Research On Intelligent Of Optimization On Transformer Substation Inspection Based On Patrol Robot

With the continuous progress of the society and the deepening of the reform of the power system,the management level and the technical level of the State Grid are constantly improving.The implementation of the concept of "Three sets of five" makes the substation develop gradually to unattended operation and maintenance mode.At present,manual inspection is the main way of substation routine inspection task.Manual inspection mainly depends on operation and maintenance personnel to determine the operation state of power equipment,and can not quickly and accurately determine whether there are hidden dangers or defects in the equipment.Around the public's increasing demand for clean electricity,the State Grid has invested a lot of new substations,leading to more and more heavy patrol work.With the continuous development of science and technology and smart grid,the intelligent inspection robot of substation has come into being.In the near future,it will be necessary for intelligent inspection robots to replace the operation of the maintenance personnel in the daily inspection of substations.In this paper,the first chapter introduces the technology development of the inspection robot and the current research status at home and abroad,and puts forward the main research direction of this paper.The second chapter describes the functions of the robot system,mobile station system and the base station system of the intelligent inspection robot used by some company.Chapter three uses the substation evaluation standards as a principle of transformer substation state score,thus planning the way of inspection to inspection robot,to find the robot to the equipment of infrared measuring temperature best views,to analyze equipment often happen thermal defects,according to the observation point above,after its reasonable links,programs the best tour of inspection robot path and application.The fourth chapter can divided into three part.At first,from the economic point of view,the corresponding mathematical model is carried out to compare the working cost of the inspection robot with the operation and maintenance personnel,and analyze the time point of the most suitable robot to replace the operation and maintenance personnel.Then,according to the A.H.P,find the five most important factors of substation inspection of the emphasis points,and the horizontal comparison of various factors into the robot inspection and manual inspection.Finally,make a test to compare the inspection robot with the manual.Using the true and effective inspection data to optimize the operation of substation inspection,the intelligent patrol robot of substation is used instead of part of the manual inspection in multi angle.In the fifth part,I putted the inspection robot into four transformer substations of some operation class to test run.The results showed that the inspection robot can complete the inspection task well.Several equipment defects were found during the test run,which ensured the safe and reliable operation of the equipment.The last chapter,it is proposed that the robot in substation still exists the dead zone,and some items in the daily inspection cannot be done.Through the research of all aspects of inspection robot,it is expected that the workload of operators can be lighten by the application of inspection robot,so as to achieve the purpose of optimal inspection.