CN108761282A - A kind of ultrasonic wave shelf depreciation auto-check system and its method based on robot - Google Patents
A kind of ultrasonic wave shelf depreciation auto-check system and its method based on robot Download PDFInfo
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- CN108761282A CN108761282A CN201810347442.1A CN201810347442A CN108761282A CN 108761282 A CN108761282 A CN 108761282A CN 201810347442 A CN201810347442 A CN 201810347442A CN 108761282 A CN108761282 A CN 108761282A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 107
- 238000007689 inspection Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 208000028659 discharge Diseases 0.000 claims description 43
- 239000004519 grease Substances 0.000 claims description 22
- 229920001296 polysiloxane Polymers 0.000 claims description 22
- 238000003745 diagnosis Methods 0.000 claims description 15
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 238000002405 diagnostic procedure Methods 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
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- 230000006872 improvement Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000004020 conductor Substances 0.000 description 2
- 239000002923 metal particle Substances 0.000 description 2
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- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
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Abstract
The invention discloses a kind of ultrasonic wave shelf depreciation auto-check system and its method based on robot, including the ultrasonic wave shelf depreciation automatic detection device being mounted on polling robot mechanical arm arm and the Partial Discharge Detection and diagnosing system software that are communicated with crusing robot；Ultrasonic wave shelf depreciation automatic detection device is used to detect the Partial discharge signal of GIL/GIS equipment, and Partial Discharge Detection and diagnosing system software are sent data to by the crusing robot；The Partial Discharge Detection and diagnosing system software work for establishing task, order crusing robot by task execution inspection, and receive the data of crusing robot transmission and stored, shown and diagnosed.The automatic detection device of the present invention implements intelligent patrol detection task, completes to work to the insulating properties detection of GIL/GIS equipment, this method can effectively find GIL/GIS equipment breakdown hidden danger, ensure GIL/GIS equipment safety operations.
Description
Technical field
The present invention relates to the technical field of insulation detection of power equipment, it is related to a kind of ultrasonic wave based on robot and locally puts
Electric auto-check system and its method.
Background technology
Totally-enclosed transmission line of electricity GIL (the Gas-insulated Metal-enclosed of gas-insulated metal
Transmission Line, GIL), GIL be also known as " pipeline bus ", be it is a kind of use SF6Gas or SF6With N2Deng insulation gas
Body, which mixes, is used as dielectric, the high current of grounding shell and inner tubular conductor coaxial arrangement, high-voltage power transmission device,
It realizes and conveys comparable electricity with aerial power transmission line, extra long distance GIL large capacity transmissions have been more and more widely used, therefore
The safe operation of GIL is most important for electric system, and to ensure the operation of GIL safety, it is necessary to reinforce and pay attention to set GIL
Standby Partial Discharge Detection work.Shelf depreciation refers in Electric Power Equipment Insulation system, since there are crackle, gas in insulator
Gap, tip-like protrusion, the metal particle that can move freely, fixed particle or its around there are floating potentical body, conductor are indirect
The reasons such as bad are touched, and causes power equipment regional area there is a phenomenon where electric discharge, leak electricity.GIL will appear suspension in operation
The free metal body of current potential body or certain length discharges, while the insulation defect generated in busbar can also cause corona discharge.From
It is the principal element for reducing the apparatus insulated performances of GIL by metal particle, these problems can cause GIL to break down in operation.
In any case, certain partial discharge phenomenons may exist for a long time, and shelf depreciation occurs every time can all cause GIL insulation
Damage, when this damage accumulation to a certain extent when, eventually result in GIL equipment damages.
Due to GIL equipment distances, it is not easy to arrange sensing network on a large scale to implement to monitor on-line, simultaneously because GIL
Equipment pilot to be measured is more, test position height is different, therefore detection workload is larger, not only of high cost using artificial detection, and
And efficiency is low, is also unfavorable for the integration of data.In addition, because the flange face of long range GIL equipment uses all-metal closure designs,
So superfrequency method cannot be used to carry out Partial Discharge Detection to GIL.
In addition, with the continuous improvement of China's voltage class of electric power system, gas-insulated metal-enclosed in substation opens
The volume and usage quantity for closing equipment (Gas-insulated Metal-enclosed Switchgear) are also continuously increased, often
The workload for advising artificial detection is huge, if the work can be completed using intelligent robot automatic detecting, will greatly improve work
Make efficiency and detection result.
Invention content
For existing long range GIL and large volume GIS device be not easy to implement on-line monitoring, manual inspection it is of high cost and imitate
Rate is low, cannot use the problems such as superfrequency method detection, the present invention propose a kind of ultrasonic wave shelf depreciation based on robot from
Dynamic diagnostic system and its method, crusing robot implement intelligent patrol detection times by carrying ultrasonic wave shelf depreciation automatic detection device
Business is completed to work to the insulating properties detection of GIL/GIS equipment.This method is safe and efficient, of low cost, while can effectively send out
Existing GIL/GIS equipment breakdown hidden danger, ensures GIL/GIS equipment safety operations.
To achieve the goals above, the present invention adopts the following technical scheme that：
The invention discloses a kind of ultrasonic wave shelf depreciation auto-check system based on robot, which is characterized in that packet
It includes the ultrasonic wave shelf depreciation automatic detection device being mounted on polling robot mechanical arm arm and is led to crusing robot
The Partial Discharge Detection and diagnosing system software of news；Ultrasonic wave shelf depreciation automatic detection device is for detecting GIL/GIS equipment
Partial discharge signal, Partial Discharge Detection and diagnosing system software are sent data to by the crusing robot；Shelf depreciation
Detection and diagnosing system software are deployed in background server, and for establishing task, order crusing robot is patrolled by task execution
Work is examined, and receives the data of the crusing robot transmission and is stored, shown and diagnosed, is set to obtain GIL/GIS
Standby state of insulation；The ultrasonic wave shelf depreciation automatic detection device include Telescopic rotating structural unit, Comprehensive Control unit,
Sliding extension arm, rotating arm, silicone grease spraying and erasing unit and bindiny mechanism's unit；Comprehensive Control unit passes through Telescopic rotating knot
Structure unit, bindiny mechanism's unit are connected with crusing robot；The sliding extension arm is mounted on the side of Comprehensive Control unit, can
Slide back and forth it is flexible, the rotating arm be mounted on sliding extension arm end, can be rotated in sliding extension arm lateral plane, it is described
Silicone grease is sprayed with the setting of erasing unit on rotating arm outer end top, and the rotating arm end face is equipped with shelf depreciation supersonic sensing
Device.
It is equipped between above-mentioned shelf depreciation ultrasonic sensor and rotating arm for making shelf depreciation ultrasonic sensor
Ultrasonic probe is closely attached to the spring assembly of GIL/GIS equipment surfaces when detecting.
Above-mentioned ultrasonic wave shelf depreciation automatic detection device uses RS485 interfaces, Ethernet interface and wireless module interface
It is communicated with crusing robot.
The power supply of above-mentioned ultrasonic wave shelf depreciation automatic detection device uses 24V lithium batteries, is supplied by crusing robot fuselage
Electricity.
Above-mentioned Partial Discharge Detection and diagnosing system software include system software, Partial Discharge Detection and diagnostic system service
And database, the system software is for display data, management archives and patrol task；The Partial Discharge Detection and diagnosis system
Service arrangement unite in the server, for providing Partial discharges diagnosis algorithm, big data algorithm, data parsing algorithms class service interface,
It is called for system software；The system software is detached in Partial Discharge Detection and diagnostic system Service Design.
Above system software typing GIL/GIS equipment pilot information to be measured establishes patrol task, is patrolled with described by WiFi
Robot communication is examined, orders the crusing robot to execute inspection work, the crusing robot is along GIL/GIS equipment routing inspection rails
Road is advanced, and is reached each measuring point executive board to be checked successively and is put detection work, data transmission is gone back to system software, institute after the completion of detection
State storage, displaying and diagnosis of the system software realization to data.
The diagnostic method of the ultrasonic wave shelf depreciation auto-check system based on robot of the present invention, including following step
Suddenly：
(1) crusing robot marches to the 1st pilot to be measured in GIL/GIS piping lanes, and the ultrasonic wave is locally put
Mechanical arm acts on electric automatic detection device, and the ultrasonic wave shelf depreciation being mounted on mechanical arm is detected dress automatically
It sets and is placed on pilot surface to be measured, the crusing robot sends acquisition instructions, and the ultrasonic wave shelf depreciation detects dress automatically
It sets and starts gathered data after receiving acquisition instructions, simultaneously, the crusing robot polling ultrasonic wave shelf depreciation is certainly for acquisition
Whether motion detection device, which is completed, acquires, and after receiving completion feedback, starts to the ultrasonic wave shelf depreciation automatic detection device
Data are obtained, data acquisition is completed, and collected data transmission to Partial Discharge Detection and diagnosis are by the crusing robot
System software；
(2) the ultrasonic wave shelf depreciation automatic detection device carries the silicone grease of setting quantity, each to be tested in detection
Before point, after often completing setting number Detection task, the crusing robot executes the action of silicone grease smearing, and the shelf depreciation is surpassed
The ultrasonic probe of sonic sensor smears silicone grease, is completed when test point detects, and the crusing robot executes silicone grease erasing move,
By remaining silicone grease erasing on tested pilot surface；
(3) Partial Discharge Detection and diagnosing system software the data received are stored, analysis and diagnosis, when examining
When disconnected abnormal, instruction is sent, the crusing robot is ordered to enter fine mode, using current abnormal pilot A to be measured as basic point, inspection
The data for surveying N number of point within the scope of surrounding D upload background server, are diagnosed to N number of point data, obtain abnormal most serious
Point B, then using B points as basic point, the data for detecting N number of point within the scope of surrounding D/2 upload background server, then to N number of point
Position data are diagnosed, and the point of abnormal most serious is eventually found, and complete accurate measurement work；The crusing robot presses patrol task
It is required that each pilot to be measured is detected successively, until the last one, is finally completed a patrol task.
In step (1), the ultrasonic wave shelf depreciation automatic detection device acquires AE amplitudes, AE waveforms, AE pulses successively
With AE phase spectrum datas.
In step (2), the value of the D is 0.5m, and the value of N is 8.
Beneficial effects of the present invention are：(1) labor intensity for reducing testing staff, improves work efficiency；(2) it forms
Intelligent inspection system based on robot；(3) normalization and the accuracy of partial discharge test are improved；(4) GIL/GIS is provided to set
The storage of standby data record, analysis and diagnosis, foundation is provided for repair based on condition of component, effectively pushes GIL/GIS equipment ultrasonic wave part
Discharge live detection intelligent Process.
Description of the drawings
Fig. 1 is the ultrasonic wave shelf depreciation automatic detection device overall schematic for being equipped on crusing robot；
Fig. 2 (a) is ultrasonic wave shelf depreciation automatic detection device front schematic view；
Fig. 2 (b) is ultrasonic wave shelf depreciation automatic detection device side expanded schematic diagram；
Fig. 2 (c) is ultrasonic wave shelf depreciation automatic detection device front schematic view；
Fig. 3 is ultrasonic wave shelf depreciation automatic detection device stereoscopic schematic diagram；
Fig. 4 (a) is that the GIL piping lanes that ultrasonic wave shelf depreciation automatic detection device is loaded into roller type robot are radially cut
Face schematic diagram；
Fig. 4 (b) is that the GIL piping lanes that ultrasonic wave shelf depreciation automatic detection device is loaded into rail mounted robot are radially cut
Face schematic diagram；
Fig. 5 is the schematic diagram of the ultrasonic wave shelf depreciation auto-check system based on robot of the present invention；
Fig. 6 is the automatic detection of ultrasonic wave shelf depreciation and the operating process schematic diagram of diagnostic system of the present invention；
Fig. 7 is that the GIL piping lanes that ultrasonic wave shelf depreciation automatic detection device is loaded on idler wheel mobile robot are axial
Schematic cross-section；
Each label in figure：1, crusing robot；2, Telescopic rotating structural unit；3, Comprehensive Control unit；4, sliding extension
Arm；5, rotating arm；6, silicone grease spraying and erasing unit；7, shelf depreciation ultrasonic sensor；8, bindiny mechanism's unit.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below into
One step illustrates the present invention.
The unit, which is realized, to be monitored and controls to the real-time status of detection device, can be measured and be fed back robot and ultrasound is visited
Head position, at a distance from testee, whether monitoring arrangement working condition normal, self checks whether each detection unit is correctly held
Row detecting step, feedback ultrasonic probe and tube contacts pressure are obtaining correctly inspection to ensure to detect progress working properly
Measured data simultaneously, will not damage equipment and instrument.The unit also realizes the information exchange with outside, by passing data
It transports to far-end server and passes through diagnosing system software in the server and analyze, obtain diagnostic result.Meanwhile the unit can be deposited
A certain amount of detection information is stored up, not cause loss of data in device catastrophic failure.
Software for Design includes 3 parts：Partial Discharge Detection and diagnosing system software, Partial Discharge Detection and diagnostic system
Service and database, Partial Discharge Detection and diagnosing system software are mainly used for display data, management archives and patrol task, office
Portion's discharge examination and diagnostic system service arrangement in the server, for providing Partial discharges diagnosis algorithm, big data algorithm, data solution
Scheduling algorithm class service interface is analysed, is called for Partial Discharge Detection and diagnosing system software, Partial Discharge Detection and diagnostic system are soft
Separation in part and Partial Discharge Detection and diagnostic system Service Design so that system is more modular, sharpening, has maintenance
Simply, the features such as scalability is good.Partial Discharge Detection is built with diagnosing system software typing GIL/GIS equipment pilot information to be measured
Vertical patrol task, is communicated by WiFi and crusing robot 1, and order robot executes inspection work, and crusing robot 1 is along GIL/
GIS device inspection track is advanced, and is reached each measuring point executive board to be checked successively and is put detection work, by data transmission after the completion of detection
Partial Discharge Detection and diagnosing system software are returned, system software can realize parsing, storage, analysis, displaying and diagnosis to data
Etc. functions.
The system carries ultrasonic wave shelf depreciation automatic detection device detection GIL/GIS equipment using crusing robot 1
Local discharge signal realizes the purpose of the detection apparatus insulated states of GIL/GIS.
Detection is as follows with diagnostic device concrete condition：
Referring in Fig. 1, ultrasonic wave shelf depreciation automatic detection device includes Telescopic rotating structural unit 2, Comprehensive Control list
Member 3, sliding extension arm 4, rotating arm 5, silicone grease spraying and erasing unit 6 and bindiny mechanism's unit 8；The Comprehensive Control unit 3
It is connected with crusing robot 1 by Telescopic rotating structural unit 2, bindiny mechanism's unit 8；The sliding extension arm 4 is mounted on comprehensive
Close control unit 3 side, can slide back and forth it is flexible, the rotating arm 5 be mounted on 4 end of sliding extension arm, can be stretched in sliding
Rotation in 4 lateral plane of contracting arm, the silicone grease spraying are arranged with erasing unit 6 in 5 outer end top of rotating arm, the rotating arm 5
End face is equipped with shelf depreciation ultrasonic sensor 7.
Comprehensive Control unit 3 is connected by Telescopic rotating structural unit 2, bindiny mechanism's unit 8 with wheeled robot 1.
The unit, which is realized, to be monitored and controls to the real-time status of detection device, can be measured and be fed back robot and ultrasound is visited
Head position, at a distance from testee, whether monitoring arrangement working condition normal, self checks whether each detection unit is correctly held
Row detecting step, feedback ultrasonic probe and tube contacts pressure are obtaining correctly inspection to ensure to detect progress working properly
Measured data simultaneously, will not damage equipment and instrument.The unit also realizes the information exchange with outside, by passing data
It transports to far-end server and passes through diagnosing system software in the server and analyze, obtain diagnostic result.Meanwhile the unit can be deposited
A certain amount of detection information is stored up, not cause loss of data in device catastrophic failure.
Fig. 2 (a), Fig. 2 (b), Fig. 2 (c) and Fig. 3 give GIL/GIS Partial Discharge Detections and diagnostic device schematic diagram, sliding
Dynamic telescopic arm 4 is mounted on 3 right side of Comprehensive Control unit, can slide back and forth flexible.Rotating arm 5 is mounted on 4 end of sliding extension arm,
It can be rotated in 4 lateral plane of sliding extension arm.
As shown in Fig. 4 (a) and Fig. 4 (b), detection device has mounted on the upper two kinds of sides of wheeled robot or track machine people
Formula.When on wheeled robot 1, robot moves forward on the ground in piping lane, by Comprehensive Control unit 3
Laser radar and position control unit ensure effective according to the traveling of correct advance route and mechanical arm and test point in piping lane
Contact.When on track machine people, Robot top rail is advanced, and can determine self-position by position sensor,
And pass through the local discharge sensor at laser radar control machinery arm end and test point contact.
The specific implementation of detect and diagnose method is as shown in Figure 5 and Figure 6.Partial Discharge Detection is run in background server and is examined
Disconnected system software, executes for the first time, creates patrol task, is preserved after each pilot information to be measured of typing GIL/GIS equipment, with
Just it is multiplexed next time, software is communicated by WiFi and crusing robot 1, and order robot executes patrol task, Robot
The traveling of GIL/GIS equipment routing inspection tracks starts to execute inspection work.
As shown in fig. 7, robot marches to the 1st pilot to be measured in GIL/GIS piping lanes, ultrasonic wave shelf depreciation is automatic
Mechanical arm acts in detection device, the ultrasonic wave shelf depreciation automatic detection device moderate pressure that will be mounted on mechanical arm
Be placed on pilot surface to be measured, robot sends acquisition instructions, and ultrasonic wave shelf depreciation automatic detection device receives acquisition and refers to
Start gathered data after order, acquire AE amplitudes, AE waveforms, AE pulses and AE phase spectrum datas successively, acquires simultaneously, robot
Whether polling ultrasonic wave shelf depreciation automatic detection device is completed to acquire, and after receiving completion feedback, starts to ultrasonic wave
Shelf depreciation automatic detection device obtain data, data acquisition complete, robot by WiFi by collected data transmission extremely
Remote server.
Ultrasonic wave shelf depreciation automatic detection device carries a certain number of silicone grease, before each pilot to be measured of detection, often
After completing certain number Detection task, robot executes the action of silicone grease smearing, sonac ultrasonic probe is smeared suitable
Silicone grease is placed on pilot surface to be measured so that ultrasound transducer probe is closer, is conducive to the acquisition of ultrasonic signal, works as survey
Pilot detection is completed, and robot executes silicone grease erasing move, attempts to wipe remaining silicone grease on tested pilot surface.
Remote server is stored the data received, analysis and diagnosis sends instruction, order when diagnosing abnormal
Robot enters fine mode, using current abnormal pilot A to be measured as basic point, detects the data of 8 points within the scope of surrounding 0.5m
Background server is uploaded, 8 point data are diagnosed, obtain the point B of abnormal most serious, then using B points as basic point, is detected
The data of 8 points upload background server within the scope of surrounding 0.25m, then are diagnosed to 8 point data, eventually find different
The point of normal most serious completes accurate measurement work.Robot detects each pilot to be measured successively by patrol task requirement, until most
The latter is finally completed a patrol task.
The foregoing is merely the preferred embodiment of the present invention, protection scope of the present invention is not limited in above-mentioned embodiment party
Formula, every technical solution for belonging to the principle of the invention all belong to the scope of protection of the present invention.For those skilled in the art
Speech, several improvement carried out without departing from the principles of the present invention, these improvement also should be regarded as the protection model of the present invention
It encloses.
Claims (9)
1. a kind of ultrasonic wave shelf depreciation auto-check system based on robot, which is characterized in that including being mounted in survey monitor
Ultrasonic wave shelf depreciation automatic detection device on device people (1) mechanical arm and the part communicated with crusing robot (1)
Discharge examination and diagnosing system software；
The ultrasonic wave shelf depreciation automatic detection device is used to detect the Partial discharge signal of GIL/GIS equipment, passes through the inspection
Robot (1) sends data to Partial Discharge Detection and diagnosing system software；
The Partial Discharge Detection and diagnosing system software are deployed in background server, for establishing task, order survey monitor
Device people (1) by task execution inspection work, and receive the crusing robot (1) transmission data and stored, show and
Diagnosis, to obtain the state of insulation of GIL/GIS equipment；
The ultrasonic wave shelf depreciation automatic detection device includes Telescopic rotating structural unit (2), Comprehensive Control unit (3), slides
Dynamic telescopic arm (4), rotating arm (5), silicone grease spraying and erasing unit (6) and bindiny mechanism's unit (8)；The Comprehensive Control unit
(3) it is connected with crusing robot (1) by Telescopic rotating structural unit (2), bindiny mechanism's unit (8)；The sliding extension arm
(4) be mounted on Comprehensive Control unit (3) side, can slide back and forth it is flexible, the rotating arm (5) be mounted on sliding extension arm
(4) end can rotate in sliding extension arm (4) lateral plane, and the silicone grease spraying is arranged with erasing unit (6) in rotating arm
(5) outer end top, rotating arm (5) end face are equipped with shelf depreciation ultrasonic sensor (7).
2. the ultrasonic wave shelf depreciation auto-check system according to claim 1 based on robot, which is characterized in that institute
It states and is equipped between shelf depreciation ultrasonic sensor (7) and rotating arm (5) for making the super of shelf depreciation ultrasonic sensor (7)
Sonic probe is closely attached to the spring assembly of GIL/GIS equipment surfaces when detecting.
3. the ultrasonic wave shelf depreciation auto-check system according to claim 1 based on robot, which is characterized in that institute
It states ultrasonic wave shelf depreciation automatic detection device and uses RS485 interfaces, Ethernet interface and wireless module interface and inspection machine
People (1) communicates.
4. the ultrasonic wave shelf depreciation auto-check system according to claim 1 based on robot, which is characterized in that institute
The power supply for stating ultrasonic wave shelf depreciation automatic detection device uses 24V lithium batteries, is powered by crusing robot (1) fuselage.
5. the ultrasonic wave shelf depreciation auto-check system according to claim 1 based on robot, which is characterized in that institute
It states Partial Discharge Detection and diagnosing system software includes system software, Partial Discharge Detection and diagnostic system service and database,
The system software is for display data, management archives and patrol task；The Partial Discharge Detection and diagnostic system service department
Administration is in the server, soft for system for providing Partial discharges diagnosis algorithm, big data algorithm, data parsing algorithms class service interface
Part calls；The system software is detached in Partial Discharge Detection and diagnostic system Service Design.
6. the ultrasonic wave shelf depreciation auto-check system according to claim 5 based on robot, which is characterized in that institute
It states system software typing GIL/GIS equipment pilot information to be measured and establishes patrol task, pass through WiFi and the crusing robot (1)
Communication orders the crusing robot (1) to execute inspection work, and the crusing robot (1) is along GIL/GIS equipment routing inspection tracks
It advances, reaches each measuring point executive board to be checked successively and put detection work, data transmission is returned into system software after the completion of detection, it is described
System software realizes the storage, displaying and diagnosis to data.
7. the diagnostic method of the ultrasonic wave shelf depreciation auto-check system according to claim 1 based on robot,
It is characterized in that, includes the following steps：
(1) crusing robot (1) marches to the 1st pilot to be measured, the ultrasonic wave shelf depreciation in GIL/GIS piping lanes
Mechanical arm acts on automatic detection device, the ultrasonic wave shelf depreciation automatic detection device that will be mounted on mechanical arm
It is placed on pilot surface to be measured, the crusing robot (1) sends acquisition instructions, and the ultrasonic wave shelf depreciation detects dress automatically
It sets and starts gathered data after receiving acquisition instructions, acquire simultaneously, crusing robot (1) the polling ultrasonic wave shelf depreciation
Whether automatic detection device, which is completed, acquires, and after receiving completion feedback, starts to detect dress automatically to the ultrasonic wave shelf depreciation
Acquisition data are set, data acquisition is completed, and the crusing robot (1) is by collected data transmission to Partial Discharge Detection and examines
Disconnected system software；
(2) the ultrasonic wave shelf depreciation automatic detection device carries the silicone grease of setting quantity, before each pilot to be measured of detection,
After often completing setting number Detection task, the crusing robot (1) executes the action of silicone grease smearing, by shelf depreciation ultrasound
The ultrasonic probe of wave sensor (7) smears silicone grease, is completed when test point detects, and the crusing robot (1) executes silicone grease erasing
Remaining silicone grease on tested pilot surface is wiped in action；
(3) Partial Discharge Detection and diagnosing system software the data received are stored, analysis and diagnosis, when diagnose it is different
Chang Shi sends instruction, and the crusing robot (1) is ordered to enter fine mode, using current abnormal pilot A to be measured as basic point, inspection
The data for surveying N number of point within the scope of surrounding D upload background server, are diagnosed to N number of point data, obtain abnormal most serious
Point B, then using B points as basic point, the data for detecting N number of point within the scope of surrounding D/2 upload background server, then to N number of point
Position data are diagnosed, and the point of abnormal most serious is eventually found, and complete accurate measurement work；The crusing robot (1) presses inspection
Mission requirements detect each pilot to be measured successively, until the last one, is finally completed a patrol task.
8. the checkout and diagnosis side of the ultrasonic wave shelf depreciation auto-check system according to claim 7 based on robot
Method, which is characterized in that in step (1), the ultrasonic wave shelf depreciation automatic detection device acquire successively AE amplitudes, AE waveforms,
AE pulses and AE phase spectrum datas.
9. the checkout and diagnosis side of the ultrasonic wave shelf depreciation auto-check system according to claim 7 based on robot
Method, which is characterized in that in step (2), the value of the D is 0.5m, and the value of N is 8.
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| CN201810347442.1A CN108761282B (en) | 2018-04-18 | 2018-04-18 | Ultrasonic partial discharge automatic diagnosis system and method based on robot |
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| CN201810347442.1A CN108761282B (en) | 2018-04-18 | 2018-04-18 | Ultrasonic partial discharge automatic diagnosis system and method based on robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541415A (en) * | 2018-12-29 | 2019-03-29 | 广州供电局有限公司 | Partial discharge detection device |
| CN109655720A (en) * | 2018-12-18 | 2019-04-19 | 北京三听科技有限公司 | Partial discharge detection method and device based on two-dimensional sensor array |
| CN110793569A (en) * | 2019-09-27 | 2020-02-14 | 安徽延达智能科技有限公司 | Fire-fighting robot carries on hazardous gas detecting system |
| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
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| CN116559604A (en) * | 2023-05-06 | 2023-08-08 | 上海莫克电子技术有限公司 | Intelligent mobile inspection device, inspection system and control method |
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