CN116559604A - Intelligent mobile inspection device, inspection system and control method - Google Patents
Intelligent mobile inspection device, inspection system and control method Download PDFInfo
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- CN116559604A CN116559604A CN202310505319.9A CN202310505319A CN116559604A CN 116559604 A CN116559604 A CN 116559604A CN 202310505319 A CN202310505319 A CN 202310505319A CN 116559604 A CN116559604 A CN 116559604A
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- 238000007689 inspection Methods 0.000 title claims abstract description 170
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 210
- 238000004891 communication Methods 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000012360 testing method Methods 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000013481 data capture Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000002923 metal particle Substances 0.000 description 1
- 238000005498 polishing 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
- G01R31/1227—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 of components, parts or materials
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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 utility model relates to an intelligent mobile inspection device, inspection system and control method, relate to the detection technical field of partial discharge, including the device body, still including set up in the last control unit of device body, remove the control unit, partial discharge detecting element and joint detection unit, with partial discharge check out test set up on inspection device, it carries out discharge detection to wait to detect equipment in proper order along the route of patrolling and examining by removal control unit control inspection device, need not the hand-held partial discharge detecting instrument and carries out artifical inspection, the manual operation volume is reduced, the safety of staff in the station has been guaranteed, when detecting that equipment species has the partial discharge problem, send joint detection signal, other inspection devices that lie in the station receive joint detection signal, interrupt the inspection, carry out the joint detection of many devices, high-efficient, accurately analyze the position of partial discharge, the reason, be favorable to promoting the efficiency of inspection, guarantee the detection precision of every equipment of waiting to examine simultaneously.
Description
Technical Field
The application relates to the technical field of partial discharge detection, in particular to an intelligent mobile inspection device, an inspection system and a control method.
Background
Partial Discharge (PD) refers to a discharge phenomenon that occurs between electrodes but does not penetrate the electrodes. The cumulative effect of partial discharge will continuously deteriorate the dielectric properties of the insulating material, eventually leading to the occurrence of an insulation breakdown accident. A Gas Insulated Switchgear (GIS) is an important device for delivering electric energy in a power system, has high power supply reliability, and is widely used in 110kv and 220kv power transformation devices. However, the GIS partial discharge problem is still more prominent in actual operation. The main factors causing partial discharge are free metal particles in the device, burrs on the surface of the electrode, floating potential caused by loosening of screws or poor contact, defects of an insulating part, residues in the mounting process and the like. These factors continuously deteriorate the performance of the insulating medium and insulating parts inside the GIS, corrode the conductive parts, and cause GIS insulation accidents.
The partial discharge detection in the prior art still has the following problems:
(1) At present, a plurality of instruments and equipment for detecting GIS partial discharge problems, such as an ultrasonic partial discharge detector, a partial discharge comprehensive tester and the like, are handheld equipment, and need professional testers to carry professional equipment to carry out inspection in power plants and substations, so that the inspection efficiency is low, and the obtained detection data is accurate;
(2) The tester for GIS partial discharge detection needs to be trained by professional skills, knows the working principle, the operation procedure and the using method of various partial discharge detectors, has certain danger, and when in test, the tester needs to wear insulated shoes to strictly adhere to detection regulations and procedures.
In summary, the existing GIS partial discharge detection efficiency is low, and has a potential safety hazard, and the existing GIS partial discharge detection efficiency needs to be improved.
Disclosure of Invention
In order to realize efficient, accurate and safe inspection of the partial discharge problem of a power plant and a transformer substation GIS, the application provides an intelligent mobile inspection device, an inspection system and a control method.
The application provides an intelligent portable inspection device adopts following technical scheme:
the utility model provides an intelligent portable inspection device, includes the device body, still including set up in on the device body:
a control unit that outputs a movement control signal and a detection control signal based on the set and/or temporarily generated and acquired instruction data;
the mobile control unit is in control connection with the control unit, receives and responds to the mobile control signal, and controls the mobile state of the intelligent mobile inspection device;
the partial discharge detection unit is arranged on the device body and comprises at least one partial discharge detection device and a detection driving part for controlling the gesture of the partial discharge detection device; the partial discharge detection equipment and the detection driving part are respectively connected with the control unit in a control way, and receive and respond to the detection control signal to control the working state and the gesture of the partial discharge detection equipment;
the joint detection unit comprises a joint signal receiving device and a joint signal transmitting device which are used for receiving and transmitting joint detection signals, and the joint signal receiving device and the joint signal transmitting device are both in signal connection with the control unit; a power supply;
the combined signal receiving device receives and outputs the combined detection signal to the control unit, and the control unit controls the mobile control unit and the partial discharge tube detection unit based on the combined detection signal.
By adopting the technical scheme, at least one partial discharge detection device is arranged on the inspection device, so that the application range of the inspection device is enlarged, the inspection device is controlled by the mobile control unit to sequentially perform discharge detection on the equipment to be detected along the inspection path, manual inspection of a hand-held partial discharge detection instrument in a power plant and a transformer substation is not required, the manual operation amount is reduced, and the safety of workers in the station is effectively ensured; meanwhile, when one partial discharge detection device detects that the device type has the partial discharge problem, a joint detection signal is sent out, other inspection devices in the station receive the joint detection signal and interrupt inspection, the multi-device joint detection is carried out at the position of the problem device, the position and the reason of the partial discharge are efficiently and accurately analyzed, the inspection efficiency is improved, and meanwhile, the detection precision of each device to be inspected is guaranteed.
Optionally, the control unit includes:
the storage part is used for storing the set instruction data and/or temporarily generated and acquired instruction data;
the command data acquisition part comprises an active acquisition part and a passive acquisition part, wherein the active acquisition part identifies walking and control signals displayed on equipment to be tested on a routing inspection route, or searches setting command data from the storage part to generate and output a first intermediate signal; the passive acquisition component receives an external control signal, converts the external control signal and outputs a second intermediate signal;
the data processing part receives the first intermediate signal and the second intermediate signal, and generates and outputs the movement control signal, the detection control signal and the joint detection signal based on a setting algorithm.
By adopting the technical scheme, the inspection device can automatically or act according to the on-site control signal, further perform ordered inspection on equipment to be inspected in a station or in a factory, and complement active detection and passive acquisition, so that the inspection device can efficiently and accurately optimize and modify a set inspection path according to on-site information.
Optionally, the active acquisition component includes a signal identifier disposed on the device body, and is configured to actively identify and acquire flag information of the device to be tested or a guiding signal fed back from the device to be tested, and generate and output the first intermediate signal;
the passive acquisition piece comprises a signal receiver arranged on the device body, the signal receiver is in communication connection with an external control end, recognizes and receives an external control signal, and generates and outputs the second intermediate signal.
By adopting the technical scheme, the inspection device body can automatically complete tracking and walking according to the guide signal or the mark information projected or arranged on the equipment to be inspected, and finish polishing operation while the tracking and walking
Optionally, the signal identifier comprises an image acquisition device, an infrared identification device and an active signal converter which are arranged on the device body;
the signal receiver comprises a Bluetooth communication module, a WIFI communication module and a passive signal converter.
Through adopting above-mentioned technical scheme, image acquisition device, infrared recognition device that set up on the device body can gather image information and infrared figure information on the route that inspection device passed through in real time, the initiative signal converter is with image information and infrared figure information conversion for first intermediate signal and output to the control unit, bluetooth communication module, WIFI communication module receive the information of external equipment output for inspection device with wireless mode, passive signal converter is with its conversion for the second intermediate signal and output to the control unit, control module is based on initiative, passive two kinds of information acquisition route, plan and revise more excellent removal control signal, detection control signal and joint detection signal.
Optionally, the joint detection signal includes location information, type information, detection sequence information, and detection area information of the problem device.
Optionally, the detection driving part comprises a lifting adjusting part for driving the partial discharge detection device to lift, a rotation adjusting part for driving the partial discharge detection device to rotate in a horizontal plane, and an angle adjusting part for driving the partial discharge detection device to angle;
the detection driving part further comprises an abutting arm used for abutting the partial discharge detection device on the outer surface of the device to be detected, the abutting arm comprises a fixed section and a telescopic section, the partial discharge detection device is arranged at the end part of the telescopic section, a first magnetic body and a second magnetic body are arranged inside the telescopic end, the polarities of the opposite ends of the first magnetic body and the second magnetic body are the same, and the partial discharge detection device is provided with a force abutting the device to be detected.
Through adopting above-mentioned technical scheme, upgrade adjustment portion, rotation regulation portion, angle regulation portion three mutually support, make the partial discharge check out test set who sets up in detecting drive portion tip can nimble motion in the space, nimble fine adjustment in each angle position is applicable to complicated topography in transformer substation, the power plant to and the equipment that awaits measuring of outward appearance is different, first magnetic body and second magnetic body interact provides the power of a closely butt equipment that awaits measuring for partial discharge check out test set, avoid the vibrations of equipment that awaits measuring when detecting to influence the testing result.
Optionally, the movement control unit includes a plurality of omni-wheels disposed on the device body, a motor for driving the omni-wheels to rotate, and a steering control member for controlling steering of the omni-wheels:
the motor and the steering control piece are connected with the control unit in a signal manner, and the motor and the steering control piece are used for receiving and responding to the movement control signal output by the control unit to control the movement state of the device body.
Through adopting above-mentioned technical scheme, omnidirectional wheel and steering control piece mutually support, make to patrol and examine the device and nimble turn, turn around etc. in transformer substation, power plant, avoid bumping the instrument and equipment in transformer substation, the power plant, reduce the probability of accident.
An intelligent mobile inspection system comprises an inspection assembly, a central processing unit, a data communication assembly and a detection assembly, wherein the detection assembly is arranged on an inspection path and used for detecting equipment to be detected;
the inspection assembly comprises at least one intelligent mobile inspection device as described above, and the intelligent mobile inspection device is in communication connection with the central processing unit through the data communication assembly;
the central processing unit is internally provided with a setting algorithm module, receives and responds to the detection signal which is output by the detection component and used for reflecting the condition of the equipment to be detected on the inspection path, generates and outputs instruction data for controlling the intelligent mobile inspection device to detect and move, and transmits the instruction data to the intelligent mobile inspection device through the data communication component.
By adopting the technical scheme, the detection assembly is utilized to detect the terrain and equipment information in the power plant and the transformer substation, the detection assembly is used for transmitting the detection information to the intelligent mobile inspection device, macroscopic adjustment is carried out on the inspection path, the moving speed and the posture and the working state of the partial discharge detection equipment of the intelligent mobile inspection device, and the detection precision of each intelligent mobile inspection device is ensured, and the validity of each measurement result is ensured.
Optionally, the instruction data includes:
route instruction information for controlling the intelligent mobile inspection device to move route;
speed instruction information for controlling the moving speed of the intelligent movable inspection device;
and the detection instruction information is used for controlling the gesture and the working state of the partial discharge detection equipment on the intelligent mobile inspection device.
By adopting the technical scheme, the route instruction information enables the intelligent mobile inspection device to inspect according to the most available path planned by the central processing unit, the inspection time of the inspection device each time is shortened, the speed instruction information enables the intelligent mobile inspection device to properly accelerate on the path, the inspection efficiency is improved, the detection instruction information enables the partial discharge detection equipment of the inspection device to contact with the detection area of the equipment to be detected in the most suitable posture, the collision of the equipment to be detected is avoided, and the detection precision of the inspection device is also ensured.
The control method of the inspection system based on the intelligent mobile inspection system comprises the following steps:
confirming and storing the number of each intelligent mobile inspection device, the type of the partial discharge detection equipment, the detection area on the equipment to be detected and the type of the equipment to be detected;
collecting and storing the position information of the current equipment to be tested;
based on the position information, generating a patrol order of each device to be tested based on a setting algorithm;
selecting an intelligent mobile inspection device with set configuration and outputting the inspection sequence to the intelligent mobile inspection device;
collecting and storing the form information of the detection area on the current equipment to be detected;
based on the form information, generating a detection sequence of each detection area on the equipment to be detected based on a setting algorithm;
when the partial discharge detection equipment of the intelligent mobile inspection device detects a partial discharge phenomenon, outputting a combined detection signal to a central processing unit, and outputting the combined detection signal to other intelligent mobile inspection devices by the central processing unit;
after receiving the combined detection signal, the intelligent mobile inspection device performs combined detection on the problem equipment, and the original inspection sequence is continued after the combined detection.
By adopting the technical scheme, the optimal path is planned for the inspection device by utilizing the stored related information of the equipment to be inspected and the acquired position information of the equipment to be inspected, and the detection sequence of all detection areas on one equipment to be inspected is planned by utilizing the stored related information of the detection areas on the equipment to be inspected and the acquired form information of the detection areas, so that the inspection to be completed is ensured to be reasonably and efficiently realized; when a certain inspection device detects that the partial discharge problem occurs in the equipment, the equipment is combined with other inspection devices to carry out comprehensive combined detection on the problem equipment, and under a combined detection mode, more detailed and accurate partial discharge problem reasons and maintenance schemes can be obtained through analysis of data information returned by a plurality of inspection devices.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the at least one partial discharge detection device is arranged on the inspection device, so that the application range of the inspection device is enlarged, the inspection device is controlled by the mobile control unit to sequentially perform discharge detection on the equipment to be detected along the inspection path, manual inspection of a hand-held partial discharge detection instrument in a power plant and a transformer substation is not needed, the manual operation amount is reduced, and the safety of workers in the station is effectively ensured;
2. when a partial discharge detection device detects that a partial discharge problem exists in the device, a joint detection signal is sent out, other inspection devices in the station receive the joint detection signal, inspection is interrupted, multi-device joint detection is carried out on the position of the problem device, the position and the reason of the partial discharge are efficiently and accurately analyzed, the improvement of inspection efficiency is facilitated, and meanwhile, the detection precision of each device to be inspected is guaranteed.
Drawings
FIG. 1 is a schematic block diagram of the present application;
FIG. 2 is an overall schematic of the present application;
FIG. 3 is a block diagram of the present application;
fig. 4 is a flow chart of the steps of the present application.
Reference numerals: 1. a device body; 2. a control unit; 21. a storage member; 22. an instruction data acquisition unit; 23. a data processing member; 3. a movement control unit; 31. an omni-wheel; 4. a partial discharge detection unit; 41. partial discharge detection equipment; 42. a detection driving part; 5. a joint detection unit; 6. a central processing unit; 7. a data communication component; 8. and a detection assembly.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the inventive concepts. As part of this specification, some of the drawings of the present disclosure represent structures and devices in block diagram form in order to avoid obscuring the principles of the disclosure. In the interest of clarity, not all features of an actual implementation are necessarily described. Furthermore, the language used in the present disclosure has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter, resort to the requisite claims to determine such inventive subject matter. Reference in the present disclosure to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and multiple references to "one embodiment" or "an embodiment" should not be understood as necessarily all referring to the same embodiment.
The terms "a," "an," and "the" are not intended to refer to a singular entity, but rather include the general class of which a particular example may be used for illustration, unless clearly defined. Thus, the use of the terms "a" or "an" may mean any number of at least one, including "one", "one or more", "at least one", and "one or more than one". The term "or" means any of the alternatives and any combination of alternatives, including all alternatives, unless alternatives are explicitly indicated as mutually exclusive. The phrase "at least one of" when combined with a list of items refers to a single item in the list or any combination of items in the list. The phrase does not require all of the listed items unless specifically so defined.
The embodiment of the application discloses an intelligent mobile inspection device. Referring to fig. 1-2, the device comprises a device body 1, wherein the whole device body 1 is in a cuboid shape for simplifying the illustration, and corners are arranged in an arc shape and are provided with structures such as a buffer pad for buffering the collision between the device bodies 1 and the collision between the device body and the equipment to be tested.
The intelligent mobile inspection device is provided with a control unit 2, a mobile control unit 3, a partial discharge detection unit 4, a combined detection unit 5 and a power supply.
In detail, as shown in fig. 1, the control unit 2 outputs a movement control signal for controlling the movement state of the inspection device and a detection control signal for controlling the detection state of the inspection device based on the set and/or temporarily generated and acquired instruction data. The setting instruction data comprise instruction data loaded into a storage device in an initial state, such as a route, a travelling speed and the like of the inspection device in a power plant and a transformer substation. The temporarily generated instruction data comprises instruction data which are autonomously generated by the inspection device according to the condition information in the power plant and the transformer substation detected in real time. The obtained instruction data is a wireless control signal from an external device.
The mobile control unit 3 is in control connection with the control unit 2, receives and responds to the mobile control signal to control the mobile state of the inspection device, wherein the mobile state comprises a mobile path of the inspection device, a mobile speed and the like.
The partial discharge detection unit 4 is arranged on the inspection device body 1 and comprises at least one partial discharge detection device 41 and a detection driving part 42 for controlling the gesture of the partial discharge detection device 41, in the embodiment of the application, the partial discharge detection device 41 comprises an ultrasonic partial discharge detector and an ultrahigh frequency partial discharge detector, the detection principle of the two instruments is simple, the detection speed is high, the acoustic-electric combined detection method is adopted, the advantages of the two instruments are fully exerted, and the accuracy and the reliability of GIS partial discharge detection and defect analysis can be effectively improved.
The two kinds of partial discharge detection equipment 41 are respectively provided with a detection driving part 42 for adjusting and changing the self posture, the partial discharge detection equipment 41 and the detection driving part 42 are respectively in control connection with the control unit 2, the working state and the posture of the partial discharge detection equipment 41 are controlled by receiving and responding to detection control signals, and the detection control signals can control the posture of the partial discharge detection equipment 41, what type of partial discharge detection equipment 41 detects and which detection area of the equipment to be detected detects.
The inspection device is also provided with a joint detection unit 5, and comprises a joint signal receiving device and a joint signal transmitting device, wherein the joint signal receiving device and the joint signal transmitting device are used for receiving and transmitting joint detection signals, the joint signal receiving device and the joint signal transmitting device are both in signal connection with the control unit 2, when the inspection device detects that the equipment has a partial discharge problem, the partial discharge detection equipment 41 outputs a device discharge signal to the controller, the joint signal transmitting device responds to control information output by the control unit 2 to output joint detection signals, the joint signal receiving devices of other inspection devices receive and output the joint detection signals to the control unit 2, and the control unit 2 controls the mobile control unit 3 and the partial discharge detection unit 4 based on the joint detection signals, so that the other inspection devices interrupt the ongoing inspection and perform joint detection on the equipment.
Further, the control unit 2 includes a storage unit 21, an instruction data acquisition unit 22, and a data processing unit 23. The storage unit 21 is used for storing set instruction data and/or temporarily generated and acquired instruction data, and it should be understood that the storage unit 21 includes a storage medium itself and an interface for data reading and writing. In the present embodiment, the storage 21 is configured as a readable and writable memory chip provided in the patrol apparatus.
The command data capture element 22 includes an active capture element and a passive capture element. The active acquisition part identifies the walking and control signals displayed on the equipment to be tested on the inspection route, or searches the setting instruction data from the storage part 21, and generates and outputs a first intermediate signal. The passive acquisition component receives an external control signal, converts the external control signal and outputs a second intermediate signal. In this embodiment of the present application, the active acquiring unit includes a signal identifier disposed on the robot body, and is configured to actively identify and acquire the flag information of the device to be tested or the guiding signal fed back from the device to be tested, and generate and output the first intermediate signal. The mark information of the device to be tested or the guiding signal fed back from the device to be tested comprises a guiding mark arranged on the device to be tested.
Optionally, the signal identifier includes an image acquisition device, an infrared identification device and an active signal converter, which are arranged on the inspection device. Specifically, the signal identifier may be configured as an image acquisition device, and may be implemented by using a camera configured on the inspection device, so as to acquire the guiding marks on the surface of the surrounding workpiece. When the image acquisition device is used as the signal identifier, the guiding mark information can adopt mark lines, mark arrows and the like projected on the surface of the workpiece, and the image acquisition device is used for acquiring and outputting the guiding mark information. The active information converter is in signal connection with the image acquisition device and the infrared identification device, receives output signals of the image acquisition device and the infrared identification device and converts the output signals into data types which can be identified and processed by the data processing part 23.
In this embodiment of the present application, the passive acquisition unit includes a signal receiver disposed on the robot body, where the signal receiver is communicatively connected to the external control end, and identifies and receives the external control signal, and generates and outputs the second intermediate signal. In detail, the signal receiver comprises a Bluetooth communication module, a WIFI communication module, a remote control signal receiving module and a passive signal converter, so that the patrol can receive new instruction data in real time to finish patrol measurement.
The data processing unit 23 is in data connection with the instruction data acquiring unit 22, receives the first intermediate signal and/or the second intermediate signal, and generates and outputs a movement control signal and a detection control signal based on a setting algorithm.
In this embodiment, the data processing unit 23 may be configured as a core module of the control unit 2, and may be configured as an FPGA module or a single-chip module or a custom DSP chip module with a set program.
As shown in fig. 2, the movement control unit 3 is provided on the device body 1 with a plurality of omni-wheels 31, a motor for driving the omni-wheels 31 to rotate, and a steering control member for controlling the steering of the omni-wheels 31; wherein, the motor and the steering control member are both connected with the control unit 2 in a signal manner, and the motor and the steering control member receive and respond to the movement control signal output by the control unit 2 to control the movement state of the device body 1. The omnidirectional wheel 31 and the steering control piece are mutually matched, so that the inspection device can flexibly turn and turn around in a transformer substation and a power plant, the collision to instruments and equipment in the transformer substation and the power plant is avoided, and the probability of accidents is reduced. In the present embodiment, the number of omni wheels 31 is set to 4, and the driving relationship between the motor, the steering control and the plurality of omni wheels 31 is well known in the art, and will not be described herein.
As shown in fig. 2, the detection driving section 42 includes a lifting adjusting section that drives the partial discharge detecting device 41 to lift, a rotation adjusting section that drives the partial discharge detecting device 41 to rotate in a horizontal plane, and an angle adjusting section that drives the partial discharge detecting device 41 to an angle. The three are matched with each other, so that the partial discharge detection equipment 41 arranged at the end part of the detection driving part 42 can flexibly move in space, flexibly and finely adjust in all angle directions, and the partial discharge detection equipment is suitable for the equipment to be detected with complicated terrains and different appearances in substations and power plants.
The detection driving part 42 further comprises an abutting arm, the partial discharge detection device 41 is abutted to the outer surface of the device to be detected, the abutting arm comprises a fixed section and a telescopic section, the partial discharge detection device 41 is arranged at the end part of the telescopic section, a first magnetic body and a second magnetic body are arranged inside the telescopic end, the polarities of one ends of the first magnetic body and the second magnetic body, which are opposite, are arranged in the same manner, and the partial discharge detection device 41 is provided with a force abutting against the device to be detected, so that the vibration of the device to be detected is prevented from affecting the detection result during detection.
An intelligent mobile inspection system, as shown in fig. 3, comprises an inspection component, a central processing unit 6, a data communication component 7 and a detection component 8 which is arranged on an inspection path and is used for detecting the state of equipment to be detected.
The inspection assembly comprises at least one intelligent mobile inspection device as described above, the intelligent mobile inspection device is in communication connection with the central processor 6 through the data communication assembly 7, a setting algorithm module is configured in the central processor 6, and the detection signal which is output by the detection assembly 8 and used for reflecting the condition of the equipment to be inspected on the inspection path is received and responded, instruction data which is used for controlling the detection and movement of the intelligent mobile inspection device is generated and output, and the instruction data is transmitted to the intelligent mobile inspection device through the data communication assembly 7.
The data communication assembly 7 comprises a bluetooth communication module, a WIFI communication module or a wireless remote control module, and performs macroscopic adjustment on the inspection path, the moving speed, the gesture of the partial discharge detection device 41 and the working state of the intelligent mobile inspection device, so as to ensure the detection precision of each intelligent mobile inspection device, and the validity of each measurement result
The detection assembly 8 comprises image acquisition equipment arranged in a transformer substation and a power plant, the detection assembly 8 is utilized to detect the power plant, the topography and equipment information in the transformer substation, and the information is transmitted to the intelligent mobile inspection device through the data communication assembly 7.
In an embodiment of the present application, the instruction data output by the central controller includes:
the route instruction information is used for controlling the information moving route of the intelligent mobile routing inspection device, so that the intelligent mobile routing inspection device performs routing inspection according to the most available route planned by the central processing unit 6, and the time of each routing inspection of the routing inspection device is shortened;
the speed instruction information is used for controlling the moving speed of the intelligent movable inspection device, so that the intelligent movable inspection device is properly accelerated on an accelerating path, and the inspection efficiency is improved;
the detection instruction information for controlling the gesture and the working state of the partial discharge detection equipment 41 on the intelligent mobile inspection device is used for enabling the partial discharge detection equipment 41 of the inspection device to be in contact with a detection area of equipment to be detected in an optimal gesture, avoiding collision with the equipment to be detected, and ensuring the detection precision of the inspection device.
As shown in fig. 4, the control method of the inspection system based on the intelligent mobile inspection system comprises the following steps:
s100, the number of each intelligent mobile inspection device, the type of the partial discharge detection equipment 41, the detection area on the equipment to be detected and the type of the equipment to be detected are confirmed and stored.
S200, collecting and storing the position information of the current equipment to be tested.
S300, generating the inspection sequence of each device to be detected based on the position information and the setting algorithm.
S400, selecting the intelligent mobile inspection device with the set configuration and outputting the inspection sequence to the intelligent mobile inspection device.
S500, collecting and storing the form information of the detection area on the current equipment to be detected.
S600, based on the form information, generating the detection sequence of each detection area on the device to be detected based on a setting algorithm.
And S700, outputting a combined detection signal to the central processing unit 6 when the partial discharge detection equipment 41 of the intelligent mobile inspection device detects the partial discharge phenomenon, and outputting the combined detection signal to the rest intelligent mobile inspection devices by the central processing unit 6.
S800, after receiving the combined detection signal, the intelligent mobile inspection device performs combined detection on the problem equipment, and after the combined detection, the original inspection sequence is continued.
When a certain inspection device detects that the partial discharge problem occurs in the equipment, the equipment is combined with other inspection devices to carry out comprehensive combined detection on the problem equipment, and under a combined detection mode, more detailed and accurate partial discharge problem reasons and maintenance schemes can be obtained through analysis of data information returned by a plurality of inspection devices.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. The utility model provides an intelligent portable inspection device which characterized in that, including device body (1), still including set up in on device body (1):
a control unit (2) that outputs a movement control signal and a detection control signal based on the set and/or temporarily generated and acquired instruction data;
the mobile control unit (3) is in control connection with the control unit (2) and is used for receiving and responding to the mobile control signal to control the mobile state of the intelligent mobile inspection device;
the partial discharge detection unit (4) is arranged on the device body (1) and comprises at least one partial discharge detection device (41) and a detection driving part (42) for controlling the gesture of the partial discharge detection device (41); the partial discharge detection equipment (41) and the detection driving part (42) are respectively connected with the control unit (2) in a control manner, and receive and respond to the detection control signals to control the working state and the gesture of the partial discharge detection equipment (41);
the joint detection unit (5) comprises a joint signal receiving device and a joint signal transmitting device which are used for receiving and transmitting joint detection signals, and the joint signal receiving device and the joint signal transmitting device are both in signal connection with the control unit (2); a power supply;
the partial discharge detection device (41) outputs a device discharge signal to the controller, the joint signal transmitting device outputs a joint detection signal in response to control information output by the control unit (2), the joint signal receiving device receives and outputs the joint detection signal to the control unit (2), and the control unit (2) controls the mobile control unit (3) and the partial discharge tube detection unit based on the joint detection signal.
2. Intelligent mobile inspection device according to claim 1, characterized in that the control unit (2) comprises:
a storage unit (21) for storing the set instruction data and/or the temporarily generated and acquired instruction data;
the instruction data acquisition part (22) comprises an active acquisition part and a passive acquisition part, wherein the active acquisition part identifies walking and control signals displayed on equipment to be tested on a routing inspection route, or searches set instruction data from the storage part (21) to generate and output a first intermediate signal; the passive acquisition component receives an external control signal, converts the external control signal and outputs a second intermediate signal;
and a data processing unit (23) for receiving the first intermediate signal and the second intermediate signal, and generating and outputting the movement control signal, the detection control signal, and the joint detection signal based on a setting algorithm.
3. The intelligent mobile inspection device according to claim 2, wherein the active acquisition component comprises a signal identifier arranged on the device body (1) and used for actively identifying and acquiring the mark information of the equipment to be inspected or the guiding signal fed back from the equipment to be inspected, and generating and outputting the first intermediate signal;
the passive acquisition part comprises a signal receiver arranged on the device body (1), the signal receiver is in communication connection with an external control end, recognizes and receives an external control signal, and generates and outputs the second intermediate signal.
4. An intelligent mobile inspection device according to claim 3, wherein the signal identifier comprises an image acquisition device, an infrared identification device and an active signal converter which are arranged on the device body (1);
the signal receiver comprises a Bluetooth communication module, a WIFI communication module and a passive signal converter.
5. The intelligent mobile inspection device according to claim 4, wherein the joint detection signal includes location information, type information, detection sequence information, detection area information of the problem equipment.
6. The intelligent mobile inspection apparatus according to claim 1, wherein the detection driving section (42) includes a lifting adjustment section that drives the partial discharge detection device (41) to lift, a rotation adjustment section that drives the partial discharge detection device (41) to rotate in a horizontal plane, and an angle adjustment section that drives an angle of the partial discharge detection device (41);
the detection driving part (42) further comprises an abutting arm for abutting the partial discharge detection device (41) on the outer surface of the device to be detected, the abutting arm comprises a fixed section and a telescopic section, the partial discharge detection device (41) is arranged at the end part of the telescopic section, a first magnetic body and a second magnetic body are arranged inside the telescopic end, the polarities of the opposite ends of the first magnetic body and the second magnetic body are the same, and the partial discharge detection device (41) is provided with a force for abutting the device to be detected.
7. The intelligent mobile inspection device according to claim 1, wherein the mobile control unit (3) comprises a plurality of omni-wheels (31) arranged on the device body (1), a motor for driving the omni-wheels (31) to rotate, and a steering control member for controlling the steering of the omni-wheels (31):
the motor and the steering control piece are connected with the control unit (2) in a signal manner, and the motor and the steering control piece receive and respond to a movement control signal output by the control unit (2) to control the movement state of the device body (1).
8. The intelligent mobile inspection system is characterized by comprising an inspection assembly, a central processing unit (6), a data communication assembly (7) and a detection assembly (8) which is arranged on an inspection path and used for detecting equipment to be detected;
the inspection assembly comprises at least one intelligent mobile inspection device according to any one of claims 1-7, wherein the intelligent mobile inspection device is in communication connection with the central processing unit (6) through the data communication assembly (7);
the central processing unit (6) is internally provided with a setting algorithm module, receives and responds to the detection signal which is output by the detection component (8) and is used for reflecting the condition of the equipment to be detected on the inspection path, generates and outputs instruction data for controlling the intelligent mobile inspection device to detect and move, and transmits the instruction data to the intelligent mobile inspection device through the data communication component (7).
9. The intelligent mobile inspection system of claim 8, wherein the instruction data comprises:
route instruction information for controlling the intelligent mobile inspection device to move route;
speed instruction information for controlling the moving speed of the intelligent movable inspection device;
and the detection instruction information is used for controlling the gesture and the working state of the partial discharge detection equipment (41) on the intelligent mobile inspection device.
10. A method of controlling a patrol system, based on an intelligent mobile patrol system as claimed in claim 9, comprising the steps of:
confirming and storing the number of each intelligent mobile inspection device, the type of the partial discharge detection equipment (41), the detection area on the equipment to be detected and the type of the equipment to be detected;
collecting and storing the position information of the current equipment to be tested;
based on the position information, generating a patrol order of each device to be tested based on a setting algorithm;
selecting an intelligent mobile inspection device with set configuration and outputting the inspection sequence to the intelligent mobile inspection device;
collecting and storing the form information of the detection area on the current equipment to be detected;
based on the form information, generating a detection sequence of each detection area on the equipment to be detected based on a setting algorithm;
when the partial discharge detection equipment (41) of the intelligent mobile inspection device detects a partial discharge phenomenon, a combined detection signal is output to the central processing unit (6), and the central processing unit (6) outputs the combined detection signal to other intelligent mobile inspection devices;
after receiving the combined detection signal, the intelligent mobile inspection device performs combined detection on the problem equipment, and the original inspection sequence is continued after the combined detection.
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