阅读说明：本技术 无人机自身安全与换流站设备安全的控制方法 (Control method for self safety of unmanned aerial vehicle and safety of converter station equipment ) 是由 袁虎强 陶雄俊 曹继丰 孙豪 杨涛 马向南 于 2020-05-29 设计创作，主要内容包括：本发明公开了无人机自身安全与换流站设备安全的控制方法,属于换流站设备领域,可以实现通过RTK定位技术为无人机在换流站内的巡检提供精确定位信息,提高无人机巡检时的定位精度,从而提高巡检时的安全性,对无人机和换流站设备的安全提供保障,同时无人机搭载成像模块和绝缘检修模块,配合换流站设备内安装的传感器模块,基本涵盖换流站设备故障检测范围,有效扩大巡检的全面性,尤其是引入的绝缘检修可以针对变压器的树脂绝缘层进行检测,一旦检测到破损可以及时进行修复,避免损伤的进一步扩大,同时对其进行监测,有效保障后期运行的稳定性和安全性,实现对无人机和换流站设备安全的有效控制。(The invention discloses a control method for the self safety of an unmanned aerial vehicle and the safety of converter station equipment, which belongs to the field of converter station equipment, can realize the purpose of providing accurate positioning information for the inspection of the unmanned aerial vehicle in a converter station by an RTK positioning technology, improves the positioning precision of the unmanned aerial vehicle during inspection, thereby improving the safety during inspection, and provides guarantee for the safety of the unmanned aerial vehicle and the converter station equipment, meanwhile, the unmanned aerial vehicle carries an imaging module and an insulation overhaul module, and is matched with a sensor module arranged in the converter station equipment, the fault detection range of the converter station equipment is basically covered, the comprehensiveness of the inspection is effectively enlarged, especially, the introduced insulation overhaul can detect a resin insulation layer of a transformer, once the damage is detected, the repair can be carried out in time, the further enlargement of the damage is avoided, the monitoring is carried out simultaneously, and the stability and the, the safety of the unmanned aerial vehicle and the convertor station equipment is effectively controlled.)

1. The control method for the safety of the unmanned aerial vehicle and the safety of the converter station equipment is characterized by comprising the following steps: the method comprises the following steps:

s1, constructing a positioning system: a reference station is arranged in the power regulation center, a mobile station is carried on the unmanned aerial vehicle, and signal transmission is carried out between the reference station and the mobile station through a signal transfer device, so that the self safety of the unmanned aerial vehicle during inspection is ensured;

s2, acquiring converter station data: the method comprises the steps that accurate installation coordinate information of equipment in a converter station is obtained and stored in a database, and meanwhile, corresponding sensor modules are installed on the converter station equipment to collect data and upload the data to a cloud server in real time;

s3, unmanned aerial vehicle field inspection: the unmanned aerial vehicle specifies an optimal routing inspection path by means of a constructed positioning system, imaging acquisition and insulation detection are carried out on converter station equipment by means of a carried imaging module and an insulation maintenance module, and imaging data are uploaded to a cloud server in real time;

s4, cloud fault analysis and positioning: the cloud server analyzes a recessive fault of the positioning equipment according to the converter station data, analyzes a dominant fault of the positioning equipment according to the imaging data, and sends the analysis data to the power regulation and control center, and the power regulation and control center arranges a specially-assigned person to overhaul according to the fault;

s5, analyzing and positioning field faults: an insulation overhaul module carried by the unmanned aerial vehicle detects the insulation part of the converter station equipment, the insulation station equipment is directly repaired on site when repairable insulation damage is detected, and a secondary damage color development strip (8) is pre-buried for subsequent insulation damage detection;

s6, big data learning: common faults and large faults are analyzed by regularly applying big data, and a specially-assigned person is arranged to regularly cooperate with the unmanned aerial vehicle to accelerate the inspection cycle aiming at the fault parts, so that the safety of the converter station equipment is ensured.

2. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a lead vibration monitor and a static inductor.

3. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the imaging module comprises a visible light imaging unit and a thermal infrared imaging unit.

4. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the utility model discloses an unmanned aerial vehicle, including installing arm (1) on the unmanned aerial vehicle lateral wall, the unmanned aerial vehicle one end fixedly connected with maintenance box (2) is kept away from of arm (1), install on maintenance box (2) and store box (4), it is filled with insulation repair granule (9) to store box (4), it inlays and is connected with porous box (6) that induced drafts to overhaul box (2) front end, it is connected with delivery pump (5) to store box (4) and porous box (6) that induced drafts between, it is connected with electro-magnet (3) to inlay in maintenance box (2), strip groove (7) have still been seted up to overhaul box (2) front end, be equipped with a plurality of secondary damage in strip groove (7) and show colour bar (8), strip groove (7) notch department installs heating wire (10) of a pair of bilateral symmetry.

5. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 4, wherein the method comprises the following steps: the insulation repair particles (9) comprise magnetic powder inner cores (901), repair resin (902) wraps the outer surfaces of the magnetic powder inner cores (901), and self-heating layers (903) wrap the outer surfaces of the repair resin (902).

6. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 5, wherein the method comprises the following steps: the magnetic powder inner core (901) is made of a magnetic material, the repair resin (902) is made of a thermoplastic insulating resin material, and the self-heating layer (903) is made of a self-heating material.

7. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 4, wherein the method comprises the following steps: the insulating repair particles (9) have the particle size of 50-100 mu m and are stored in an oxygen-free environment.

8. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 4, wherein the method comprises the following steps: secondary damage color development strip (8) are including insulating cover (801), the equal fixedly connected with magnet piece (802) in both ends about insulating cover (801), it is a pair of fixedly connected with power rod (803) between magnet piece (802), and power rod (803) insert locate in insulating cover (801), insulating cover (801) front end fixedly connected with assorted seal membrane (804) seal it, seal membrane (804) one end fixedly connected with insulated column (805) are kept away from in seal membrane (804).

9. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 8, wherein the method comprises the following steps: the sealing film (804) is made of thermoplastic resin materials, and the insulating sleeve (801) is filled with thermosetting insulating paint.

10. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 8, wherein the method comprises the following steps: the force detection rod (803) is made of glass materials, and color dyes are filled in the force detection rod.

Technical Field

The invention relates to the field of converter station equipment, in particular to a control method for the safety of an unmanned aerial vehicle and the safety of converter station equipment.

Background

The converter station is a station established in a high-voltage direct-current transmission system for converting alternating current into direct current or converting direct current into alternating current and meeting the requirements of a power system on safety, stability and power quality.

The traditional method is adopted when daily inspection and maintenance work acceptance is carried out on the converter station at the present stage, the method totally relying on manpower has many defects, so that the working efficiency is low, the working quality is not high, many parts of equipment cannot be seen during inspection, and when power failure maintenance relates to overhead operation, the traditional method carries out acceptance through an overhead operation method, so that the time consumption is long.

When unmanned aerial vehicle carries out the airline flight, use ordinary GPS to fix a position, the error of airline skew may reach about 10 meters even, if the offset is too big, will probably lead to unmanned aerial vehicle to bump into the interior equipment of standing and cause the accident, and unmanned aerial vehicle patrols and examines and mostly only can play the detection to some equipment dominant failures, and can't be to transformer insulating layer's detection, transformer insulating layer adopts the resin pouring to be main insulation, consequently, resin insulating layer has decided the insulating properties of transformer, and then has decided stability and reliability when transformer operation, and the insulating layer receives mechanical force easily in the use, external environment, influence such as manual operation leads to splitting or damaged, this part trouble is difficult to be detected by unmanned aerial vehicle and technical staff, but in case do not in time discover to put anyhow, lead to transformer damage or even major incident easily.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a control method for the self safety of an unmanned aerial vehicle and the safety of converter station equipment, which can provide accurate positioning information for the inspection of the unmanned aerial vehicle in a converter station by an RTK positioning technology, improve the positioning precision of the unmanned aerial vehicle during inspection, thereby improving the safety during inspection and guaranteeing the safety of the unmanned aerial vehicle and the converter station equipment, meanwhile, the unmanned aerial vehicle carries an imaging module and an insulation maintenance module, is matched with a sensor module arranged in the converter station equipment, basically covers the fault detection range of the converter station equipment, effectively enlarges the comprehensiveness of inspection, can detect a resin insulation layer of a transformer, can repair the damage in time once the damage is detected, avoids further expansion of the damage, monitors the damage, and effectively guarantees the stability and the safety of later-period operation, the safety of the unmanned aerial vehicle and the convertor station equipment is effectively controlled.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The control method for the safety of the unmanned aerial vehicle and the safety of the converter station equipment comprises the following steps:

s1, constructing a positioning system: a reference station is arranged in the power regulation center, a mobile station is carried on the unmanned aerial vehicle, and signal transmission is carried out between the reference station and the mobile station through a signal transfer device, so that the self safety of the unmanned aerial vehicle during inspection is ensured;

s2, acquiring converter station data: the method comprises the steps that accurate installation coordinate information of equipment in a converter station is obtained and stored in a database, and meanwhile, corresponding sensor modules are installed on the converter station equipment to collect data and upload the data to a cloud server in real time;

s3, unmanned aerial vehicle field inspection: the unmanned aerial vehicle specifies an optimal routing inspection path by means of a constructed positioning system, imaging acquisition and insulation detection are carried out on converter station equipment by means of a carried imaging module and an insulation maintenance module, and imaging data are uploaded to a cloud server in real time;

s4, cloud fault analysis and positioning: the cloud server analyzes a recessive fault of the positioning equipment according to the converter station data, analyzes a dominant fault of the positioning equipment according to the imaging data, and sends the analysis data to the power regulation and control center, and the power regulation and control center arranges a specially-assigned person to overhaul according to the fault;

s5, analyzing and positioning field faults: an insulation overhaul module carried by the unmanned aerial vehicle detects an insulation part of converter station equipment, directly repairs the insulation part on site when repairable insulation damage is detected, and pre-embeds secondary damage color development strips for subsequent insulation damage detection;

s6, big data learning: common faults and large faults are analyzed by regularly applying big data, and a specially-assigned person is arranged to regularly cooperate with the unmanned aerial vehicle to accelerate the inspection cycle aiming at the fault parts, so that the safety of the converter station equipment is ensured.

Furthermore, the sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a wire vibration monitor and a static inductor, so that various data of the operation of the converter station equipment are effectively acquired, and the reliability of fault detection is ensured.

Furthermore, the imaging module comprises a visible light imaging unit and a thermal infrared imaging unit, multiple imaging requirements are met by two imaging modes, the imaging detection range is enlarged, and meanwhile, the thermal infrared imaging unit can assist the insulation maintenance module to detect.

Further, the insulating module of overhauing is including installing the arm on the unmanned aerial vehicle lateral wall, the unmanned aerial vehicle one end fixedly connected with maintenance box of keeping away from of arm, install on the maintenance box and store the box, it has the insulation repair granule to store the box intussuseption, it is connected with porous box that induced drafts to overhaul box front end inlay, it is connected with the delivery pump to store between box and the porous box that induced drafts, it is connected with the electro-magnet to overhaul the box in-box inlay, it still has seted up the bar groove to overhaul the box front end, the bar inslot is equipped with a plurality of secondary damage and shows the colour bar, a pair of bilateral symmetry's heating wire is installed to bar groove department, and unmanned aerial vehicle can keep being close to the current conversion station equipment under the condition of.

Further, the insulation repair granule includes the magnetic core, magnetic core outer surface parcel has the restoration resin, restoration resin outer surface parcel has the self-heating layer, and the magnetic core gives insulation repair granule magnetism, can retrieve after the detection, and the restoration resin is used for filling the restoration to the damaged position on the insulating layer, and the magnetic core can generate heat by oneself and consume and force the restoration resin to fill in the damaged position and restore.

Furthermore, the magnetic powder inner core is made of a magnetic material, the repair resin is made of a thermoplastic insulating resin material, the self-heating layer is made of a self-heating material, and the self-heating layer can perform self-heating by means of oxygen in air at a damaged part to provide heat for the repair resin.

Furthermore, the particle size of the insulation repair particles is 50-100 μm, and the insulation repair particles can basically penetrate into most insulation layer damaged parts to effectively repair the insulation repair particles when stored in an oxygen-free environment.

Further, the secondary damage color development strip includes insulating cover, the equal fixedly connected with magnet piece in both ends about the insulating cover, it is a pair of fixedly connected with power rod between the magnet piece, and power rod insert locate in insulating cover, insulating cover front end fixedly connected with assorted seal membrane seals it, seal membrane one end fixedly connected with insulated column is kept away from to the seal membrane, can cover under the effect that magnetism is rejected and carry out the secondary repair protection at damaged position, utilizes the breakable characteristic of power rod, in case receive the damage just can break and be used for suggestion technical staff and make things convenient for unmanned aerial vehicle imaging to detect.

Furthermore, the sealing film is made of thermoplastic resin materials, thermosetting insulating paint is filled in the insulating sleeve, the sealing film is plasticized by heating to release the thermosetting insulating paint inside for repairing, and meanwhile, the influence on the sealing film is small.

Furthermore, the force detection rod is made of glass, and the color dye is filled in the force detection rod and can flow out after the force detection rod is broken, so that the damaged display effect is improved.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme can realize providing accurate positioning information for patrolling and examining of unmanned aerial vehicle in the converter station through RTK positioning technology, improve the positioning accuracy when unmanned aerial vehicle patrols and examines, thereby improve the security when patrolling and examining, safety to unmanned aerial vehicle and converter station equipment provides the guarantee, unmanned aerial vehicle carries on imaging module and insulating maintenance module simultaneously, the sensor module of installation in the cooperation converter station equipment, basically cover converter station equipment fault detection scope, effectively enlarge the comprehensive of patrolling and examining, especially the insulating maintenance of introducing can detect to the resin insulation layer of transformer, in case detect the damage can in time restore, avoid the further expansion of damage, monitor it simultaneously, effectively guarantee the stability and the security of later stage operation, realize the effective control to unmanned aerial vehicle and converter station equipment safety.

(2) The sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a lead vibration monitor and a static inductor, effectively acquires various data of the operation of the converter station equipment, and ensures the reliability of fault detection.

(3) The imaging module comprises a visible light imaging unit and a thermal infrared imaging unit, multiple imaging requirements are met by two imaging modes, the imaging detection range is enlarged, and meanwhile, the thermal infrared imaging unit can assist the insulation maintenance module to detect.

(4) Insulating maintenance module is including installing the arm on the unmanned aerial vehicle lateral wall, the unmanned aerial vehicle one end fixedly connected with maintenance box of keeping away from of arm, install on the maintenance box and store the box, it has the insulation repair granule to store the box intussuseption, it inlays and is connected with porous box that induced drafts to overhaul the box front end, it is connected with the electro-magnet to store between box and the porous box that induced drafts, it has the bar groove still to overhaul the box front end, the bar inslot is equipped with a plurality of secondary damage color development strips, a pair of bilateral symmetry's heating wire is installed to bar groove department, unmanned aerial vehicle can keep being close to the converter station equipment under the condition of safe distance through the arm and carry out insulation detection, pre.

(5) The insulation repair particles comprise magnetic powder inner cores, repair resin is wrapped on the outer surfaces of the magnetic powder inner cores, the outer surfaces of the repair resin are wrapped with self-heating layers, the magnetic powder inner cores endow the insulation repair particles with magnetism, the insulation repair particles can be recycled after detection is finished, the repair resin is used for filling and repairing damaged portions on the insulation layers, and the magnetic powder inner cores can generate heat automatically to consume and force the repair resin to be filled in the damaged portions to be repaired.

(6) The magnetic powder inner core is made of a magnetic material, the repair resin is made of a thermoplastic insulating resin material, the self-heating layer is made of a self-heating material, and the self-heating layer can perform self-heating by means of oxygen in air at a damaged part to provide heat for the repair resin.

(7) The particle size of the insulation repair particles is 50-100 μm, and the insulation repair particles can basically penetrate into most insulation layer damaged parts to effectively repair the insulation layer when stored in an oxygen-free environment.

(8) The secondary damage color development strip includes insulating cover, the equal fixedly connected with magnet piece in both ends about the insulating cover, fixedly connected with power rod between a pair of magnet piece, and power rod inserts and locates in the insulating cover, insulating cover front end fixedly connected with assorted seal membrane seals it, seal membrane one end fixedly connected with insulated column is kept away from to the seal membrane, can cover under magnetic repulsion's effect and carry out secondary repair protection at damaged position, utilize the breakable characteristic of power rod, in case receive the damage just can break and be used for suggestion technical staff and make things convenient for unmanned aerial vehicle imaging to detect.

(9) The sealing film is made of thermoplastic resin materials, thermosetting insulating paint is filled in the insulating sleeve, the sealing film is plasticized by heating to release the thermosetting insulating paint inside for repair, and meanwhile, the influence on the sealing film is small.

(10) The power of examining stick adopts the glass material, and its intussuseption is filled with colored dyestuff, and colored dyestuff can flow out after the power of examining stick is broken, improves damaged display effect.

Drawings

FIG. 1 is a schematic flow diagram of the present invention;

FIG. 2 is a schematic structural diagram of an insulation repair module of the present invention;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

FIG. 4 is a schematic view of the construction of the service box portion of the present invention;

FIG. 5 is a schematic view of the structure at B in FIG. 4;

FIG. 6 is a schematic structural view of a secondary damage color strip according to the present invention;

fig. 7 is a schematic structural view of the insulation repair particle of the present invention.

The reference numbers in the figures illustrate:

1 mechanical arm, 2 overhaul boxes, 3 electromagnets, 4 storage boxes, 5 delivery pumps, 6 porous air suction boxes, 7 strip-shaped grooves, 8 secondary damage color development strips, 801 insulation sleeves, 802 magnet blocks, 803 force detection rods, 804 sealing films, 805 isolation columns, 9 insulation repair particles, magnetic powder 901 inner cores, 902 repair resins, 903 self-heating layers and 10 heating wires.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.