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Magnetic navigation system for transformer substation

A technology of magnetic navigation and substation, applied in the field of substation monitoring, can solve the problems of low efficiency of judging the track recovery and cannot guarantee real-time monitoring of substations, etc., and achieve the effects of facilitating reset, improving accuracy and improving reset efficiency.

Pending Publication Date: 2021-01-29
国网山西省电力公司超高压变电分公司
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the judgment accuracy and track recovery efficiency are low, and it cannot cope with some complicated situations. If all the magnetic sensors are not on the magnetic strip, it is necessary to alert the operation and maintenance personnel and stop working. The operation and maintenance personnel will manually correct it, and there will be monitoring during the period. During the vacuum period, real-time monitoring of substations cannot be guaranteed

Method used

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  • Magnetic navigation system for transformer substation
  • Magnetic navigation system for transformer substation

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Experimental program
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Effect test

Embodiment 1

[0036] Such as figure 1 As shown, a magnetic navigation system for a substation includes an inspection robot, a magnetic strip track and a central control station, and the magnetic strip track is laid near the monitoring point of the substation; the central control station is wireless with the inspection robot connected; the inspection robot includes a collection module, an analysis module, a positioning module and a sending module; the analysis module is connected to the collection module and the sending module, the collection module is connected to the sending module, and the sending module is also Connect with the positioning module and the central control station; the chassis of the inspection robot is a cuboid; the acquisition module includes a camera, a receiver and a magnetic sensor; the number of the magnetic sensors is four, which are respectively arranged on the At the four corners of the inspection robot chassis; the inspection robot is also provided with a distance...

Embodiment 2

[0040] An anti-derailing method for a magnetic navigation system in a substation, comprising the steps of:

[0041] S1. When the inspection robot is located on the magnetic track and is in the working state, the analysis module and the positioning module are automatically turned on;

[0042] S2. When any magnetic sensor of the inspection robot does not detect the magnetic stripe, the analysis module is triggered;

[0043] S3, judging at what position the magnetic sensor has not detected the magnetic stripe;

[0044] S4. Analyze the current position of the inspection robot, and adjust the direction of travel at least once;

[0045] S5, until all the magnetic sensors detect the magnetic stripes, and drive normally.

[0046] When the inspection robot is placed on the track, the magnetic sensor detects the magnetic strip and automatically turns on the analysis module and the positioning module to enter the working state. If any magnetic sensor does not detect the magnetic strip, i...

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Abstract

The invention discloses a magnetic navigation system for a transformer substation, which comprises an inspection robot, a magnetic stripe track and a central control station. The magnetic stripe trackis laid near a transformer substation monitoring point; the central control station is wirelessly connected with the inspection robot; the inspection robot comprises an acquisition module, an analysis module, a positioning module and a sending module; a chassis of the inspection robot is a cuboid; the acquisition module comprises a camera, a receiver and magnetic sensors; the number of the magnetic sensors is four, and the four magnetic sensors are arranged at the four corners of the inspection robot chassis respectively; and the inspection robot is further provided with a distance sensor. Analysis and execution are carried out according to the situation whether the magnetic sensors in different directions detect magnetic strips or not, the situation that the inspection robot derails or is about to derail is solved in real time, operation and maintenance personnel do not need to manually restart the inspection robot, reset efficiency is improved, a reset vacuum period does not exist,and safety of substation monitoring is improved.

Description

technical field [0001] The invention relates to the technical field of substation monitoring, in particular to a magnetic navigation system for a substation and a method for preventing derailment. Background technique [0002] The inspection cost of substation personnel is high. At present, unattended personnel are gradually realized. Substation inspection robots have been more and more widely used in power systems. Among them, it is one of the key technologies for unattended substation inspection robots to detect high-voltage equipment. It is to provide continuous, real-time and accurate navigation information to the motion control system of the substation inspection robot, so that it can drive along the predetermined path and complete the inspection task. With reference to CN204178239U, a navigation device for a substation inspection robot is disclosed, which uses a plurality of magnetic sensors and two magnetic strips to work together to navigate, which reduces the derail...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0263
Inventor 王克胜高晋文原帅姚兆民赵彦平袁滨刘霄魏彬彬王建伟
Owner 国网山西省电力公司超高压变电分公司
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