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Abstract: The power inspection robot scans the total station equipment from different angles by collecting multiple monitoring points in advance to collect the temperature of the total station equipment. The system can detect the temperature of transformers, transformers, and other equipment, as well as switch contacts and bus connectors. It also uses temperature rise analysis, temperature difference comparison of similar or three-phase equipment, and historical trend analysis. Through intelligent analysis of equipment temperature data
The power inspection robot scans the total station equipment from different angles by setting multiple monitoring points in advance to collect the temperature of the total station equipment. The system can detect the temperature of transformers, transformers, and other equipment, as well as switch contacts and bus connectors. It also uses temperature rise analysis, temperature difference comparison of similar or three-phase equipment, and historical trend analysis. By intelligently analyzing and diagnosing equipment temperature data, it realizes equipment thermal defect identification and automatic alarm. The application of the robot detection system has obvious effects on reducing the workload, improving the efficiency of operation and maintenance, and the speed of emergency handling of equipment abnormalities, which are mainly reflected in the following four aspects: First, greatly reduce the intensity of the worktable of operation and maintenance personnel. It is mainly obvious in temperature measurement and instrument data transcription. Before using the robot, the operator and maintenance personnel need about 10 man-hours to measure the temperature of the entire station equipment, and 1.5 man-hours to record the data of the main equipment and instruments. After the robot is used, the two tasks are given to the robot instead of manual work, which can reduce the labor time by about 100 man-hours, which is conducive to liberating operators and maintenance personnel, and investing more time in the integration of operation and maintenance, saving Personnel and other tasks. Labor cost. The second is to shorten the emergency response time. After using the robot detection system, remote video can be provided for the operation and maintenance personnel to shorten the processing time.
The power inspection robot inspection and infrared temperature measurement cycle refer to the routine inspection of the substation and the specified infrared temperature measurement cycle. The robot can correctly read the readings of the equipment and meters through the inspection. During routine inspections, operation and maintenance personnel do not need to inspect these meters. Before the daily inspection, the instrument reading should be checked directly through the background of the inspection robot. During the inspection, the reading of the unqualified instrument should be checked. When unmanned substations require special inspections, if the range of the robot can meet the requirements of equipment inspections, robots can be used instead of personnel inspections; when operators cannot perform unmanned substations due to bad weather, traffic, etc. When performing routine inspections, you can use a remote robot inspection screen instead of manual inspections. In daily inspections, after a comprehensive inspection of the substation, the operation and maintenance team should compare the manual meter reading with the meter reading recorded by the robotic system, and immediately contact the meter reader when problems are found. For temperature measurement points that have been checked for over-temperature data, robot temperature measurement can replace manual temperature measurement.
Electric power inspection robots need to detect the working status of substation equipment all day, and the images collected by the robots are often affected by the environment. This limits the foreign object detection algorithms commonly used by detection robots, such as background modeling or frame difference methods. Therefore, it is necessary to develop an effective foreign object detection algorithm for substation detection robots. At present, when inspecting the working status of various equipment, substation inspection robots register with the real-time image of the equipment to be detected and the template image of the equipment, and mark the area of the equipment to be detected in the collected images in order to accurately identify the equipment status. Based on this working mode, a foreign object detection algorithm for an intelligent substation inspection robot is proposed. First, according to the template image acquisition method of the inspection robot, standard image acquisition is performed in the equipment area where foreign objects are easy to hang or areas where foreign objects must be strictly prevented from entering, and the template image database of the equipment area to be inspected is established. Then, when the robot performs a patrol task, it stops at a specified position in front of the device under test according to the task instruction, and acquires a real-time image according to the shooting angle and focal length of the template image of the same device.