and the aerial detection device are relatively positioned in a combined optical and visual mode.
Wherein, step S1043 specifically includes the following steps:
acquiring a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera according to the following formula:
T＝NM-1；
wherein, T is a conversion matrix formed by azimuth information, height information, distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera, M is a feature matrix of a preset pattern formed by physical arrangement of the plurality of infrared light emitters, and N is a feature matrix of an infrared light pattern acquired by the infrared camera in real time;
and the second main control module adjusts the motion track of the aerial detection device according to the azimuth information, the height information and the distance information of the aerial detection device relative to the ground inspection device, so that the aerial detection device can hover to a preset observation position.
In this embodiment, when the aerial detection device is at a different position, a different height and a different distance from the ground inspection device, the infrared light patterns collected by the infrared camera are different, and the shooting parameters of the infrared camera also affect the collected infrared light patterns, so that the relative position information of the aerial detection device and the ground inspection device can be accurately determined by the above method, so that the aerial detection device can accurately hover to an observation position to complete the detection of the device to be detected.
The ground inspection device according to the embodiment of the present invention further includes a power module, the power module is connected to the main control module, the fixed platform is provided with a th charging contact, the th charging contact is connected to the power module, the aerial detection device is provided with a second charging contact corresponding to the th charging contact, and the second charging contact is connected to the second main control module, so the present invention further includes a step S105.
In step S105, after the detection is completed, the second main control module controls the aerial detection device to fly back to the ground inspection device and stop at the fixed platform, so that the power module charges the aerial detection device through the th charging contact and the second charging contact which are in contact with each other.
In this embodiment, the aerial detection unit is directly and fixedly parked on the fixed platform of the ground inspection unit when the aerial detection unit is not performing the detection task, so as to obtain the power from the power module.
As an embodiment of the present invention, the method for inspecting a ground-air transformer substation further includes:
the aerial detection device transmits the collected information of the equipment to be detected to the ground inspection device through the second communication module.
In this embodiment, when having defined a plurality of check equipment in times patrols and examines the task, ground inspection device with aerial detection device detects a plurality of check equipment of examining one by one, aerial detection device passes through the information that the check equipment of examining that will gather is by one by the second communication module and is transmitted to ground inspection device in real time, perhaps aerial detection device stores the information that the check equipment of examining that will gather, when waiting to patrol and examine the task and accomplish, the rethread the second communication module is with a plurality of information that the check equipment of examining that gather all transmit to ground inspection device, ground inspection device output patrols and examines the report.
In the embodiment of the invention, the ground transformer substation inspection system comprises a ground inspection device and an aerial detection device, wherein a fixed platform for carrying the aerial detection device is arranged on the ground inspection device, the ground inspection device receives an inspection instruction sent by a control terminal and acquires configuration information of equipment to be detected, the ground inspection device carries the aerial detection device to move to a preset target position and sends a corresponding detection instruction to the aerial detection device so as to control the aerial detection device to fly to a preset observation position to complete a detection task of the equipment to be detected.
Those of ordinary skill in the art will understand that: the steps or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the above method embodiments, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
- The system is characterized in that the system comprises a ground inspection device controlled by the control terminal and an aerial detection device controlled by the ground inspection device;the ground inspection device comprises a positioning navigation module, an th communication module and a th main control module, wherein the th main control module is simultaneously connected with the positioning navigation module and the th communication module, and a fixed platform for carrying the aerial detection device is arranged on the ground inspection device;the aerial detection device comprises a detection module, a second main control module and a second communication module, wherein the second main control module is simultaneously connected with the detection module and the second communication module;the ground inspection device receives an inspection instruction sent by the control terminal through the communication module and acquires configuration information of equipment to be detected, wherein the configuration information comprises preset target position information of parking of the ground inspection device and preset observation position information of hovering of the aerial detection device;the ground inspection device also comprises a power supply module, the power supply module is connected with the th main control module, a th charging contact is arranged on the fixed platform, and the th charging contact is connected with the power supply module;a second charging contact corresponding to the th charging contact is arranged on the aerial detection device, and the second charging contact is connected with the second main control module;after the aerial detection device completes a detection task, the second main control module controls the aerial detection device to fly back to the ground inspection device and stop on the fixed platform, so that the power supply module charges the aerial detection device through the th charging contact and the second charging contact which are in contact with each other;the fixed platform is also provided with a plurality of infrared light emitters which are physically arranged into a preset pattern;the aerial detection device is provided with an infrared camera, and the infrared camera is connected with the second main control module;the infrared camera collects the preset patterns in real time, transmits the collected infrared light patterns to the second main control module, and the second main control module calculates the relative position information of the aerial detection device and the ground inspection device according to the infrared light patterns and adjusts the motion track of the aerial detection device according to the relative position information so that the aerial detection device can hover to a preset observation position.
- 2. The ground transformer substation inspection system of claim 1, wherein the relative position information of the aerial detection device and the ground inspection device includes orientation information, altitude information and distance information of the aerial detection device relative to the ground inspection device;acquiring a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera according to the following formula:T＝NM-1；the system comprises an aerial detection device, a ground inspection device, a plurality of infrared light emitters, a plurality of infrared cameras and a plurality of infrared cameras, wherein T is a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared cameras, M is a characteristic matrix of a preset pattern formed by the physical arrangement of the infrared light emitters, and N is a characteristic matrix of an infrared light pattern acquired by the infrared cameras in real time.
- 3, ground-to-air body substation inspection system ground-to-air body substation inspection method based on claim 1, characterized in that, the ground-to-air body substation inspection method includes:the ground inspection device receives an inspection instruction sent by the control terminal through the th communication module and acquires configuration information of equipment to be inspected, wherein the configuration information comprises preset target position information of the ground inspection device when the ground inspection device stops and preset observation position information of the aerial detection device when the aerial detection device hovers;the th main control module controls the ground inspection device provided with the aerial detection device to move to a preset target position according to the configuration information and the positioning information of the positioning navigation module;the ground inspection device sends a corresponding detection instruction to the second communication module through the th communication module;the second main control module controls the aerial detection device to take off and hover horizontally in the air according to the detection instruction received by the second communication module;the infrared camera collects preset patterns formed by the plurality of infrared light emitters in real time and transmits the collected infrared light patterns to the second main control module;and the second main control module calculates the relative position information of the aerial detection device and the ground inspection device according to the infrared light pattern, and adjusts the motion track of the aerial detection device according to the relative position information so that the aerial detection device can be hovered to a preset observation position.
- 4. The ground-to-air transformer substation inspection method according to claim 3, wherein the step of calculating the relative position information of the aerial detection device and the ground inspection device by the second master control module according to the infrared light pattern and adjusting the motion track of the aerial detection device according to the relative position information specifically comprises:acquiring a conversion matrix formed by azimuth information, height information and distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera according to the following formula:T＝NM-1；wherein, T is a conversion matrix formed by azimuth information, height information, distance information of the aerial detection device relative to the ground inspection device and parameter information of the infrared camera, M is a feature matrix of a preset pattern formed by physical arrangement of the plurality of infrared light emitters, and N is a feature matrix of an infrared light pattern acquired by the infrared camera in real time;and the second main control module adjusts the motion track of the aerial detection device according to the azimuth information, the height information and the distance information of the aerial detection device relative to the ground inspection device, so that the aerial detection device can hover to a preset observation position.
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| CN108319248A (en) * | 2018-05-11 | 2018-07-24 | 天津职业技术师范大学 | A kind of substation monitoring system based on LabView and unmanned plane |
| CN109240290B (en) * | 2018-09-04 | 2021-09-03 | 南京理工大学 | Method for determining return route of power inspection robot |
| CN110715683B (en) * | 2019-09-03 | 2021-06-29 | 宿州山海经测地理信息科技有限公司 | Geographic information data acquisition device and data acquisition method |
| CN110647082A (en) * | 2019-10-09 | 2020-01-03 | 宁波思高信通科技有限公司 | Intelligent inspection system for machine room and working method of intelligent inspection system |
| CN110752668B (en) * | 2019-10-25 | 2021-08-24 | 国网陕西省电力公司电力科学研究院 | Inspection system and inspection method for closed cabinet of transformer substation |
| CN112365622B (en) * | 2020-10-28 | 2022-06-28 | 深圳市朗驰欣创科技股份有限公司 | Inspection system, method, terminal and storage medium |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
| CN112598813A (en) * | 2020-12-01 | 2021-04-02 | 易瓦特科技股份公司 | Intelligent inspection system and inspection method thereof |
| CN113724413A (en) * | 2021-08-31 | 2021-11-30 | 深圳市慧旺电子有限公司 | Miniature electronic inspection system adaptive to dust-free vacuum workshop and inspection equipment thereof |
| CN116388034B (en) * | 2023-03-30 | 2024-03-08 | 江苏泽宇智能电力股份有限公司 | Remote substation inspection system capable of displaying images as inspection |
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| CN202178515U (en) * | 2011-07-30 | 2012-03-28 | 山东鲁能智能技术有限公司 | Transformer station intelligent robot inspection system |
| CN102856827B (en) * | 2012-08-28 | 2015-06-10 | 华北电力大学 | Omnibearing ground-space isomeric substation polling system |
| CN103839194B (en) * | 2014-03-07 | 2017-02-08 | 国家电网公司 | Unmanned aerial vehicle routing inspection image retrieval system and method based on electric transmission line and GIS |
| CN205021585U (en) * | 2015-08-24 | 2016-02-10 | 厦门必万电气有限公司 | Power equipment inspection robot and power equipment inspection robot system |
| CN204965186U (en) * | 2015-09-22 | 2016-01-13 | 武汉科技大学 | Vacant lot amphibious robot that patrols and examines of integration |
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