智能巡检机器人系统在苏通GIL综合管廊工程中的应用
|
摘要
为解决苏通气体绝缘金属封闭输电线路(GIL)管廊人工巡检难度大、效率低、巡检人员安全风险高的问题,研制了一种轨道式智能巡检机器人系统,该系统包含机器人本体、通信配电系统、轨道系统、综合监控平台系统4个部分。机器人本体由行走机构、升降机构及检测单元组成,经实验测试,水平方向定位精度可控制在5 mm以内,垂直方向定位精度可控制在3 mm以内。该智能巡检机器人可实现视频图像监控、仪表读数识别、红外热成像温度检测、局部放电检测定位、管廊内环境监测等功能。可通过综合监控平台客户端软件或移动客户端APP实现对巡检机器人进行远程遥控、任务配置、数据访问等操作。经测试各项数据指标均满足苏通GIL管廊日常巡检需求,该系统可应用于其他GIL工程,具有极强的推广应用价值。
Since manual inspection in Sutong gas insulated metal enclosed transmission line(GIL) utility tunnel has the problems of high difficulty, low efficiency, and high security risk for inspectors, we developed an intelligent inspection robot system including robot ontology, communication and distribution system, rail system, and comprehensive monitoring platform system. The robot ontology is composed of walking mechanism, lifting mechanism and testing unit. Through experimental tests, the horizontal positioning accuracy can be controlled within 5 mm, while the vertical positioning accuracy can be controlled within 3 mm. The intelligent inspection robot can realize the functions of video image monitoring, meter reading recognition, infrared thermal imaging temperature detection, partial discharge detection and location, pipe gallery in environmental monitoring, and many other functions. Comprehensive monitoring platform client software and mobile client APP can remotely control the robot, configure tasks, and load the data, etc. All the data indicators in experimental tests can satisfy the demands of Sutong GIL pipe gallery routine inspection, which indicates that this robot system can be used in other GIL projects and has a potential value for application.
Since manual inspection in Sutong gas insulated metal enclosed transmission line(GIL) utility tunnel has the problems of high difficulty, low efficiency, and high security risk for inspectors, we developed an intelligent inspection robot system including robot ontology, communication and distribution system, rail system, and comprehensive monitoring platform system. The robot ontology is composed of walking mechanism, lifting mechanism and testing unit. Through experimental tests, the horizontal positioning accuracy can be controlled within 5 mm, while the vertical positioning accuracy can be controlled within 3 mm. The intelligent inspection robot can realize the functions of video image monitoring, meter reading recognition, infrared thermal imaging temperature detection, partial discharge detection and location, pipe gallery in environmental monitoring, and many other functions. Comprehensive monitoring platform client software and mobile client APP can remotely control the robot, configure tasks, and load the data, etc. All the data indicators in experimental tests can satisfy the demands of Sutong GIL pipe gallery routine inspection, which indicates that this robot system can be used in other GIL projects and has a potential value for application.
引文
[1]李鹏,颜湘莲,王浩,等.特高压交流GIL输电技术研究及应用[J].电网技术,2017,41(10):3161-3167.LI Peng,YAN Xianglian,WANG Hao,et al.Research and application of UHVAC gas-insulated transmission line[J].Power System Technology,2017,41(10):3161-3167.
[2]张海宁,周忠宁,冯佳男,等.基于多源数据及模糊匹配的安稳运行状态智能巡检系统[J].电力工程技术,2017,36(6):102-105.ZHANG Haining,ZHOU Zhongning,FENG Jianan,et al.Intelligent operation inspection intelligent inspection system based on multi-source data and fuzzy matching[J].Electric Power Engineering Technology,2017,36(6):102-105.
[3]丁蓉,杨俊杰,吴猛,等.变电站巡检机器人高精度定位增强系统的设计与实现[J].仪表技术与传感器,2018(10):43-46.DING Rong,YANG Junjie,WU Meng,et al.Design and implementation of high precision positioning augmentation system for Inspection robot in substations[J].Instrument Technique and Sensor,2018(10):43-46.
[4]张营,鲁守银,苏建军.高压变电站设备带电水冲洗机器人系统研究[J].高电压技术,2017,43(4):1326-1332.ZHANG Ying,LU Shouyin,SU Jianjun.Research on hot washing robot system for high voltage substation equipment[J].High Voltage Engineering,2017,43(4):1326-1332.
[5]彭向阳,钱金菊,吴功平,等.架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591.PENG Xiangyang,QIAN Jinju,WU Gongping,et al.Full automatic inspection system and its demonstration application based on robot for overhead transmission lines[J].High Voltage Engineering,2017,43(8):2582-2591.
[6]张燕东,田磊,李茂清,等.智能巡检机器人系统在火力发电行业的应用研发及示范[J].中国电力,2017,50(10):1-7.ZHANG Yandong,TIAN Lei,LI Maoqing,et al.Application and development of intelligent inspection robot system in thermal power plant[J].Electric Power,2017,50(10):1-7.
[7]鲁守银,张营,李建祥,等.移动机器人在高压变电站中的应用[J].高电压技术,2017,43(1):276-284.LU Shouyin,ZHANG Ying,LI Jianxiang,et al.Application of mobile robot in high voltage substation[J].High Voltage Engineering,2017,43(1):276-284.
[8]黄新波,赵阳,廖志军,等.基于物联网的高压开关柜综合在线监测装置设计[J].高压电器,2015,51(5):1-7.HUANG Xinbo,ZHAO Yang,LIAO Zhijun,et al.Design of comprehensive on-line monitoring device for high voltage switchgear based on internet of things[J].High Voltage Apparatus,2015,51(5):1-7.
[9]郭杨,陈昊.激光导航智能机器人巡检系统在特高压变电站的应用[J].电力工程技术,2017,36(4):131-136.GUO Yang,CHEN Hao.Application of laser navigation intelligent robot inspection system in UHV substation[J].Electric Power Engineering Technology,2017,36(4):131-136.
[10]李玉峰,李广泽,谷绍湖,等.基于区域分块与尺度不变特征变换的图像拼接算法[J].光学精密工程,2016,24(5):1197-1205.LI Yufeng,LI Guangze,GU Shaohu,et al.Image mosaic algorithm based on area blocking and SIFT[J].Optics and Precision Engineering,2016,24(5):1197-1205.
[11]胡邦强.基于Hough变换的指针式水表识别系统的研究与应用[D].成都:成都电子科技大学,2016.HU Bangqiang.The research and application of pointer water-meter recognition system based on Hough transform[D].Chengdu,China:University of Electronic Science and Technology of China,2016.
[12]聂海涛,龙科慧,马军,等.采用改进尺度不变特征变换在多变背景下实现快速目标识别[J].光学精密工程,2015,23(8):2349-2356.NIE Haitao,LONG Kehui,MA Jun,et al.Fast object recognition under multiple varying background using improved SIFT method[J].Optics and Precision Engineering,2015,23(8):2349-2356.
[13]许丽,石伟,方甜.巡检机器人中的指针式仪表读数识别系统[J].仪器仪表学报,2017,38(7):1782-1790.XU Li,SHI Wei,FANG Tian.Pointer meter reading recognition system used in patrol robot[J].Chinese Journal of Scientific Instrument,2017,38(7):1782-1790.
[14]金逸,刘伟,査显光,等.智能变电站状态监测技术及应用[J].电力工程技术,2012,31(2):12-15.JIN Yi,LIU Wei,ZHA Xianguang,et al.Intelligent substation condition monitoring technology and application[J].Electric Power Engineering Technology,2012,31(2):12-15.
[15]何立夫,陆佳政,刘毓,等.输电线路山火可见光-红外多光源精准定位技术[J].高电压技术,2018,44(8):2548-2555.HE Lifu,LU Jiazheng,LIU Yu,et al.Precise positioning technology of wild fire nearby transmission lines by visible and infrared vision[J].High Voltage Engineering,2018,44(8):2548-2555.
[16]王杰,毛玉泉,李思佳,等.图像的频域倒数-高斯级联低通滤波去噪方法[J].计算机应用研究,2012,29(12):4775-4778.WANG Jie,MAO Yuquan,LI Sijia,et al.Frequency domain reciprocal-Gaussian cascade low-pass filtering denoising method of image[J].Application Research of Computers,2012,29(12):4775-4778.
[17]施景垒,宋云翔,杨景刚,等.一起252kV组合电器局放异常信号分析处理[J].电力工程技术,2017,36(6):127-131.SHI Jinglei,SONG Yunxiang,YANG Jinggang,et al.Analysis and treatment of partial discharge abnormal signal in 252 k V GIS equipment[J].Electric Power Engineering Technology,2017,36(6):127-131.
[18]杨景刚,贾勇勇,赵科,等.GIS内典型绝缘缺陷的局部放电信号超声特性分析[J].电力工程技术,2015,34(2):10-14.YANG Jinggang,JIA Yongyong,ZHAO Ke,et al.Analysis of partial discharge ultrasonic wave characteristic of typical defects in GIS[J].Electric Power Engineering Technology,2015,34(2):10-14.
[19]唐志国,唐铭泽,王红梅,等.GIS设备局部放电类型表观相似性及模式识别准确性的探讨[J].高电压技术,2018,44(8):2479-2485.TANG Zhiguo,TANG Mingze,WANG Hongmei,et al.Discussion on the resemblance of different partial discharges and accuracy of PDpattern recognition of GIS equipment[J].High Voltage Engineering,2018,44(8):2479-2485.
[20]赵科,王静君,刘通,等.直流GIL绝缘设计及局部放电检测研究进展[J].电力工程技术,2017,36(5):98-108.ZHAO Ke,WANG Jingjun,LIU Tong,et al.A review of insulation design and partial discharge detection of DC gas insulated line[J].Electric Power Engineering Technology,2017,36(5):98-108.
[2]张海宁,周忠宁,冯佳男,等.基于多源数据及模糊匹配的安稳运行状态智能巡检系统[J].电力工程技术,2017,36(6):102-105.ZHANG Haining,ZHOU Zhongning,FENG Jianan,et al.Intelligent operation inspection intelligent inspection system based on multi-source data and fuzzy matching[J].Electric Power Engineering Technology,2017,36(6):102-105.
[3]丁蓉,杨俊杰,吴猛,等.变电站巡检机器人高精度定位增强系统的设计与实现[J].仪表技术与传感器,2018(10):43-46.DING Rong,YANG Junjie,WU Meng,et al.Design and implementation of high precision positioning augmentation system for Inspection robot in substations[J].Instrument Technique and Sensor,2018(10):43-46.
[4]张营,鲁守银,苏建军.高压变电站设备带电水冲洗机器人系统研究[J].高电压技术,2017,43(4):1326-1332.ZHANG Ying,LU Shouyin,SU Jianjun.Research on hot washing robot system for high voltage substation equipment[J].High Voltage Engineering,2017,43(4):1326-1332.
[5]彭向阳,钱金菊,吴功平,等.架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591.PENG Xiangyang,QIAN Jinju,WU Gongping,et al.Full automatic inspection system and its demonstration application based on robot for overhead transmission lines[J].High Voltage Engineering,2017,43(8):2582-2591.
[6]张燕东,田磊,李茂清,等.智能巡检机器人系统在火力发电行业的应用研发及示范[J].中国电力,2017,50(10):1-7.ZHANG Yandong,TIAN Lei,LI Maoqing,et al.Application and development of intelligent inspection robot system in thermal power plant[J].Electric Power,2017,50(10):1-7.
[7]鲁守银,张营,李建祥,等.移动机器人在高压变电站中的应用[J].高电压技术,2017,43(1):276-284.LU Shouyin,ZHANG Ying,LI Jianxiang,et al.Application of mobile robot in high voltage substation[J].High Voltage Engineering,2017,43(1):276-284.
[8]黄新波,赵阳,廖志军,等.基于物联网的高压开关柜综合在线监测装置设计[J].高压电器,2015,51(5):1-7.HUANG Xinbo,ZHAO Yang,LIAO Zhijun,et al.Design of comprehensive on-line monitoring device for high voltage switchgear based on internet of things[J].High Voltage Apparatus,2015,51(5):1-7.
[9]郭杨,陈昊.激光导航智能机器人巡检系统在特高压变电站的应用[J].电力工程技术,2017,36(4):131-136.GUO Yang,CHEN Hao.Application of laser navigation intelligent robot inspection system in UHV substation[J].Electric Power Engineering Technology,2017,36(4):131-136.
[10]李玉峰,李广泽,谷绍湖,等.基于区域分块与尺度不变特征变换的图像拼接算法[J].光学精密工程,2016,24(5):1197-1205.LI Yufeng,LI Guangze,GU Shaohu,et al.Image mosaic algorithm based on area blocking and SIFT[J].Optics and Precision Engineering,2016,24(5):1197-1205.
[11]胡邦强.基于Hough变换的指针式水表识别系统的研究与应用[D].成都:成都电子科技大学,2016.HU Bangqiang.The research and application of pointer water-meter recognition system based on Hough transform[D].Chengdu,China:University of Electronic Science and Technology of China,2016.
[12]聂海涛,龙科慧,马军,等.采用改进尺度不变特征变换在多变背景下实现快速目标识别[J].光学精密工程,2015,23(8):2349-2356.NIE Haitao,LONG Kehui,MA Jun,et al.Fast object recognition under multiple varying background using improved SIFT method[J].Optics and Precision Engineering,2015,23(8):2349-2356.
[13]许丽,石伟,方甜.巡检机器人中的指针式仪表读数识别系统[J].仪器仪表学报,2017,38(7):1782-1790.XU Li,SHI Wei,FANG Tian.Pointer meter reading recognition system used in patrol robot[J].Chinese Journal of Scientific Instrument,2017,38(7):1782-1790.
[14]金逸,刘伟,査显光,等.智能变电站状态监测技术及应用[J].电力工程技术,2012,31(2):12-15.JIN Yi,LIU Wei,ZHA Xianguang,et al.Intelligent substation condition monitoring technology and application[J].Electric Power Engineering Technology,2012,31(2):12-15.
[15]何立夫,陆佳政,刘毓,等.输电线路山火可见光-红外多光源精准定位技术[J].高电压技术,2018,44(8):2548-2555.HE Lifu,LU Jiazheng,LIU Yu,et al.Precise positioning technology of wild fire nearby transmission lines by visible and infrared vision[J].High Voltage Engineering,2018,44(8):2548-2555.
[16]王杰,毛玉泉,李思佳,等.图像的频域倒数-高斯级联低通滤波去噪方法[J].计算机应用研究,2012,29(12):4775-4778.WANG Jie,MAO Yuquan,LI Sijia,et al.Frequency domain reciprocal-Gaussian cascade low-pass filtering denoising method of image[J].Application Research of Computers,2012,29(12):4775-4778.
[17]施景垒,宋云翔,杨景刚,等.一起252kV组合电器局放异常信号分析处理[J].电力工程技术,2017,36(6):127-131.SHI Jinglei,SONG Yunxiang,YANG Jinggang,et al.Analysis and treatment of partial discharge abnormal signal in 252 k V GIS equipment[J].Electric Power Engineering Technology,2017,36(6):127-131.
[18]杨景刚,贾勇勇,赵科,等.GIS内典型绝缘缺陷的局部放电信号超声特性分析[J].电力工程技术,2015,34(2):10-14.YANG Jinggang,JIA Yongyong,ZHAO Ke,et al.Analysis of partial discharge ultrasonic wave characteristic of typical defects in GIS[J].Electric Power Engineering Technology,2015,34(2):10-14.
[19]唐志国,唐铭泽,王红梅,等.GIS设备局部放电类型表观相似性及模式识别准确性的探讨[J].高电压技术,2018,44(8):2479-2485.TANG Zhiguo,TANG Mingze,WANG Hongmei,et al.Discussion on the resemblance of different partial discharges and accuracy of PDpattern recognition of GIS equipment[J].High Voltage Engineering,2018,44(8):2479-2485.
[20]赵科,王静君,刘通,等.直流GIL绝缘设计及局部放电检测研究进展[J].电力工程技术,2017,36(5):98-108.ZHAO Ke,WANG Jingjun,LIU Tong,et al.A review of insulation design and partial discharge detection of DC gas insulated line[J].Electric Power Engineering Technology,2017,36(5):98-108.