| Substation plays a vital role in the entire power system, and its security issues relatedto the stability of the entire power system operation. Substation inspection focuses on somespecific parts of the substation equipment, such as meter pointers, the height of the oilgauge and temperature of the device, and investigates them one by one to detect abnormalconditions on time. Currently, the inspection job are mainly completed by maintenancestaff in substation site. However, due to experience and business levels of the maintenancestaff, they may not be able to investigate the devices reliability and bring security risks.Using digital instrument instead of the traditional electrical instrument can avoid theseproblems brought by manual inspection, but it will bring high cost. So in our country mostsubstations are still equipped with traditional electrical instrument. Compared withtransforming the entire substation with digital instrument, using robot to patrol thesubstation cost lower. Robot is better at finishing repetitive jobs such as inspection thanman. In order to control the robot to collect the substation site’s video, complete substationinspection tasks, a complete monitoring system, which is used to ensure the safety of robotand substation equipment, should be designed.This thesis focuses on the design of the remote control system for substationinspection robot, we proposed a complete video monitoring system which is composedfrom the underlying hardware to the upper control algorithm. The system is designed usingvideo sensor to collect real-time videos in substation site and sending them through thecommunication network to the monitoring system running on the monitoring station.Through the video monitoring system, staffs can get real-time status of the inspection robotand control the robot to complete the inspection job. Moreover, the monitoring system canalso control inspection robot autonomous inspect substation equipment, determine thecurrent working status of the equipment by image processing algorithms, detect theabnormal situation and protect the safety of substation operation. The main content of thisthesis is summarized as bellow:1. Video system hardware design. Design the video monitoring system, which iscomposed of video sensors, communication network and monitoring station, for substation inspection robot. Realize the substation site video picture remote access, and to giveinspection robot remote operation control instruction.2. Video system software design. Design a set of graphical interface based monitoringsystem software. Software is able to build and maintain the control links with inspectionrobot devices, and show the presented collected field video to the user. The software cannot only let user operation inspection robot, also can control the inspection robot completethe inspection job without supervising. Meanwhile, monitoring software can use databaseto provide user authority management, inspection results Storage, calibration informationmanagement and many other kinds of humanized function, which is convenient for the userto management and control the inspection robot3. Multi-channel video transmission bandwidth control. In order to solve the networkcongestion problem caused by multiple video transmission under limited bandwidthconditions. The thesis proposed a set of task based video bandwidth allocation algorithm.According to robot operation state, the algorithm calculates the theory transmissionweights of each video sensor, and uses the multi-objective optimization method todistribute a reasonable system transmission bandwidth, makes the network will not becongested by robot’s multiple video transmission and ensures the real-time video quality.4. Analog gauges image recognition. According to the equipment working conditionjudgment problem, this article designs a set of image processing algorithm, which canrecognize a variety of analog meter point, oil level state in the substation site. Algorithmcan work under changes of the light, complicated image background effectively. Providesthe basis for the system to judge the running state of the equipment.5. Video system application. Apply the monitoring system on substationinspection robot in the real environment, to verify the applicability of the system.Achieve the goal that make the robot inspect substation without supervising, ensurethe operational safety of the substation. |
PDF Full Text Request