CN110888457A - System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot - Google Patents
System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot Download PDFInfo
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Abstract
The invention relates to a system and a method for carrying out three-dimensional inspection on power transformation equipment by using an unmanned aerial vehicle and a robot, and belongs to the technical field of intelligent cooperative control of transformer substations. The system comprises an inspection robot and an unmanned aerial vehicle; arranging a plurality of sets of fixed active RTK base stations in a transformer substation; the inspection robot and the unmanned aerial vehicle are respectively connected with the active RTK base station; the inspection robot is connected with an inspection robot control system; the unmanned aerial vehicle is connected with an unmanned aerial vehicle control system; the inspection robot control system is also connected with the unmanned aerial vehicle control system and the server; the invention solves the problem of the substation outdoor high-voltage equipment inspection blind area, and the method for carrying out three-dimensional inspection on the substation equipment by the cooperation of the unmanned aerial vehicle and the robot can carry out equipment inspection at a overlooking angle, sweep the inspection visual dead angle of 'manual work + robot', avoid the risk of manual high-altitude operation, solve the problems of the high-altitude equipment inspection blind area and the manual inspection out-of-place, and improve the comprehensiveness of substation transformer operation and maintenance inspection work.
Description
Technical Field
The invention belongs to the technical field of intelligent cooperative control of transformer substations, and particularly relates to a system and a method for carrying out three-dimensional inspection tour on transformer equipment by using an unmanned aerial vehicle and a robot.
Background
At present, the combined inspection mode of 'manual work + ground robot' cannot solve the inspection problem of all equipment of a transformer substation, and the inspection requirements of all-around, full coverage, intellectualization and lean inspection cannot be met. However, the existing unmanned aerial vehicle mainly adopts a high-performance lithium battery as a power source, and due to the limitation of the battery capacity of the lithium battery and the limitation of the load of the unmanned aerial vehicle, the endurance time of the multi-rotor unmanned aerial vehicle is short, generally about 15 minutes; the inspection of the substation equipment needs to detect the connection parts of the insulation strings and the equipment and various metal parts, and the equipment needs to be comprehensively detected in a short time without omitting key detection parts, so that potential safety hazards are eliminated. Therefore, how to study and optimize the path planning of the multi-rotor unmanned aerial vehicle equipment inspection under the premise of ensuring the inspection safety has important significance.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a system and a method for carrying out three-dimensional inspection on transformer equipment by using an unmanned aerial vehicle and a robot. The ground intelligent inspection robot liberates partial manual inspection productivity, but still cannot thoroughly solve the inspection difficulty of the substation equipment. Utilize "unmanned aerial vehicle + robot" combination mode of patrolling and examining, can realize that equipment three-dimensional 360 degrees is intelligent patrols and examines, and the guidance "is artifical leading, and the robot is for assisting" patrolling for leading to "the machine, people patrols for assisting" mode transition of patrolling and examining in coordination. The whole machine patrol process realizes remote visual management and control, the on-site operation flow standard is unified, and the possibility of artificially and subjectively judging the existence of defect errors is eliminated.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the method comprises the following steps that a three-dimensional inspection system is carried out on the power transformation equipment by utilizing an unmanned aerial vehicle and a robot, wherein the inspection system comprises an inspection robot and the unmanned aerial vehicle;
arranging a plurality of sets of fixed active RTK base stations in a transformer substation; the inspection robot and the unmanned aerial vehicle are respectively connected with the active RTK base station; the inspection robot is connected with an inspection robot control system; the unmanned aerial vehicle is connected with an unmanned aerial vehicle control system; the inspection robot control system is also connected with the unmanned aerial vehicle control system and the server;
the inspection robot control system is used for receiving the inspection tasks issued by the server and then respectively sending the inspection tasks of the inspection robot and the unmanned aerial vehicle in the inspection tasks to the inspection robot and the unmanned aerial vehicle control system; the unmanned aerial vehicle control system receives the inspection task transmitted by the inspection robot control system and controls the unmanned aerial vehicle to perform inspection;
during inspection, the unmanned aerial vehicle acquires images and sends the acquired images to the inspection robot system through the unmanned aerial vehicle control system; the inspection robot collects images and sends the collected images to an inspection robot system;
the inspection robot control system analyzes and compares the image acquired by the inspection robot with the unmanned aerial vehicle control system, and sends the image after analysis and comparison to the server, and the server analyzes and displays the analysis result according to the transmitted image.
Further, it is preferred that the unmanned aerial vehicle's cloud platform be triaxial anti-shake cloud platform.
Further, preferably, the unmanned aerial vehicle is provided with a visible light camera and an infrared thermal imaging camera for collecting visible images and infrared images.
The invention also provides a method for carrying out three-dimensional inspection on the power transformation equipment by using the unmanned aerial vehicle and the robot, and the system for carrying out three-dimensional inspection on the power transformation equipment by using the unmanned aerial vehicle and the robot comprises the following steps:
step (1), the inspection task is issued to an inspection robot control system, and then the inspection robot control system sends the inspection tasks of the inspection robot and the unmanned aerial vehicle to the inspection robot and the unmanned aerial vehicle control system respectively;
step (2), the inspection robot inspects the content: the system is responsible for visible light and infrared inspection tour of equipment in the station; unmanned aerial vehicle inspection content: 1) performing position supplementing inspection on in-station equipment which cannot be inspected by a machine inspection robot, performing infrared and visible light inspection on other in-station equipment as much as possible, 2) inspecting the surrounding environment and the enclosing wall of the transformer substation, and 3) inspecting a terminal tower;
step (3), after the unmanned aerial vehicle inspection is finished, the inspection data is sent to an inspection robot control system, the inspection robot control system analyzes and compares the data of the robot and the unmanned aerial vehicle, and then the image after analysis and comparison is transmitted back to a server;
step (4), when a linkage function is needed, the unmanned aerial vehicle is called to carry out patrol, a patrol command is sent to the patrol robot control system, the unmanned aerial vehicle is called by the patrol robot control system and the unmanned aerial vehicle control system to carry out patrol, and a patrol result is fed back by the patrol robot control system;
and (5) after the acquired image data are uploaded to the server, automatically identifying and statistically analyzing the defects of the transformer substation by combining the inspection data of the inspection robot, and filing and storing the data and the analysis result.
Further, preferably, the anti-electromagnetic interference and accurate positioning problems are solved by adopting a dual-antenna RTK accurate positioning technology.
The unmanned aerial vehicle provided by the invention is matched with the ground inspection robot, so that 360-degree three-dimensional inspection of air-to-ground and ground-to-air is realized.
According to the invention, aiming at the actual situation of the transformer substation, the multi-rotor transformer substation special patrol unmanned aerial vehicle is utilized, and the unmanned aerial vehicle control system is covered with electromagnetic shielding materials and has the characteristic of strong electromagnetic environment interference resistance. In the aspect of equipment, through set up many sets of fixed active RTK basic stations in the transformer substation, utilize the three-dimensional anti-shake cloud platform that unmanned aerial vehicle equipped with, optics zoom visible light camera and high accuracy infrared thermal imaging camera, provide 4k high definition image. Meanwhile, the unmanned aerial vehicle control system is provided with a high-definition image transmission module, so that equipment can be patrolled in real time, and all equipment of the transformer substation can be photographed or recorded.
Compared with the prior art, the invention has the beneficial effects that:
the invention solves the problem of the substation outdoor high-voltage equipment inspection blind area, and the method for carrying out three-dimensional inspection on the substation equipment by the cooperation of the unmanned aerial vehicle and the robot can carry out equipment inspection at a overlooking angle, sweep the inspection visual dead angle of 'manual work + robot', avoid the risk of manual high-altitude operation, solve the problems of the high-altitude equipment inspection blind area and the manual inspection out-of-place, and improve the comprehensiveness of substation transformer operation and maintenance inspection work.
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FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The specific techniques, connections, conditions, or the like, which are not specified in the examples, are performed according to the techniques, connections, conditions, or the like described in the literature in the art or according to the product specification. The materials, instruments or equipment are not indicated by manufacturers, and all the materials, instruments or equipment are conventional products which can be obtained by purchasing.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected.
In the description of the present invention, "a plurality" means two or more unless otherwise specified. The terms "inner," "upper," "lower," and the like, refer to an orientation or a state relationship based on that shown in the drawings, which is for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "provided" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1, a three-dimensional inspection system is developed for power transformation equipment by using an unmanned aerial vehicle and a robot, and comprises an inspection robot 1 and an unmanned aerial vehicle 2;
arranging a plurality of sets of fixed active RTK base stations 3 in a transformer substation; the inspection robot 1 and the unmanned aerial vehicle 2 are respectively connected with the active RTK base station 3; the inspection robot 1 is connected with an inspection robot control system 4; the unmanned aerial vehicle 1 is connected with an unmanned aerial vehicle control system 5; the inspection robot control system 4 is also connected with the unmanned aerial vehicle control system 5 and the server 6;
the inspection robot control system 4 is used for receiving the inspection tasks issued by the server 6 and then respectively sending the inspection tasks of the inspection robot 2 and the unmanned aerial vehicle 3 in the inspection tasks to the inspection robot 1 and the unmanned aerial vehicle control system 5; the unmanned aerial vehicle control system 5 receives the inspection task transmitted by the inspection robot control system 4 and controls the unmanned aerial vehicle 1 to perform inspection;
during inspection, the unmanned aerial vehicle 1 collects images and sends the collected images to the inspection robot system 4 through the unmanned aerial vehicle control system 5; the inspection robot 1 collects images and sends the collected images to the inspection robot system 4;
the inspection robot control system 4 analyzes and compares the image acquired by the inspection robot 1 with the unmanned aerial vehicle control system, and sends the image after analysis and comparison to the server 6, and the server 6 analyzes and displays the analysis result according to the transmitted image.
The pan-tilt of unmanned aerial vehicle 2 is triaxial anti-shake pan-tilt.
The unmanned aerial vehicle 2 is provided with a visible light camera and an infrared thermal imaging camera for collecting visible images and infrared images.
The method for carrying out three-dimensional inspection on the power transformation equipment by using the unmanned aerial vehicle and the robot comprises the following steps of:
step (1), the inspection task is issued to an inspection robot control system, and then the inspection robot control system sends the inspection tasks of the inspection robot and the unmanned aerial vehicle to the inspection robot and the unmanned aerial vehicle control system respectively;
step (2), the inspection robot inspects the content: the system is responsible for visible light and infrared inspection tour of equipment in the station; unmanned aerial vehicle inspection content: 1) performing position supplementing inspection on in-station equipment which cannot be inspected by a machine inspection robot, performing infrared and visible light inspection on other in-station equipment as much as possible, 2) inspecting the surrounding environment and the enclosing wall of the transformer substation, and 3) inspecting a terminal tower;
step (3), after the unmanned aerial vehicle inspection is finished, the inspection data is sent to an inspection robot control system, the inspection robot control system analyzes and compares the data of the robot and the unmanned aerial vehicle, and then the image after analysis and comparison is transmitted back to a server;
step (4), when a linkage function is needed, the unmanned aerial vehicle is called to carry out patrol, a patrol command is sent to the patrol robot control system, the unmanned aerial vehicle is called by the patrol robot control system and the unmanned aerial vehicle control system to carry out patrol, and a patrol result is fed back by the patrol robot control system;
and (5) after the acquired image data are uploaded to the server, automatically identifying and statistically analyzing the defects of the transformer substation by combining the inspection data of the inspection robot, and filing and storing the data and the analysis result.
Further, preferably, the anti-electromagnetic interference and accurate positioning problems are solved by adopting a dual-antenna RTK accurate positioning technology.
The GPS data is provided with three-dimensional coordinate information, the RTK acquires the GPS coordinates for multiple times through the base station to obtain the GPS reference station coordinates with higher precision after multiple acquisition, the antenna of the airborne RTK and the antenna of the base station respectively acquire the real-time data of the GPS at the same time, the ground base station can compare the reference station coordinates in real time, the parameters for correcting errors are transmitted to the sky end, and the sky end is corrected in real time, so that the unmanned aerial vehicle can obtain the high-precision GPS coordinates. RTK is based on the real-time dynamic positioning technique of carrier phase observed value, and it can provide the three-dimensional positioning result of survey website in appointed coordinate system in real time for unmanned aerial vehicle accurate positioning, orientation and stable flight under the strong electromagnetic interference environment, and control accuracy reaches centimetre level. In the RTK mode of operation, in conjunction with the inertial navigation system, the reference station transmits its observations along with the coordinate information of the rover station to the rover station via the data link. The rover station not only receives data from the reference station through a data chain, but also acquires GPS observation data, and forms a differential observation value for real-time processing in the system by the two groups of acquired and received data, and simultaneously gives a centimeter-level positioning result for less than one second.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The three-dimensional inspection system for the power transformation equipment is implemented by using the unmanned aerial vehicle and the robot, and is characterized by comprising an inspection robot and the unmanned aerial vehicle;
arranging a plurality of sets of fixed active RTK base stations in a transformer substation; the inspection robot and the unmanned aerial vehicle are respectively connected with the active RTK base station; the inspection robot is connected with an inspection robot control system; the unmanned aerial vehicle is connected with an unmanned aerial vehicle control system; the inspection robot control system is also connected with the unmanned aerial vehicle control system and the server;
the inspection robot control system is used for receiving the inspection tasks issued by the server and then respectively sending the inspection tasks of the inspection robot and the unmanned aerial vehicle in the inspection tasks to the inspection robot and the unmanned aerial vehicle control system; the unmanned aerial vehicle control system receives the inspection task transmitted by the inspection robot control system and controls the unmanned aerial vehicle to perform inspection;
during inspection, the unmanned aerial vehicle acquires images and sends the acquired images to the inspection robot system through the unmanned aerial vehicle control system; the inspection robot collects images and sends the collected images to an inspection robot system;
the inspection robot control system analyzes and compares the image acquired by the inspection robot with the unmanned aerial vehicle control system, and sends the image after analysis and comparison to the server, and the server analyzes and displays the analysis result according to the transmitted image.
2. The system for performing three-dimensional patrol on power transformation equipment by using the unmanned aerial vehicle and the robot according to claim 1, wherein the pan-tilt of the unmanned aerial vehicle is a three-axis anti-shake pan-tilt.
3. The system for performing stereoscopic patrol on power transformation equipment by using the unmanned aerial vehicle and the robot as claimed in claim 1, wherein the unmanned aerial vehicle is provided with a visible light camera and an infrared thermal imaging camera for collecting visible images and infrared images.
4. The method for carrying out three-dimensional inspection tour on the power transformation equipment by using the unmanned aerial vehicle and the robot is characterized by comprising the following steps of:
step (1), the inspection task is issued to an inspection robot control system, and then the inspection robot control system sends the inspection tasks of the inspection robot and the unmanned aerial vehicle to the inspection robot and the unmanned aerial vehicle control system respectively;
step (2), the inspection robot inspects the content: the system is responsible for visible light and infrared inspection tour of equipment in the station; unmanned aerial vehicle inspection content: 1) performing position supplementing inspection on in-station equipment which cannot be inspected by a machine inspection robot, performing infrared and visible light inspection on other in-station equipment as much as possible, 2) inspecting the surrounding environment and the enclosing wall of the transformer substation, and 3) inspecting a terminal tower;
step (3), after the unmanned aerial vehicle inspection is finished, the inspection data is sent to an inspection robot control system, the inspection robot control system analyzes and compares the data of the robot and the unmanned aerial vehicle, and then the image after analysis and comparison is transmitted back to a server;
step (4), when a linkage function is needed, the unmanned aerial vehicle is called to carry out patrol, a patrol command is sent to the patrol robot control system, the unmanned aerial vehicle is called by the patrol robot control system and the unmanned aerial vehicle control system to carry out patrol, and a patrol result is fed back by the patrol robot control system;
and (5) after the acquired image data are uploaded to the server, automatically identifying and statistically analyzing the defects of the transformer substation by combining the inspection data of the inspection robot, and filing and storing the data and the analysis result.
5. The method for carrying out the stereoscopic patrol on the power transformation equipment by using the unmanned aerial vehicle and the robot as claimed in claim 4, wherein the positioning is carried out by using a dual-antenna RTK precise positioning method.
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| CN111402552A (en) * | 2020-04-22 | 2020-07-10 | 广东电网有限责任公司东莞供电局 | Power equipment monitoring and alarming system and method |
| CN111665456A (en) * | 2020-05-29 | 2020-09-15 | 中国南方电网有限责任公司超高压输电公司昆明局 | Control method for self safety of unmanned aerial vehicle and safety of converter station equipment |
| CN112039215A (en) * | 2020-09-23 | 2020-12-04 | 深圳市赛为智能股份有限公司 | Three-dimensional inspection system and inspection method for transformer substation |
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| CN114879679A (en) * | 2022-05-19 | 2022-08-09 | 国网智能科技股份有限公司 | Transformer substation inspection method and system |
| CN115454135A (en) * | 2022-10-08 | 2022-12-09 | 国网福建省电力有限公司超高压分公司 | Substation unmanned aerial vehicle and robot cooperative inspection method and system |
| CN115933750A (en) * | 2023-01-06 | 2023-04-07 | 国网浙江省电力有限公司嵊州市供电公司 | Data processing-based power inspection method and power inspection system |
| CN116929350A (en) * | 2023-08-23 | 2023-10-24 | 南京理工大学 | Rapid temporary reconstruction collaborative navigation system and method based on data link ranging |
| WO2024093420A1 (en) * | 2022-11-04 | 2024-05-10 | 新特能源股份有限公司 | Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot |
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| CN113676707A (en) * | 2021-08-30 | 2021-11-19 | 国网河南省电力公司濮阳供电公司 | Improved power transmission line man patrol handheld acquisition equipment compatible with cooperative unmanned aerial vehicle |
| CN114859972A (en) * | 2022-05-11 | 2022-08-05 | 国网江西省电力有限公司电力科学研究院 | Inspection system and method for cooperative operation of aerial unmanned aerial vehicle and ground inspection robot |
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| CN115454135A (en) * | 2022-10-08 | 2022-12-09 | 国网福建省电力有限公司超高压分公司 | Substation unmanned aerial vehicle and robot cooperative inspection method and system |
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| CN115933750A (en) * | 2023-01-06 | 2023-04-07 | 国网浙江省电力有限公司嵊州市供电公司 | Data processing-based power inspection method and power inspection system |
| CN116929350A (en) * | 2023-08-23 | 2023-10-24 | 南京理工大学 | Rapid temporary reconstruction collaborative navigation system and method based on data link ranging |
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