CN117082214A - Substation inspection operation system and communication method - Google Patents
Substation inspection operation system and communication method Download PDFInfo
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- CN117082214A CN117082214A CN202311201731.8A CN202311201731A CN117082214A CN 117082214 A CN117082214 A CN 117082214A CN 202311201731 A CN202311201731 A CN 202311201731A CN 117082214 A CN117082214 A CN 117082214A
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- 238000004891 communication Methods 0.000 title claims abstract description 234
- 238000007689 inspection Methods 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 57
- 238000001514 detection method Methods 0.000 claims description 22
- 238000003825 pressing Methods 0.000 claims description 19
- 238000012937 correction Methods 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000452 restraining effect Effects 0.000 description 3
- 230000009191 jumping Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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Classifications
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The application relates to the technical field of power grid inspection, and provides a substation inspection operation system and a communication method.
Description
Technical Field
The application relates to the technical field of power grid inspection, in particular to an inspection operation system based on a transformer substation and a communication method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the maturity of unmanned aerial vehicle technique and image recognition technique, utilize unmanned aerial vehicle to patrol and examine the electric wire netting and become the trend that electric wire netting patrolled and examined the operation. For the operation of patrolling and examining, it is extremely important to keep unmanned aerial vehicle's continuation of journey, but big unmanned aerial vehicle's of continuing to journey size is generally great, to station environment such as transformer substation, power plant, equipment, shaft tower stand, the circuit is complicated changeable, influences unmanned aerial vehicle's of continuing to journey flight and the operation of patrolling and examining, especially is to specific comparatively narrow or the region that the environment is complicated, and unmanned aerial vehicle of continuing to journey easily bumps, is difficult to gather the image.
Moreover, because the electromagnetic environment of the station is complex due to shielding of the towers and equipment and high voltage in the station, the wireless communication quality of the unmanned aerial vehicle and the inspection background is affected, and the alarm can not be given out to the background in time aiming at emergency.
Disclosure of Invention
In order to solve the problems, the application provides a substation inspection operation system and a communication method, wherein a small-size communication extension is carried on an inspection master machine through a clutch lifting assembly, inspection operation is carried out on a narrow and complex area by utilizing the communication extension capable of lifting vertically, relay communication is carried out, the environmental influence of a station is overcome, the flexibility and the safety of unmanned aerial vehicle inspection operation are improved, and the wireless communication capability of an unmanned aerial vehicle is improved.
The application provides a substation inspection operation system, which comprises: the inspection master is provided with a main camera at the front side of the bottom; the communication extension is provided with an auxiliary camera at the front side of the bottom, a clutch groove is formed in the bottom of the communication extension, and a connecting ring is rotationally embedded in the side wall of the clutch groove; the clutch lifting assembly comprises a primary lifting rod vertically embedded in the top of the inspection mother machine, a lifting seat is arranged at the top of the primary lifting rod, a restraint groove is formed in the middle of the top of the multi-beam lifting seat, a micro-motion lifting table is arranged at the bottom of the restraint groove, a multi-stage telescopic rod is vertically arranged at the top of the micro-motion lifting table, a clutch block is arranged at the top of the multi-stage telescopic rod, and the clutch block is movably connected with the connecting ring;
the inspection master is characterized in that a first long-range communication module and a first short-range communication module are arranged in the inspection master, a second long-range communication module and a second short-range communication module are arranged in the communication extension, and the inspection master controller and the communication extension controller are in wireless communication through the first short-range communication module and the second short-range communication module.
Preferably, an image recognition module is arranged in the patrol mother machine controller and the communication extension machine controller.
Preferably, the top of the landing seat is provided with an extension clamping mechanism and a position detection mechanism on two symmetrical sides relative to the restraint slot.
Preferably, the bottom of the communication extension is provided with two parallel U-shaped landing gears; the extension fixture comprises displacement guide rails symmetrically arranged on two sides of the top of the lifting seat, a first telescopic mechanism is connected to a sliding block of the displacement guide rails, two first telescopic mechanisms are oppositely arranged, a correction pressing block is arranged at the tail end of a telescopic shaft of each first telescopic mechanism, the correction pressing block extends along the direction perpendicular to the telescopic direction of the first telescopic mechanism, and a clamping groove matched with the outer Zhou Shi of the transverse rod of the landing gear 5 of the communication extension is formed in one side, close to the limiting groove, of the correction pressing block.
Preferably, the cross bar of the undercarriage of the communication extension machine is cylindrical, and one side of the correction pressing block, which is close to the restraint groove, is provided with a circular arc-shaped clamping groove with the radius identical to that of the cross bar.
Preferably, the position detecting mechanism comprises photosensitive detection belts arranged on two symmetrical sides of the top of the lifting seat relative to the restraining groove, the photosensitive detection belts extend along the direction perpendicular to the telescoping direction of the first telescoping mechanism, and the photosensitive detection belts comprise a plurality of photosensitive sensing units.
Preferably, the clutch block comprises a cylindrical base block and a plurality of second telescopic mechanisms embedded in the periphery of the cylindrical base block, wherein the second telescopic mechanisms are uniformly distributed around the central axis of the cylindrical base block, arc-shaped pressing blocks are arranged at the tail ends of telescopic shafts of the second telescopic mechanisms, and the arc-shaped pressing blocks are movably abutted against the inner walls of the connecting rings.
The application also provides a substation inspection operation communication method, which comprises the following steps:
s100: the inspection master controller performs image recognition according to the image acquired by the main camera, judges equipment fault conditions, uploads inspection images and fault information to an inspection background through the first remote communication module, and when a preset emergency communication condition is triggered, the inspection master informs the communication extension and transmits the inspection images and the fault information to the communication extension;
s200: the method comprises the steps that an inspection master controller collects an image of an airspace within a preset distance P from the current position of the inspection master through a main camera, performs image recognition on the image, recognizes barrier element distribution in the airspace, and obtains a hovering communication position point set A according to the barrier element distribution, wherein the hovering communication position point is a position point meeting the vertical lifting of a communication extension;
s300: the patrol master controller selects an optimal hovering communication position point from the set A according to an optimal energy-saving path scheme;
s400: the inspection master controller moves to the optimal hovering communication position point for hovering, and controls the extension clamping mechanism to release the communication extension and inform the communication extension controller;
s500: the communication extension controller controls the communication extension controller to vertically ascend under the constraint of the multistage telescopic rod, and the communication extension controller controls the second remote communication module to establish communication with the inspection background in the ascending process;
if the communication is successful, the communication extension stops ascending, and transmits the inspection image and fault information to the inspection background, and the step S600 is skipped after the transmission is completed;
if the multi-stage telescopic rod is not successfully communicated with the inspection background until the multi-stage telescopic rod is extended, the clutch block releases the communication extension, the communication extension continues to vertically ascend and descend until the multi-stage telescopic rod is successfully communicated with the inspection background, inspection images and fault information are transmitted, and the step S700 is skipped after the transmission is completed;
s600: the communication extension drops to the top of the lifting seat, the inspection master controller controls the extension clamping mechanism to clamp the communication extension, and the emergency communication flow is ended;
s700: the communication extension drops to the top of the lifting seat, the inspection master controller controls the position detection mechanism to detect the position of the communication extension and clamp and adjust the position of the communication extension through the extension clamping mechanism, and the micro-motion lifting platform drives the clutch block to rise to the clutch groove to be connected with the communication extension, so that the emergency communication flow is ended.
Preferably, in the step S100, the emergency communication conditions are specifically as follows: a, the inspection master controller identifies a preset fault type and the communication between the first remote communication module and the inspection background is interrupted at the moment; the communication interruption time between the first remote communication module and the inspection background exceeds a preset time threshold T; c, finishing inspection of preset equipment or a preset area by the inspection master controller; the emergency communication conditions comprise any one or a combination of a plurality of conditions a, b and c.
Preferably, in the step S300, the steps of the optimal power saving path scheme are as follows: adding hovering communication position points in the advancing direction of the inspection track in the set A into the subset B; if the subset B is empty, selecting a position point closest to the current position of the inspection master from the set A; if subset B is not empty. And selecting a position point closest to the current position of the inspection master from the subset B.
Compared with the prior art, the application has the beneficial effects that:
(1) According to the application, the clutch lifting assembly is used for carrying the small-size communication extension on the inspection master machine, the communication extension capable of lifting vertically is used for carrying out inspection operation and relay communication on a narrow and complex area, the environmental influence of a station is overcome, the flexibility and the safety of unmanned aerial vehicle inspection operation are improved, and the wireless communication capability of the unmanned aerial vehicle is improved.
(2) The application realizes the constrained lifting of the communication extension set through the multi-stage telescopic rod in the clutch lifting assembly, so that the small-size communication extension set can take the inspection master as an anchor point, only the lifting of the communication extension set is controlled to drive the telescopic rod to stretch so as to realize the image acquisition of an upper narrow area or avoid the obstruction of obstacles and the influence of electromagnetic environment so as to realize relay communication, the factors of resisting the influence of external wind power to maintain the balance of a machine body and the like are not needed to be considered, the control difficulty of the communication extension set is reduced, and the safety risk caused by frequent combination and separation of the communication extension set and the inspection master is reduced.
(3) The application realizes the safe lifting of the communication extension on the inspection master through the primary lifting rod and the lifting seat in the clutch lifting assembly, and the primary lifting rod drives the lifting seat to lift so as to reduce or even avoid the influence of rotational flow generated by the rotor wing of the inspection master on the lifting of the small-size communication extension.
(4) The communication method realizes relay communication through the two-stage lifting design that the communication extension is restrained to lift and the clutch lifting assembly is disengaged to lift freely, thereby avoiding the influence of low environment to realize relay communication at high places and reducing the safety risk caused by frequent combination and disengagement of the communication extension and the inspection master.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
Figure 1 is a flow chart of the communication method of the present application,
figure 2 is a schematic diagram of the communication of the system of the present application,
figure 3 is a schematic view of the initial state structure of the present application,
figure 4 is a top view of the constrained lift of the present application,
figure 5 is a bottom view of the constrained lift of the present application,
figure 6 is an enlarged view a of a portion of the present application,
figure 7 is a schematic view of the disengaged state structure of the present application,
fig. 8 is a partial enlarged view B of the present application.
In the figure:
1. the inspection machine comprises an inspection machine main body, a primary lifting rod, a lifting seat, a multi-stage telescopic rod, a communication extension set, an extension set clamping framework, a position detection mechanism and a position detection mechanism, wherein the inspection machine main body comprises an inspection machine main body, a primary lifting rod, a lifting seat, a multi-stage telescopic rod, a communication extension set, an extension set clamping framework and a position detection mechanism;
11. the device comprises a main camera 41, a clutch block 51, an auxiliary camera 52, a connecting ring 61, a displacement guide rail 62, a first telescopic mechanism 63 and a correction pressing block;
101. the system comprises a first remote communication module 102, a first short-range communication module 501, a second remote communication module 502 and a second short-range communication module.
The specific embodiment is as follows:
the application will be further described with reference to the drawings and examples.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present disclosure. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, are merely relational terms determined for convenience in describing structural relationships of the various components or elements of the present disclosure, and do not denote any one of the components or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
Example 1
As shown in fig. 1 to 8, the present application provides a substation inspection operation system, including: the inspection master 1 is provided with a main camera 11 at the front side of the bottom; the communication extension 5, the bottom front side of which is provided with an auxiliary camera 51, the bottom of which is provided with a clutch groove, the side wall of which is rotationally embedded with a connecting ring 52; the clutch lifting assembly comprises a primary lifting rod 2 vertically embedded at the top of the inspection mother machine 1, a lifting seat 3 is arranged at the top of the primary lifting rod 2, a restraint groove is formed in the middle of the top of the multi-beam lifting seat 3, a micro-motion lifting table is arranged at the bottom of the restraint groove, a multi-stage telescopic rod 4 is vertically arranged at the top of the lifting part of the micro-motion lifting table, a clutch block 41 is arranged at the top of the multi-stage telescopic rod 4, and the clutch block 41 is movably connected with a connecting ring 52.
The inspection master 1 is internally provided with a first long-range communication module 101 and a first short-range communication module 102, the communication extension 5 is internally provided with a second long-range communication module 501 and a second short-range communication module 502, and the inspection master controller and the communication extension controller are in wireless communication through the first short-range communication module 102 and the second short-range communication module 502.
The first remote communication module 101 and the second remote communication module 501 may be any one of 4G and 5G, loRa communication modules, and the first short-range communication module 102 and the second short-range communication module 502 may be any one of Wi-Fi module and bluetooth communication module.
According to the application, the clutch lifting assembly is used for carrying the small-size communication extension 5 on the inspection master 1, the communication extension 5 capable of lifting vertically is used for carrying out inspection operation and relay communication on a narrow and complex area, the environmental influence of a station is overcome, the flexibility and the safety of unmanned aerial vehicle inspection operation are improved, and the wireless communication capability of the unmanned aerial vehicle is improved.
Specifically, the patrol mother machine controller and the communication extension machine controller are internally provided with image recognition modules in a deployment mode, the image recognition modules are used for recognizing and visually positioning obstacles and equipment, and can recognize partial faults through recognition of the appearance of the equipment, environmental smoke and fire and the like.
Specifically, the symmetrical two sides of the top of the landing seat 3 corresponding to the restraint slot are provided with an extension clamping mechanism 6 and a position detection mechanism 7, the position detection mechanism 7 detects whether the communication extension 5 stays at a preset position of the top of the landing seat 3, and the extension clamping mechanism 6 is used for clamping the communication extension 5 and adjusting the position of the communication extension 5.
Specifically, the bottom of the communication extension 5 is provided with two parallel U-shaped landing gears; the extension fixture 6 includes the displacement guide rail 61 of symmetry locating the top both sides of the lift seat 3, be connected with first telescopic machanism 62 on the slider of displacement guide rail 61, two first telescopic machanism 62 subtend sets up and its telescopic shaft's end is provided with correction briquetting 63, correction briquetting 63 extends and its one side that is close to the restriction groove along the direction perpendicular with the telescopic direction of first telescopic machanism 62 has seted up the grip slot of joining in marriage with communication extension 5 undercarriage horizontal pole outer Zhou Shi.
The position detecting mechanism 7 includes photosensitive detecting belts provided on both sides of the top of the lift seat 3 with respect to the restraining groove, the photosensitive detecting belts extending in a direction perpendicular to the telescoping direction of the first telescoping mechanism 62, and including a plurality of photosensitive sensor units.
As shown in fig. 8, the length of the photosensitive detection belt is consistent with that of the cross rod of the landing gear of the communication extension 5, and when the two landing gears of the communication extension 5 cover the two photosensitive detection belts completely, the photosensitive detection belt represents that the communication extension 5 is stopped at the preset position on the landing seat 3.
When the communication extension 5 drops to the top of the landing seat 3, the first telescopic mechanism 62 drives the correction pressing block 63 to clamp the landing gear of the communication extension 5 in a collision manner, the landing gear of the communication extension 5 which is possibly inclined relative to the photosensitive detection belt is aligned, the photosensitive detection belt judges the position of the communication extension 5 according to the position of the shielded photosensitive sensing unit, and the displacement guide rail 61 drives the first telescopic mechanism 62 to move so as to adjust the position of the communication extension 5.
Preferably, the cross bar of the landing gear of the communication extension 5 is cylindrical, and one side of the correction pressing block 63 close to the restraining groove is provided with a circular arc-shaped clamping groove with the radius identical to that of the cross bar.
Specifically, the clutch block 41 comprises a cylindrical base block and a plurality of second telescopic mechanisms embedded in the periphery of the cylindrical base block, wherein the second telescopic mechanisms are uniformly distributed around the central axis of the cylindrical base block, arc-shaped pressing blocks are arranged at the tail ends of telescopic shafts of the second telescopic mechanisms, and the arc-shaped pressing blocks are in movable contact with the inner wall of the connecting ring 52.
Preferably, the end surfaces of the arc-shaped pressing blocks opposite to the inner wall of the connecting ring 52 are provided with friction surfaces.
After the graded clamping mechanism 6 clamps and adjusts the position of the communication extension 5, the micro-motion lifting platform drives the multi-stage telescopic rod 4 to ascend so as to drive the clutch block 41 to extend into the inner cavity of the connecting ring 52, and the second telescopic mechanism drives the arc-shaped pressing block to abut against the inner wall of the connecting ring 52 so as to realize connection between the multi-stage telescopic rod 4 and the communication extension.
The micro-motion lifting platform, the first telescopic mechanism and the second telescopic mechanism can be electric cylinders.
Preferably, a mounting groove is formed in the top of the lifting seat 3, and the clutch lifting assembly is arranged in the mounting groove.
Example 2
The embodiment provides a substation inspection operation method based on the system of embodiment 1, which directly approaches a target position inconvenient for an inspection master 1 to collect images, and collects the images by using a clutch lifting assembly and a communication extension 5, and specifically comprises the following steps:
s1: the patrol master controller performs image recognition according to the image acquired by the main camera 11, recognizes the target position and surrounding barrier elements and performs visual positioning on the target position and surrounding barrier elements;
s2: the patrol master controller determines whether the target position meets the constrained lifting scheme of the communication extension 5 according to the target position and the barrier element distribution,
if yes, jumping to the step S3;
if not, jumping to the step S6;
s3: the inspection master controller selects an optimal rotation stop point P according to the shortest lifting stroke principle of the communication extension 5 and determines a corresponding pre-lifting stroke L of the communication extension 5;
s4: the inspection master 1 flies to an optimal rotary stopping point to hover P, and controls the extension clamping mechanism 6 to release the communication extension 5 and inform a communication extension controller; the method comprises the steps of carrying out a first treatment on the surface of the
S5, starting the communication extension 5, vertically lifting the distance L under the constraint of the multi-stage telescopic rod 4, collecting images, after the completion, lowering the communication extension 5 to the top of the lifting seat 3, controlling the extension clamping mechanism 6 to clamp the communication extension by the inspection master controller, and ending the image collecting flow of the target position;
s6: the patrol master controller compiles the flight track of the communication extension 5 and controls the primary lifting rod 2 to ascend by a preset height H;
s7: the inspection master controller controls the slave machine clamping mechanism 6, the clutch block 41 to release the communication slave machine 5 and informs the communication slave machine controller of the flight track;
s8: the communication extension 5 is started, the communication extension 5 flies to a target position according to the flight track to collect images and returns to the top of the lifting seat 3, the inspection master controller controls the position detection mechanism 7 to detect the position of the communication extension 5 and clamp and adjust the position of the communication extension 5 through the extension clamping mechanism 6, the micro-motion lifting platform drives the clutch block 41 to lift to the clutch groove to be connected with the communication extension 5, the primary lifting rod 2 is controlled to reset, and the image collection flow of the target position is ended.
In step S2, the constraint lifting scheme of the communication extension 5 is satisfied, that a safe airspace capable of ensuring safe hovering of the inspection master 1 and no obstacle is encountered when the communication extension 5 vertically lifts and lowers exists below the target position.
In step S6, the primary lifting rod 2 is lifted by a preset height H to ensure that the communication extension 5 is not affected by the rotational flow generated by the rotor wing of the inspection master 1 when the clutch lifting assembly is lifted and lowered freely, and the lifting safety is ensured.
Example 3
On the basis of embodiments 1 and 2, the present embodiment provides a substation inspection operation communication method, which specifically includes the following steps:
s100: the inspection master controller performs image recognition according to the image acquired by the main camera 11, judges equipment fault conditions, uploads inspection images and fault information to an inspection background through the first remote communication module 101, and when a preset emergency communication condition is triggered, the inspection master 1 notifies the communication extension 5 and transmits the inspection images and the fault information to the communication extension;
s200: the inspection master controller collects an image of an airspace within a preset distance P from the current position of the inspection master 1 through a main camera 11, performs image recognition on the image, recognizes barrier element distribution in the airspace, and acquires a hovering communication position point set A according to the barrier element distribution, wherein the hovering communication position point is a position point meeting the vertical lifting of a communication extension 5;
s300: the patrol master controller selects an optimal hovering communication position point from the set A according to an optimal energy-saving path scheme;
s400: the inspection master controller moves to the optimal hovering communication position point to hover, and controls the extension clamping mechanism 6 to release the communication extension 5 and inform the communication extension controller;
s500: the communication extension controller controls the communication extension controller to vertically ascend under the constraint of the multi-stage telescopic rod 4, and in the ascending process, the communication extension controller controls the second remote communication module 501 to establish communication with the inspection background;
if the communication is successful, the communication extension 5 stops ascending, transmits the inspection image and the fault information to the inspection background, and jumps to step S600 after the transmission is completed;
if the extension limit of the multi-stage telescopic rod 4 is not successfully communicated with the inspection background, the clutch block 41 releases the communication extension 5, the communication extension 5 continues to vertically lift until the communication extension is successfully communicated with the inspection background, inspection images and fault information are transmitted, and the step S700 is skipped after the transmission is completed;
s600: the communication extension 5 falls to the top of the lifting seat 3, the inspection master controller controls the extension clamping mechanism 6 to clamp the communication extension, and the emergency communication flow is ended;
s700: the communication extension 5 drops to the top of the lifting seat 3, the inspection master controller controls the position detection mechanism 7 to detect the position of the communication extension 5 and clamp and adjust the position of the communication extension 5 through the extension clamping mechanism 6, and the micro-motion lifting platform drives the clutch block 41 to rise to the clutch groove to be connected with the communication extension 5, so that the emergency communication flow is ended.
In the step S700, the primary lifting rod 2 is lifted by the preset height H before the communication extension 5 drops to the top of the landing seat 3, and the primary lifting rod 2 is reset after the clutch block 41 is connected to the connection ring 52 and then to the communication extension 5.
Specifically, in the step S100, the emergency communication conditions are specifically as follows:
a, the inspection master controller identifies a preset fault type and the communication between the first remote communication module 101 and the inspection background is interrupted at the moment;
the communication interruption time between the first remote communication module 101 and the inspection background exceeds a preset time threshold T;
c, finishing inspection of preset equipment or a preset area by the inspection master controller;
specifically, the emergency communication conditions comprise any one or a combination of a plurality of conditions a, b and c.
In the step S300, the steps of the optimal energy-saving path scheme are as follows:
adding hovering communication position points in the advancing direction of the inspection track in the set A into the subset B;
if the subset B is empty, selecting a position point closest to the current position of the inspection master 1 from the set A;
if subset B is not empty. The nearest location point to the current location of the patrol master 1 is selected from the subset B.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
While the foregoing description of the embodiments of the present application has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the application, but rather, it is intended to cover all modifications or variations within the scope of the application as defined by the claims of the present application.
Claims (10)
1. Substation inspection operation system, its characterized in that includes:
the inspection master (1) is provided with a main camera (11) at the front side of the bottom;
the communication extension (5) is provided with an auxiliary camera (51) at the front side of the bottom, a clutch groove is formed in the bottom of the communication extension, and a connecting ring (52) is rotationally embedded in the side wall of the clutch groove;
the clutch lifting assembly comprises a primary lifting rod (2) vertically embedded at the top of the inspection mother machine (1), a lifting seat (3) is arranged at the top of the primary lifting rod (2), a restraint groove is formed in the middle of the top of the multi-beam lifting seat (3), a micro-motion lifting table is arranged at the bottom of the restraint groove, a multi-stage telescopic rod (4) is vertically arranged at the top of the micro-motion lifting table, a clutch block (41) is arranged at the top of the multi-stage telescopic rod (4), and the clutch block (41) is movably connected with a connecting ring (52);
the inspection master machine (1) is internally provided with a first long-range communication module (101) and a first short-range communication module (102), the communication extension (5) is internally provided with a second long-range communication module (501) and a second short-range communication module (502), and the inspection master machine controller and the communication extension controller are in wireless communication through the first short-range communication module (102) and the second short-range communication module (502).
2. The substation inspection operation system according to claim 1, wherein:
and an image recognition module is arranged in the patrol mother machine controller and the communication extension machine controller.
3. The substation inspection operation system according to claim 2, wherein:
the top of the landing seat (3) is provided with extension clamping mechanisms (6) and position detection mechanisms (7) on two symmetrical sides relative to the restraint slot.
4. A substation inspection operation system according to claim 3, characterized in that:
two parallel U-shaped landing gears are arranged at the bottom of the communication extension (5);
the extension fixture (6) comprises displacement guide rails (61) symmetrically arranged on two sides of the top of the lifting seat (3), first telescopic mechanisms (62) are connected to sliding blocks of the displacement guide rails (61), two first telescopic mechanisms (62) are oppositely arranged, correction pressing blocks (63) are arranged at the tail ends of telescopic shafts of the two first telescopic mechanisms, the correction pressing blocks (63) extend along the direction perpendicular to the telescopic direction of the first telescopic mechanisms (62), and clamping grooves matched with the outer Zhou Shi of the landing gear cross rods of the communication extension (5) are formed in one sides, close to the limiting grooves, of the correction pressing blocks.
5. The substation inspection operation system according to claim 4, wherein:
the landing gear cross rod of the communication extension (5) is cylindrical, and one side of the correction pressing block (63) close to the restraint groove is provided with an arc-shaped clamping groove with the radius identical to that of the cross rod.
6. The substation inspection operation system according to claim 4, wherein:
the position detection mechanism (7) comprises photosensitive detection belts which are arranged on two symmetrical sides of the top of the lifting seat (3) relative to the restraint slot, and the photosensitive detection belts extend along the direction perpendicular to the stretching direction of the first stretching mechanism (62) and comprise a plurality of photosensitive sensing units.
7. The substation inspection operation system according to claim 6, wherein:
the clutch block (41) comprises a cylindrical base block and a plurality of second telescopic mechanisms embedded in the periphery of the cylindrical base block, wherein the second telescopic mechanisms are uniformly distributed around the central axis of the cylindrical base block, arc-shaped pressing blocks are arranged at the tail ends of telescopic shafts of the second telescopic mechanisms, and the arc-shaped pressing blocks are in movable contact with the inner wall of the connecting ring (52).
8. The substation inspection operation communication method according to claim 7, comprising the steps of:
s100: the inspection master controller performs image recognition according to the image acquired by the main camera (11), judges equipment fault conditions, uploads inspection images and fault information to an inspection background through the first remote communication module (101), and when a preset emergency communication condition is triggered, the inspection master (1) notifies the communication extension (5) and transmits the inspection images and the fault information to the communication extension;
s200: the inspection master controller collects an image of an airspace within a preset distance P from the current position of the inspection master (1) through a main camera (11), performs image recognition on the image, recognizes barrier element distribution in the airspace, and acquires a hovering communication position point set A according to the barrier element distribution, wherein the hovering communication position point is a position point meeting the vertical lifting of a communication extension (5);
s300: the patrol master controller selects an optimal hovering communication position point from the set A according to an optimal energy-saving path scheme;
s400: the inspection master controller moves to the optimal hovering communication position point to hover, and controls the extension clamping mechanism (6) to release the communication extension (5) and inform the communication extension controller;
s500: the communication extension controller controls the communication extension controller to vertically ascend under the constraint of the multistage telescopic rod (4), and in the ascending process, the communication extension controller controls the second remote communication module (501) to establish communication with the inspection background;
if the communication is successful, the communication extension (5) stops ascending, transmits the inspection image and the fault information to the inspection background, and jumps to step S600 after the transmission is completed;
if the extension limit of the multi-stage telescopic rod (4) is not communicated with the inspection background successfully, the clutch block (41) releases the communication extension (5), the communication extension (5) continues to vertically ascend and descend until the extension limit is communicated with the inspection background successfully, inspection images and fault information are transmitted, and the step S700 is skipped after the transmission is completed;
s600: the communication extension (5) falls to the top of the lifting seat (3), the inspection master controller controls the extension clamping mechanism (6) to clamp the communication extension, and the emergency communication flow is ended;
s700: the communication extension (5) drops to landing seat (3) top, and inspection master controller control position detection mechanism (7) detects communication extension (5) position and carries out centre gripping and adjustment position to it through extension fixture (6), and fine motion elevating platform drives clutch block (41) and rises to clutch groove connection communication extension (5), ends emergent communication flow.
9. The substation inspection operation communication method according to claim 8, wherein:
in the step S100, the emergency communication conditions are specifically as follows:
a, the inspection master controller identifies a preset fault type and the communication between the first remote communication module (101) and the inspection background is interrupted at the moment;
the communication interruption time between the first remote communication module (101) and the inspection background exceeds a preset time threshold T;
c, finishing inspection of preset equipment or a preset area by the inspection master controller;
the emergency communication conditions comprise any one or a combination of a plurality of conditions a, b and c.
10. The substation inspection operation communication method according to claim 8, wherein:
in the step S300, the steps of the optimal energy-saving path scheme are as follows:
adding hovering communication position points in the advancing direction of the inspection track in the set A into the subset B;
if the subset B is empty, selecting a position point closest to the current position of the inspection master machine (1) from the set A;
if subset B is not empty. And selecting a position point closest to the current position of the inspection master (1) from the subset B.
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| CN105244807A (en) * | 2015-10-20 | 2016-01-13 | 国网山东平度市供电公司 | Electric power robot patrol method |
| CN107187605A (en) * | 2017-06-08 | 2017-09-22 | 唐建芳 | A kind of multi-functional patrol primary and secondary unmanned plane and control method for agriculture and forestry |
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