CN111862379A - Unmanned inspection method for high-speed railway distribution station - Google Patents
Unmanned inspection method for high-speed railway distribution station Download PDFInfo
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- CN111862379A CN111862379A CN202010671920.1A CN202010671920A CN111862379A CN 111862379 A CN111862379 A CN 111862379A CN 202010671920 A CN202010671920 A CN 202010671920A CN 111862379 A CN111862379 A CN 111862379A
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- inspection
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- distribution station
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- speed railway
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to an unmanned inspection method for a high-speed railway distribution substation. The automatic inspection mode is a daily inspection mode of the power distribution station, the inspection robot finishes a conventional inspection task along a specific inspection route, and information such as the environment temperature, the toxic gas condition and the switch position of the switch cabinet in the power distribution station is uploaded to the dispatching terminal. And the dispatching end analyzes the uploaded information and judges the running state in the power distribution substation. The remote manual inspection mode is that a dispatching end worker sends a control instruction to the inspection robot, and the inspection robot is operated remotely to realize inspection operation in a specific area. The unmanned inspection method can replace the daily inspection work of workers, and further promotes the unattended development of a high-speed railway distribution station.
Description
Technical Field
The invention relates to the technical field of unmanned inspection by robots, in particular to unmanned inspection applied to a high-speed railway distribution station.
Background
The rail transit passes through an unmanned zone along the line, the unattended power transformation and distribution station of the high-speed railway power distribution station refers to a power transformation and distribution station which is monitored and operated locally by no fixed on-duty personnel, and the control and the monitoring are completed by a dispatching center. Has the important advantages of saving investment, saving operation cost, improving reliability and the like. Therefore, unattended transformer and distribution substations are increasingly widely used in the railway power supply department. Unattended substation power distribution has proven its great economic advantages and safety, reliability in practice. The unattended transformer and distribution substation is undoubtedly the trend of the railway transformer and distribution substation, is the development direction of the modern railway power supply system, and is an effective measure for promoting the safe operation and production management modernization of the railway power system.
The japan is a major intelligent robot country, and not only is the research of various robots, but also the emphasis of development is placed on the application of mobile robots, and it is desired to use robots to replace humans to work in various severe environments to serve humans (including severe natural environments where humans are difficult to be involved, working environments where a large amount of work is required, and works in high-risk environments such as nuclear reactor, nuclear waste cleaning, mine removal, etc.). The japanese four-country electric power company, toshiba corporation and other research institutes together design and manufacture a rail mobile robot for monitoring substation equipment, but due to some technical problems, the rail mobile robot only tries to run in 2-3 substations, and terminates subsequent research and development.
Because the starting time is relatively late, China has great difference in research of the intelligent mobile robot in comparison with advanced countries such as Europe and America in the aspects of development technical level, realization function, field application degree and the like of the intelligent robot. The robot model developed at home at present comprises a fire-fighting robot, a security robot and the like, and the adopted motion modes comprise a crawler type and a wheel type; some of the devices also adopt a rail-guided mode, so that obstacles can be avoided within a small range in a limited way; the anthropomorphic robot is also only in the exploration phase. Although the robot industry is developed rapidly at the present stage in China, the robot is rarely applied to the field of high-speed railways, and functions such as unattended operation, routing inspection and the like are certainly an important application field of the future robot.
Disclosure of Invention
The invention aims to provide an unmanned inspection method for a high-speed railway distribution station, which can effectively solve the problem that a high-speed railway distribution system is unattended.
The purpose of the invention is realized by the following technical scheme: an unmanned inspection method for a high-speed railway distribution station is provided, and an inspection robot is configured for the high-speed railway distribution station, and comprises the following steps:
firstly, selecting a polling mode of a polling robot, wherein the polling mode is divided into a remote manual polling mode and an automatic polling mode, and the polling robot defaults to the automatic polling mode; the dispatching staff adjusts the inspection robot to a remote manual inspection mode at the dispatching end, and sends an instruction to the inspection robot at the remote end to realize the inspection of the inspection robot along the route required by the dispatching staff;
secondly, the inspection robot detects and analyzes the gas in the power distribution station by using a carried toxic gas detection device, wherein the detection comprises oxygen content detection, carbon monoxide detection, methane gas detection and hydrogen sulfide gas detection; the operating temperature of the switch cabinet is detected by the infrared temperature sensor, and the switch position and the instrument of the switch cabinet are detected by the high-definition camera.
And thirdly, a 4G network communication system is integrated in the inspection robot, and video information shot by a high-definition camera and information of the temperature and the content of toxic gas in the power distribution substation are transmitted to a dispatching terminal through a 4G network.
And fourthly, uploading the information in the power distribution station to a dispatching terminal in the process of routing inspection along the fixed route by the routing inspection robot, and analyzing and judging the data by a dispatching worker through the terminal.
The inspection robot is carried out along a preset route in the power distribution station in an automatic inspection mode.
In order to guarantee that the unmanned inspection process can be carried out uninterruptedly, the main controller of the inspection robot is used for monitoring the electric quantity of the inspection robot, and when the electric quantity is lower than a set value, the inspection robot automatically carries out autonomous wireless charging to a wireless charging pile. The unmanned inspection method has the following beneficial effects: the unmanned inspection method can further promote the unattended development of the high-speed railway distribution station. The inspection robot can completely replace the fixed value guard of a person at a power distribution station according to a specific inspection mode, complete the daily inspection of the power distribution station, and inspect the switch position of a circuit breaker, the gas leakage condition of a switch cabinet and the monitoring of the environmental state. And uploading the field condition to a dispatching end by utilizing a wireless communication technology and alarming the suspicious field condition. The dispatching end can remotely control the inspection robot to monitor a specific position.
Drawings
Fig. 1 is a block diagram of an inspection robot in the unmanned inspection method of the invention.
Fig. 2 is a flow chart of the unmanned inspection work of the present invention.
Detailed Description
In order to meet the requirements of all functions of unmanned inspection, the components contained in the inspection robot are shown in figure 1. The photoelectric sensor is used for autonomous tracking navigation along a preset route; the infrared ranging module is used for judging the position of the switch cabinet; the wireless charging module is used for wirelessly charging the inspection robot; the four-quadrant driving module is used for driving the robot to move along a target route; the gas detection sensor is used for detecting gas components in the power distribution station; the infrared temperature sensor is used for detecting equipment in the distribution substation; the wireless communication module is used for communicating with the remote control terminal; the omnibearing rotary table module is used for supporting the camera and providing omnibearing rotation; the A/D conversion module is used for converting the analog signal of the sensor into a digital signal; and the controller module is connected with the A/D conversion module and used for receiving and processing the data from the sensor. And generating a control signal by using the received data of the photoelectric sensor and adopting a control algorithm to control the four-quadrant driving module so as to ensure that the robot moves according to a planned routing inspection route. The A/D conversion module is connected with the photoelectric sensor, the infrared temperature sensor and the infrared distance measurement module and converts analog signals into digital signals to be transmitted to the control module. The control module is connected with the four-quadrant driving module, the gas detection sensor, the wireless communication module, the camera module and the omnibearing rotary table module, and is used for receiving environmental information and judging the environmental safety state. The camera image information is uploaded to the dispatching center through the wireless communication module.
The unmanned inspection flow chart of the power distribution station is shown in fig. 2, and the unmanned inspection flow comprises the following steps:
firstly, the inspection robot selects an inspection mode, the inspection mode is divided into manual inspection and automatic inspection, the inspection robot defaults the inspection mode to be automatic inspection, and if the inspection mode is automatic inspection, the second step is executed.
And step two, the inspection robot is continuously repeated along a preset route in the power distribution substation in the automatic inspection mode, and step three is executed in the repeated process.
And step three, the inspection robot uploads the information in the power distribution substation to a dispatching terminal in the inspection process along the fixed route, and the terminal analyzes and judges the data.
And step four, the dispatching staff can adjust the inspection robot to a manual inspection mode at the dispatching end and send an instruction to the inspection robot at a far end, so that the inspection robot can inspect along the route required by the dispatching staff.
The information collected in the power distribution station in the third step comprises the following steps: the inspection robot utilizes the toxic gas detection module to detect and analyze gas in a power distribution station, if the oxygen content is detected, carbon monoxide is detected, methane gas is detected and hydrogen sulfide gas is detected, the infrared temperature sensor detects the operating temperature of the switch cabinet, and the high-definition camera detects the switch position of the switch cabinet. And the information transmission in the unmanned inspection process is completed by utilizing a 4G network communication system integrated in the inspection robot.
For guaranteeing that the unmanned process of patrolling and examining can go on incessantly, to patrolling and examining robot main control unit configuration battery power monitoring module, accomplish and patrol and examine robot power monitoring work, when the electric quantity is less than the setting value, patrol and examine the robot and carry out autonomic wireless charging to predetermined wireless charging stake department automatically, when the electric quantity is full of, patrol and examine the robot and resume automatically to patrolling and examining the mode and patrol and examine the distribution station to independently.
Claims (3)
1. An unmanned inspection method for a high-speed railway distribution station is provided, and an inspection robot is configured for the high-speed railway distribution station, and comprises the following steps:
firstly, selecting a polling mode of a polling robot, wherein the polling mode is divided into a remote manual polling mode and an automatic polling mode, and the polling robot defaults to the automatic polling mode; the dispatching staff adjusts the inspection robot to a remote manual inspection mode at the dispatching end, and sends an instruction to the inspection robot at the remote end to realize the inspection of the inspection robot along the route required by the dispatching staff;
secondly, the inspection robot detects and analyzes the gas in the power distribution station by using a carried toxic gas detection device, wherein the detection comprises oxygen content detection, carbon monoxide detection, methane gas detection and hydrogen sulfide gas detection; the operating temperature of the switch cabinet is detected by the infrared temperature sensor, and the switch position and the instrument of the switch cabinet are detected by the high-definition camera.
And thirdly, a 4G network communication system is integrated in the inspection robot, and video information shot by a high-definition camera and information of the temperature and the content of toxic gas in the power distribution substation are transmitted to a dispatching terminal through a 4G network.
And fourthly, uploading the information in the power distribution station to a dispatching terminal in the process of routing inspection along the fixed route by the routing inspection robot, and analyzing and judging the data by a dispatching worker through the terminal.
2. The unmanned inspection method for the distribution substation of the high-speed railway according to claim 1, characterized in that: the inspection robot is carried out along a preset route in the power distribution station in an automatic inspection mode.
3. The unmanned inspection method for the distribution substation of the high-speed railway according to claim 1, characterized in that: patrol and examine robot main control unit monitoring and patrol and examine robot electric quantity, when the electric quantity is less than the setting value, patrol and examine that the robot is automatic to wireless electric pile department of filling and independently charge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010671920.1A CN111862379A (en) | 2020-07-14 | 2020-07-14 | Unmanned inspection method for high-speed railway distribution station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010671920.1A CN111862379A (en) | 2020-07-14 | 2020-07-14 | Unmanned inspection method for high-speed railway distribution station |
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| CN111862379A true CN111862379A (en) | 2020-10-30 |
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| CN202010671920.1A Pending CN111862379A (en) | 2020-07-14 | 2020-07-14 | Unmanned inspection method for high-speed railway distribution station |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230667A (en) * | 2020-12-11 | 2021-01-15 | 苏州光格设备有限公司 | Multi-robot scheduling method for inspection robot and fire-extinguishing robot system |
| CN113298961A (en) * | 2021-04-27 | 2021-08-24 | 淮阴工学院 | Roadside parking automatic charging device and control method thereof |
| US11352035B1 (en) * | 2021-01-13 | 2022-06-07 | East China Jiaotong University | Auxiliary monitoring system for traction substation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN108646690A (en) * | 2018-06-15 | 2018-10-12 | 浙江国自机器人技术有限公司 | A kind of distribution room monitoring system |
| CN208663818U (en) * | 2018-07-26 | 2019-03-29 | 杭州电力设备制造有限公司 | A kind of wheeled power distribution room intelligent inspection robot |
-
2020
- 2020-07-14 CN CN202010671920.1A patent/CN111862379A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN108646690A (en) * | 2018-06-15 | 2018-10-12 | 浙江国自机器人技术有限公司 | A kind of distribution room monitoring system |
| CN208663818U (en) * | 2018-07-26 | 2019-03-29 | 杭州电力设备制造有限公司 | A kind of wheeled power distribution room intelligent inspection robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230667A (en) * | 2020-12-11 | 2021-01-15 | 苏州光格设备有限公司 | Multi-robot scheduling method for inspection robot and fire-extinguishing robot system |
| CN112230667B (en) * | 2020-12-11 | 2021-04-27 | 苏州光格科技股份有限公司 | Multi-robot scheduling method for inspection robot and fire-extinguishing robot system |
| US11352035B1 (en) * | 2021-01-13 | 2022-06-07 | East China Jiaotong University | Auxiliary monitoring system for traction substation |
| CN113298961A (en) * | 2021-04-27 | 2021-08-24 | 淮阴工学院 | Roadside parking automatic charging device and control method thereof |
| CN113298961B (en) * | 2021-04-27 | 2022-05-17 | 淮阴工学院 | Roadside parking space automatic charging device and control method thereof |
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Application publication date: 20201030 |