CN206820328U - A kind of substation inspection equipment - Google Patents
A kind of substation inspection equipment Download PDFInfo
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- CN206820328U CN206820328U CN201720711265.1U CN201720711265U CN206820328U CN 206820328 U CN206820328 U CN 206820328U CN 201720711265 U CN201720711265 U CN 201720711265U CN 206820328 U CN206820328 U CN 206820328U
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Abstract
The application provides a kind of substation inspection equipment, including：Telecontrol equipment, filming apparatus, detection means, guider and controller.Wherein, the telecontrol equipment makes inspection device reach each inspection point according to predetermined polling path, and the filming apparatus can be checked the outward appearance of power supply unit multi-angle, the operational factor of the detection means detection power supply unit.The guider ensures that inspection device moves according to predetermined polling path by big-dipper satellite locating module and CORS locating modules, and the controller controls the working condition of each device.Compared with conventional method, the application carries out inspection according to polling path, substitutes the mode of traditional crusing robot identification inductive material by built-in guider, the problem of solving easily occur inspection dead angle in traditional method for inspecting, and being unable to flexible adaptation a variety of patrol tasks.
Description
Technical field
The application is related to grid maintenance technical field, more particularly to a kind of substation inspection equipment.
Background technology
Substation inspection refers to regular or the machine operation in transformer station is checked at random, it is intended to finds in time
Potential safety hazard that may be present in transformer station.At present, mode includes used by carrying out inspection to substation equipment：Manually patrol
Depending on, fixing point shoot and monitor and robot inspection etc..Because manual patrol needs to appoint special messenger to patrol substation equipment
Inspection is looked into, and not only increases labor service expense, and also bigger to the business need of tour personnel.Therefore, with smart machine
Development, many transformer stations carry out equipment routing inspection by the way of fixing point shoot and monitor or robot inspection.
For fixing point shoot and monitor, typically by setting different inspection points in transformer station, taken the photograph in the installation of each inspection point
As head, the equipment running status of inspection point are monitored by camera.In actual use, although the photography width of camera
Big again, all there is vision area dead angle in captured picture, also there is corresponding potential safety hazard unavoidably.Also, the fixation of camera
Position is single, can only monitor the equipment running status of fixing point, it is impossible to carries out inspection to all devices.
For robot inspection, in the prior art, by installing corresponding inductive material on the ground of inspection route, then
Inspection route is set by background system, crusing robot is automatically performed inspection according to the route and inductive material of setting, typically,
Crusing robot needs to carry out apparent condition inspection, voice recognition and temperature detection of equipment etc., so that it is determined that the fortune of equipment
Row state.This mode needs to install inductive material on substation inspection route, and cost is high, and works as Transfomer Substation Reconstruction
Or need to rearrange inductive material after enlarging.Further, since transformer station can not be in all location arrangements inductive materials, therefore nothing
Method flexibly adapts to all kinds of patrol tasks, is unfavorable for power grid security.
Utility model content
This application provides a kind of substation inspection equipment, to solve easily to occur inspection dead angle in traditional method for inspecting,
And the problem of being unable to flexible adaptation a variety of patrol tasks.
The substation inspection equipment that the application provides includes：Telecontrol equipment, filming apparatus, detection means, guider with
And controller, wherein：
The telecontrol equipment includes at least four road wheels, and each road wheel independently rotates, and each row
Driving wheel connects steering mechanism, and the telecontrol equipment also includes motor and transmission mechanism, the power output of the motor
Axle connects the road wheel by the transmission mechanism；
The filming apparatus includes：Video camera, fixed support, rotating mechanism and camera rotary drive motor；The rotation
Turning fixed support to be fixed in the top casing of the telecontrol equipment, the rotary fixed bracket is provided with the rotating mechanism,
Video camera is fixed on the rotating mechanism, and the rotating mechanism connects the power output of the camera rotary drive motor
Axle；
The steering mechanism, the motor and the camera rotary drive motor are connected with the controller respectively；
The detection means includes：Detection components and the detection signal converter being connected with the detection components, it is described
Detection signal converter connects the controller；
The guider includes：Big-dipper satellite locating module and CORS locating modules, the big-dipper satellite locating module
The controller is connected respectively with the CORS locating modules.
Optionally, the inspection device also includes communicator, be provided with the communicator data transmission module and with
The data conversion module of the data transmission module connection, the data transmission module are also connected with the controller.
Optionally, the inspection device also includes control platform, the control platform by the communicator with it is described
Controller connects, and the control platform also includes server and the monitor terminal that is connected with the server, in the server
Put GIS modules, inspection control module and data storage.
Optionally, the telecontrol equipment also includes arrestment mechanism, and the arrestment mechanism is separately positioned on the road wheel.
Optionally, temperature sensor and sound transducer, the temperature sensor are comprised at least in the detection components
The detection signal converter is connected respectively with the sound transducer.
Optionally, the inspection device also includes motor driver, the motor and camera rotation driving electricity
Machine is connected by the motor driver with the controller respectively.
From above technical scheme, the substation inspection equipment that the application provides is used to power in power transformation Station To Station to set
Standby operation conditions carries out inspection, including：Telecontrol equipment, filming apparatus, detection means, guider and controller.Wherein,
The controller controls the working condition of each device, and the telecontrol equipment makes inspection device reach each according to predetermined polling path
Inspection point, in the filming apparatus, video camera is driven to check the outward appearance of power supply unit multi-angle by rotating mechanism, and
And the operational factor of power supply unit, such as operating temperature, noise etc. are detected by the detection means, and then judge that power supply unit is
It is no abnormal conditions to be present.Big-dipper satellite locating module and CORS locating modules are provided with inside the guider, passes through two moulds
The collective effect of block ensures that inspection device moves according to predetermined polling path.
The substation inspection equipment that the application provides carries out inspection by built-in guider according to polling path, and substitution passes
Crusing robot of uniting identifies the mode of inductive material, avoids that caused by inductive material set location different patrol tasks can not be adapted to
The problem of, while avoid resetting inductive material work because caused by changing the layout in transformer station.In addition, pass through the Big Dipper
Satellite positioning module and CORS locating modules and each road wheel, which can be rotated independently, makes the motion process of the inspection device more
Add flexible, accurate, realize and detected in inspection point optional position, solve in traditional method for inspecting that inspection easily occur dead
Angle, and the problem of be unable to flexible adaptation a variety of patrol tasks.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the required accompanying drawing used in embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of substation inspection equipment；
Fig. 2 is the overall structure diagram of substation inspection equipment；
Fig. 3 is the structural representation of control platform；
Illustrate：
Wherein, 1- telecontrol equipments；11- road wheels；12- steering mechanism；13- motors；14- transmission mechanisms；15- is braked
Mechanism；2- filming apparatus；21- video cameras；22- fixed supports；23- rotating mechanisms；24- camera rotary drive motors；3- is detected
Device；31- detection components；311- temperature sensors；312- sound transducers；32- detection signal converters；4- guiders；
41- big-dipper satellite locating modules；42-CORS locating modules；5- controllers；6- communicators；61- data transmission modules；62- numbers
According to modular converter；7- control platforms；71- servers；711-GIS modules；712- inspection control modules；713- data storages；
72- monitor terminals；8- motor drivers.
Embodiment
It is a kind of structural representation of substation inspection equipment referring to Fig. 1.
The substation inspection equipment that the application provides, including：Telecontrol equipment 1, filming apparatus 2, detection means 3, navigation dress
Put 4 and controller 5；
The telecontrol equipment 1 includes at least four road wheels 11, and each road wheel 11 is independent to be rotated, and each institute
State road wheel 11 and connect steering mechanism 12, the telecontrol equipment also includes motor 13 and transmission mechanism 14, the driving electricity
The power output shaft of machine 13 connects the road wheel 11 by the transmission mechanism 14.The telecontrol equipment 1 is used for according to predetermined
Polling path is completed to travel through each inspection point.Motor 13 drives the action by transmission mechanism 14 in the telecontrol equipment 1
Wheel 11, which rotates, moves the inspection device, and the steering mechanism 12 can drive the road wheel 11 inclined when needing to turn to
Certain angle is moved, equipment is turned.It will be appreciated that the steering mechanism 12 can be by driving the road wheel 11 to send out
Raw deflection, which is realized, turns, and can also be turned by adjusting the rotating speed realization of each road wheel 11.
The filming apparatus 2 includes：Video camera 21, fixed support 22, rotating mechanism 23 and camera rotary drive motor
24；The rotary fixed bracket 22 is fixed in the top casing of the telecontrol equipment 1, and the rotary fixed bracket 22 is provided with
The rotating mechanism 23, video camera 21 is fixed on the rotating mechanism 23, and the rotating mechanism 23 connects the camera rotation
Turn the power output shaft of motor 24.The video camera 21 is fixed on the rotating mechanism 23, is rotated and driven by the camera
The rotation of dynamic motor 24 drives the rotation of rotating mechanism 23 to realize multi-angled shooting.Fixed support 22 is used to entirely shoot dress
Put 2 and be fixed on the top of telecontrol equipment 1, further, the fixed support 22 can be the activity branch that length can be adjusted
Frame, and then realize that video camera 21 is shot on different height.
The steering mechanism 12, the motor 13 and the camera rotary drive motor 24 respectively with the controller
5 connections.The steering mechanism 12, motor 13 and camera rotary drive motor 24 are all entered by the control of the controller 5
Row is rotated or stopped, and adjustment rotating speed, so as to complete patrol task.
The detection means 3 includes：Detection components 31 and the detection signal converter being connected with the detection components 31
32, the detection signal converter 32 connects the controller 5.The detection components 31 not only include that patrol task can be completed
Sensor, and the sensing apparatus including being judged for inspection environment, such as acoustic-optic alarm, for being worked in inspection
Operating personnel are prompted to be handled in time during middle failure.
The guider 4 includes：Big-dipper satellite locating module 41 and CORS locating modules 42, the big-dipper satellite positioning
Module 41 and the CORS locating modules 42 connect the controller 5 respectively.Big-dipper satellite locating module 41 is described for positioning
Inspection device, the positional information of the inspection device is determined in real time, and positional information is sent to controller 5, when the inspection
When equipment deviates predetermined polling path, controller 5 sends control signal, and driving steering mechanism 12 changes the direction of motion, Zhi Daosuo
Inspection device is stated to return on predefined paths.The CORS locating modules 42 are accurately positioned the inspection on the move according to each base station
Equipment, correct the error of Beidou satellite navigation.
From above technology, the substation inspection equipment that the application provides is used for the power supply unit in power transformation Station To Station
Operation conditions carries out inspection, including：Telecontrol equipment 1, filming apparatus 2, detection means 3, guider 4 and controller 5.Its
In, the controller 5 controls the working condition of each device, and the telecontrol equipment 1 arrives inspection device according to predetermined polling path
Up to each inspection point, in the filming apparatus 2, outward appearance of the video camera 11 to power supply unit multi-angle is driven by rotating mechanism 12
Checked, and the operational factor of power supply unit, such as operating temperature, noise etc. are detected by the detection means 3, and then sentenced
Cut-off electric equipment whether there is abnormal conditions.The inside of guider 4 is provided with big-dipper satellite locating module 41 and CORS is positioned
Module 42, ensure that inspection device moves according to predetermined polling path by the collective effect of two modules.
In a kind of scheme, the inspection device also includes communicator 6, and data transfer is provided with the communicator 6
Module 61 and the data conversion module 62 being connected with the data transmission module 61, the data transmission module 61 also with the control
Device 5 processed is connected.In actual use, the detection means 3 detects the operational factor of power supply unit, obtains detecting data, and will
Data transfer is detected to the controller 5, controller 5 is handled detection data, and by the communicator 6 send to
Operating personnel is understood the running status of power supply unit in real time in management terminal or control platform 7, find power supply unit in time
The abnormal conditions of appearance.
In a kind of scheme, the inspection device also includes control platform 7, and the control platform 7 is filled by the communication
Put 6 to be connected with the controller 5, the control platform 7 also includes server 71 and the monitoring being connected with the server 71 is whole
End 72, GIS modules 711 built in the server 71, inspection control module 712 and data storage 713.The control platform
In 7, GIS (GIS-Geographic Information System) module is used to set polling path according to the geography information of transformer station；The server 71 connects
The Monitoring Data that the inspection device is sent is received, and Monitoring Data is judged, determines that power supply unit whether there is abnormal feelings
Condition.Further, when the server 71 assert that power supply unit has abnormal conditions, control command is sent, makes inspection device
Stop inspection and send prompting, so that technical staff is handled.The monitor terminal can be obtained with real-time display inspection device
Video data and detection parameters, make technical staff understand inspection content, aid in inspection process.
In a kind of scheme, the telecontrol equipment 1 also includes arrestment mechanism 15, and the arrestment mechanism 15 is separately positioned on institute
State on road wheel 11.The arrestment mechanism 15 is used to, when inspection device needs to stop mobile, stop movement at once.Due to inspection
Process situation that may be present is more, sometimes emergency situations, during as barrier be present on polling path, then needs inspection device to stop
Only move, and send corresponding prompting, so that technical staff is handled.In addition, when the server 71 sends stop signal,
Due to inertia, it is impossible to stop movement at once, technical staff can be caused in processing, it is impossible to it is determined that being which platform power supply unit is present
Abnormal conditions, the arrestment mechanism 15 can be such that the inspection device stops as early as possible, be advantageous to technical staff to warping apparatus
Judge.
In a kind of scheme, temperature sensor 311 and sound transducer 312 are comprised at least in the detection components 31,
The temperature sensor 311 and the sound transducer 312 connect the detection signal converter 32 respectively.General inspection process
The main outward appearance included to power supply unit, temperature and running noises are detected, and pass through the judgement to outward appearance, temperature and noise
Determine that power supply unit whether there is abnormal conditions, therefore, in the present embodiment, the detection components 31 should comprise at least the temperature
Sensor 311 and the sound transducer 312, the filming apparatus 2 is coordinated to obtain the basic operating conditions of power supply unit.Enter one
Step ground, the detection components 31 can include it is any detection electric supply installation running status sensor, such as magnetic field strength transducer,
Leakage current sensor etc..
In a kind of scheme, the inspection device also includes motor driver 8, the motor 13 and camera rotation
Turn motor 24 to be connected with the controller 5 by the motor driver 8 respectively.It is described to patrol due to according to actual conditions
It is different to examine the used motor of equipment, some motors can not be controlled directly in controller 5, therefore in the present embodiment,
Increase motor driver 8, so that the controller 5 can be controlled to each motor.In addition, it is responsible for inspection device movement
There is very big difference in motor 13, directly logical with being responsible for requirement of the camera rotary drive motor 24 of shooting rotation to rotating speed
Cross controller 5 and be controlled the live load that can increase controller 5, therefore the motor driver 8 can also share controller 5
Work, make 5 needs of the controller occur corresponding to control instruction, rotated without directly driving each motor.
The substation inspection equipment provided from above technical scheme, the application, including：Telecontrol equipment 1, filming apparatus
2, detection means 3, guider 4 and controller 5；Wherein, the telecontrol equipment 1 includes：Road wheel 11, steering mechanism 12,
Motor 13 and transmission mechanism 14, the power output shaft of the motor 13 connect the row by the transmission mechanism 14
Driving wheel 11；The filming apparatus 2 includes：Video camera 21, fixed support 22, rotating mechanism 23 and camera rotary drive motor
24；The rotary fixed bracket 22 is provided with the rotating mechanism 23, and video camera 21 is fixed on the rotating mechanism 23；Described turn
To mechanism 12, the motor 13 and the camera rotary drive motor 24 are connected with the controller 5 respectively；The detection
Device 3 includes：Detection components 31 and the detection signal converter 32 being connected with the detection components 31, the detection signal turn
Parallel operation 32 connects the controller 5；The guider 4 includes：Big-dipper satellite locating module 41 and CORS locating modules 42, institute
State big-dipper satellite locating module 41 and the CORS locating modules 42 connect the controller 5 respectively.
The substation inspection equipment that the application provides carries out inspection, substitution by built-in guider 4 according to polling path
The mode of traditional crusing robot identification inductive material, different inspections can not be adapted to by avoiding caused by inductive material set location appoints
The problem of business, while avoid resetting inductive material work because caused by changing the layout in transformer station.In addition, pass through north
Bucket satellite positioning module 41 and CORS locating modules 42 and each road wheel 11 can independently rotate the fortune for making the inspection device
Dynamic process more flexibly, accurately, is realized and detected in inspection point optional position, solve and easily occur in traditional method for inspecting
Inspection dead angle, and the problem of be unable to flexible adaptation a variety of patrol tasks.
Similar portion cross-reference between the embodiment of the present application, embodiment provided above are this Shen
Several examples under design that please be total, do not form the restriction of the application protection domain.For a person skilled in the art,
On the premise of not paying creative work, this Shen is belonged to according to any other embodiment that application scheme is expanded
Protection domain please.
Claims (6)
- A kind of 1. substation inspection equipment, it is characterised in that including：Telecontrol equipment (1), filming apparatus (2), detection means (3), Guider (4) and controller (5)；The telecontrol equipment (1) includes at least four road wheels (11), and each road wheel (11) independently rotates, and each Road wheel (11) the connection steering mechanism (12), the telecontrol equipment also include motor (13) and transmission mechanism (14), The power output shaft of the motor (13) connects the road wheel (11) by the transmission mechanism (14)；The filming apparatus (2) includes：Video camera (21), fixed support (22), rotating mechanism (23) and camera rotation driving Motor (24)；The rotary fixed bracket (22) is fixed in the top casing of the telecontrol equipment (1), the fixed branch of rotation Frame (22) is provided with the rotating mechanism (23), and video camera (21), and the rotating machine are fixed on the rotating mechanism (23) Structure (23) connects the power output shaft of the camera rotary drive motor (24)；The steering mechanism (12), the motor (13) and the camera rotary drive motor (24) respectively with the control Device (5) connects；The detection means (3) includes：Detection components (31) and the detection signal conversion being connected with the detection components (31) Device (32), the detection signal converter (32) connect the controller (5)；The guider (4) includes：Big-dipper satellite locating module (41) and CORS locating modules (42), the big-dipper satellite are determined Position module (41) and the CORS locating modules (42) connect the controller (5) respectively.
- 2. substation inspection equipment according to claim 1, it is characterised in that the inspection device also includes communicator (6), turn in the communicator (6) provided with data transmission module (61) and the data being connected with the data transmission module (61) Block (62) is changed the mold, the data transmission module (61) is also connected with the controller (5).
- 3. substation inspection equipment according to claim 2, it is characterised in that the inspection device also includes control platform (7), the control platform (7) is connected by the communicator (6) with the controller (5), and the control platform (7) is also wrapped Include server (71) and the monitor terminal (72) being connected with the server (71), GIS modules built in the server (71) (711), inspection control module (712) and data storage (713).
- 4. substation inspection equipment according to claim 1, it is characterised in that the telecontrol equipment (1) also includes braking Mechanism (15), the arrestment mechanism (15) are separately positioned on the road wheel (11).
- 5. substation inspection equipment according to claim 1, it is characterised in that comprised at least in the detection components (31) Temperature sensor (311) and sound transducer (312), the temperature sensor (311) and the sound transducer (312) point The detection signal converter (32) is not connected.
- 6. substation inspection equipment according to claim 1, it is characterised in that the inspection device also includes motor and driven Device (8), the motor (13) and the camera rotary drive motor (24) pass through the motor driver (8) and institute respectively State controller (5) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720711265.1U CN206820328U (en) | 2017-06-19 | 2017-06-19 | A kind of substation inspection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720711265.1U CN206820328U (en) | 2017-06-19 | 2017-06-19 | A kind of substation inspection equipment |
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| Publication Number | Publication Date |
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| CN206820328U true CN206820328U (en) | 2017-12-29 |
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ID=60760957
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| CN201720711265.1U Active CN206820328U (en) | 2017-06-19 | 2017-06-19 | A kind of substation inspection equipment |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436943A (en) * | 2018-05-14 | 2018-08-24 | 深圳博通机器人有限公司 | A kind of equipment routing inspection robot |
| CN108762172A (en) * | 2018-04-12 | 2018-11-06 | 广东电网有限责任公司 | A kind of cruising inspection system of dispatching automation computer room robot |
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN112070924A (en) * | 2020-09-23 | 2020-12-11 | 洪宇靖 | Power inspection system and method |
| CN112542885A (en) * | 2020-11-07 | 2021-03-23 | 国网山东省电力公司东阿县供电公司 | Remote inspection control system and method for power line |
| CN113126132A (en) * | 2021-04-09 | 2021-07-16 | 内蒙古科电数据服务有限公司 | Method and system for calibrating and analyzing track in mobile inspection |
| CN113507171A (en) * | 2021-08-19 | 2021-10-15 | 国网江苏省电力有限公司电力科学研究院 | High-precision monitoring system and equipment for electric power inspection equipment based on Beidou and 5G |
| CN114571480A (en) * | 2022-03-28 | 2022-06-03 | 国网新疆电力有限公司经济技术研究院 | Transformer substation inspection robot |
| CN116526681A (en) * | 2023-07-03 | 2023-08-01 | 佛山电力设计院有限公司 | Substation operation and maintenance management system and method |
-
2017
- 2017-06-19 CN CN201720711265.1U patent/CN206820328U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762172A (en) * | 2018-04-12 | 2018-11-06 | 广东电网有限责任公司 | A kind of cruising inspection system of dispatching automation computer room robot |
| CN108436943A (en) * | 2018-05-14 | 2018-08-24 | 深圳博通机器人有限公司 | A kind of equipment routing inspection robot |
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN109920081B (en) * | 2019-03-28 | 2024-07-19 | 中铁第四勘察设计院集团有限公司 | Automatic inspection vehicle for urban rail transit vehicles |
| CN112070924A (en) * | 2020-09-23 | 2020-12-11 | 洪宇靖 | Power inspection system and method |
| CN112542885A (en) * | 2020-11-07 | 2021-03-23 | 国网山东省电力公司东阿县供电公司 | Remote inspection control system and method for power line |
| CN113126132A (en) * | 2021-04-09 | 2021-07-16 | 内蒙古科电数据服务有限公司 | Method and system for calibrating and analyzing track in mobile inspection |
| CN113126132B (en) * | 2021-04-09 | 2022-11-25 | 内蒙古科电数据服务有限公司 | Method and system for calibrating and analyzing track in mobile inspection |
| CN113507171A (en) * | 2021-08-19 | 2021-10-15 | 国网江苏省电力有限公司电力科学研究院 | High-precision monitoring system and equipment for electric power inspection equipment based on Beidou and 5G |
| CN114571480A (en) * | 2022-03-28 | 2022-06-03 | 国网新疆电力有限公司经济技术研究院 | Transformer substation inspection robot |
| CN116526681A (en) * | 2023-07-03 | 2023-08-01 | 佛山电力设计院有限公司 | Substation operation and maintenance management system and method |
| CN116526681B (en) * | 2023-07-03 | 2023-12-22 | 佛山电力设计院有限公司 | Substation operation and maintenance management system and method |
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