Live detection method and apparatus for a high-voltage switch cabinet

Patent metadata

Field	Value
Publication number	US-11513142-B2
Application number	US-201816306270-A
Country	US
Kind code	B2
Filing date	Jan 15, 2018
Priority date	Jul 20, 2017
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

Provided are a live detection method and apparatus for a high-voltage switch cabinet. The live detection apparatus for a high-voltage switch cabinet includes a robot body and a back-end server. The robot body includes a host module, a power module, a detection module and a motion module. The power module is electrically connected to the host module and the motion module. The host module is communicably connected to the motion module and the detection module. The detection module includes a visible light camera, an infrared thermal imager, an non-contacting ultrasonic sensor and an ultrahigh-frequency sensor. The motion module includes a horizontal motion module, a vertical motion module and a rotating motion module. The horizontal motion module includes a motor-driven carrier and a laser navigation system. The vertical motion module is secured to the motor-driven carrier.

First claim

What is claimed is:

1. A live detection apparatus for a high-voltage switch cabinet, comprising a robot body and an in-station controlling terminal, wherein
the robot body comprises a host module, a power module, a detection module and a motion module, wherein the power module is electrically connected to the host module and the motion module, and the host module is communicably connected to the motion module and the detection module;
the detection module comprises a visible light camera, an infrared thermal imager, a non-contacting ultrasonic sensor and an ultrahigh-frequency sensor;
the motion module comprises a horizontal motion module, a vertical motion module and a rotating motion module, wherein the horizontal motion module comprises a motor-driven carrier and a laser navigation system, the vertical motion module is secured to the motor-driven carrier, the rotating motion module is secured to the vertical motion module, and the detection module is secured to the rotating motion module; and
the in-station controlling terminal is configured to:
acquire a preplanned detection path;
acquire a task package created according to a layout of switch cabinets, and mark positions of the switch cabinets and serial numbers of cabinet doors of the switch cabinets on a two-dimensional map according to the task package, wherein the two-dimensional map is pre-created according to a work environment; and
control the robot body of the live detection apparatus for a high-voltage switch cabinet to perform the following operations:
when acquiring a startup instruction remotely, the robot body of the live detection apparatus for a high-voltage switch cabinet starting off from a charging dock and moving along the detection path, and when the robot body arrives at a preset detection position of a first one of the switch cabinets, the robot body stopping moving and adjusting a carrier body and an angle of a detection system to enable a front end of the carrier body and the detection system to face the switch cabinet;

dividing the cabinet door of the switch cabinet into an upper section A and a lower section B, automatically turning on an infrared thermal imager, aiming the infrared thermal imager at the cabinet door horizontally, and taking a thermal image of the section A; and the detection module rotating vertically so that the infrared thermal imager is at an angle of 45 degrees to a horizontal plane, taking a thermal image of the section B, and then the detection module rotating back to a horizontal angle to complete infrared detection of the switch cabinet;
the robot body getting close to the cabinet door of the switch cabinet, and stopping moving when a laser radar in the laser navigation system detects that the cabinet door is ahead in a preset distance; starting the vertical motion module to raise the detection module at a constant speed, turning on the visible light camera to perform second detection and feature extraction of the switch cabinet, and the detection module stopping moving after detecting a door interstice of the switch cabinet; aiming the ultrahigh-frequency sensor and the non-contacting ultrasonic sensor at the door interstice to perform partial discharge detection; and continuing raising the detection module to detect a next door interstice, and, after the detection is completed, lowering the detection module to an original position, completing the partial discharge detection of the switch cabinet and obtaining a partial discharge detection pattern; and
the robot body of the live detection apparatus for a high-voltage switch cabinet returning to the detection path, and moving to a next switch cabinet according to a marked positions of the switch cabinets on the map and detecting the next switch cabinet;
and the robot body automatically returning to the charging dock after all of the switch cabinets have been detected;
the in-station controlling terminal is further configured to control the robot body of the live detection apparatus for a high-voltage switch cabinet to perform the following operations:
after the obtaining the partial discharge detection pattern, comparing the partial discharge detection pattern with an original pattern, and if the partial discharge detection pattern of the non-contacting ultrasonic sensor or the ultrahigh-frequency sensor shows that an abnormal discharge signal exists in one interstice, continuing to detect a next interstice until no abnormal discharge signal is detected by both the non-contacting ultrasonic sensor and the ultrahigh-frequency sensor;
obtaining an ultrasonic signal amplitude number set and an ultrahigh-frequency signal peak number set according to a comparison between the partial discharge detection pattern and the original pattern for each interstice; and
in response to determining that an interstice area corresponding to the maximum of the ultrasonic signal amplitude number set is the same as an interstice area corresponding to the maximum of the ultrahigh-frequency signal peak number set, determining the interstice area as a suspected discharge defect area, in response to determining that the interstice area corresponding to the maximum of the ultrasonic signal amplitude number set is different from the interstice area corresponding to the maximum of the ultrahigh-frequency signal peak number set, sending the detection result to a back-end server to display the detection result for an operator to perform redetection.

2. The live detection apparatus for a high-voltage switch cabinet according to claim 1 , wherein the motor-driven carrier comprises two main front driving wheels, two main rear driving wheels, a drive motor, a drive gear and a rack, wherein the two main front driving wheels, the two rear driving wheels, the drive motor and the drive gear are secured to the rack.

3. The live detection apparatus for a high-voltage switch cabinet according to claim 1 , wherein the host module is secured to the rack of the motor-driven carrier; the host module comprises a Wi-Fi communication module, an image processing module, a partial discharge signal processing module, a motion control system and a data acquisition system; and the motion control system is communicably connected to the motion module and the detection module, and the data acquisition system is communicably connected to the detection module.

4. The live detection apparatus for a high-voltage switch cabinet according to claim 1 , further comprising: a remote controlling terminal, a mobile inquiry terminal and the back-end server, wherein the remote controlling terminal is connected to the in-station controlling terminal via an optical fiber, the mobile inquiry terminal is wirelessly connected to the in-station controlling terminal, and the robot body wirelessly communicates with the back-end server.

5. The live detection apparatus for a high-voltage switch cabinet according to claim 2 , wherein the vertical motion module comprises: a linear actuator, a driver, a position encoder and a stopper, is secured to the rack of the motor-driven carrier and is electrically connected to the host module; the vertical motion module further comprises: a lifting rod, an air pump, an air cylinder, a coiling mechanism and a positioning mechanism; an adjustable height range of the vertical motion module is 50 cm˜150 cm from the ground; the rotating motion module is a two-degree-of-freedom cradle head, is secured to the lifting rod of the vertical motion module and is electrically connected to the host module; and the rotating motion module comprises a drive motor, a rotating shaft and a circumferential positioning mechanism, and has a horizontal rotation angle of 0˜360° and a vertical rotation angle of −60°˜60°.

6. A live detection method for a high-voltage switch cabinet, applied to a live detection ap

Assignees

• State Grid Jiangxi Electric Power Company Limited Res Institute
• State Grid Corp China
• Nanchang Kechen Electric Power Test And Res Co Ltd

Inventors

• Liu Yuting
• Wang Peng
• Zhou Qiukuan
• Liu Mingjun
• Li Tangbing
• Tong Chao
• Zhang Yu
• Tong Junxin
• Liu Yan
• Chen Tian
• Zou Yang

Classifications

• G01R31/1227

  of components, parts or materials (G01R31/1209, G01R31/1218, G01R31/18 take precedence; circuits therefor G01R31/14; testing vessels of electrodes G01R31/16) · CPC title

• G01C21/206

  specially adapted for indoor navigation · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• H04W84/12

  WLAN [Wireless Local Area Networks] · CPC title

• G01J5/0096

  for measuring wires, electrical contacts or electronic systems · CPC title