CN113894812A - Intelligent inspection robot system - Google Patents
Intelligent inspection robot system Download PDFInfo
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- CN113894812A CN113894812A CN202111258603.8A CN202111258603A CN113894812A CN 113894812 A CN113894812 A CN 113894812A CN 202111258603 A CN202111258603 A CN 202111258603A CN 113894812 A CN113894812 A CN 113894812A
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- 238000007689 inspection Methods 0.000 title claims abstract description 110
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 30
- 238000004458 analytical method Methods 0.000 claims description 18
- 238000012790 confirmation Methods 0.000 claims description 18
- 238000012423 maintenance Methods 0.000 claims description 18
- 238000007405 data analysis Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000010835 comparative analysis Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000013136 deep learning model Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention relates to the technical field of robot systems and discloses an intelligent inspection robot system, which comprises a robot, a holder control end, a robot control system and a client end, wherein the holder control end is arranged on the robot; the input ends of the driving part and the data acquisition part are in communication connection with the control end of the holder, and the output ends of the positioning part and the data acquisition part are connected with the wireless transceiver; and the robot control system is controlled at the background, so that the robot can effectively and immediately measure all the parameters on site, manual inspection is replaced, and automatic inspection is comprehensively realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent inspection robot system.
Background
In recent years, with the rapid development of unattended intelligent substations, the requirement of intelligent inspection robots of substations is more and more urgent. Aiming at the power grid inspection application requirements, the requirements for further improvement in the aspects of inspection capability, motion function, electromagnetic interference resistance, environmental adaptability and the like are provided, the fact that the transformer substation inspection robot is the mainstream of future application due to miniaturization and tool is pointed out, a transformer substation inspection robot technical standard system is provided to be established, and the construction of test capability is further strengthened so as to ensure the quality of the transformer substation inspection robot.
The prior art document CN2020110307971 discloses a transformer substation intelligent inspection robot system supporting deep learning acceleration, and the technical content disclosed by the comparison document comprises a power supply module, a sensor module, a motion module, a main controller module and an accelerator module. The motion module is responsible for controlling the movement, the steering and the cloud platform attitude of the robot. The main controller is responsible for receiving an operator instruction, receiving data of the sensor module, making a behavior decision, controlling the motion module, sending the data needing acceleration processing to the accelerator module, receiving a result returned by the accelerator module, and locally storing and remotely transmitting the data to the background. The accelerator module is responsible for receiving commands and data of the main controller, carrying out acceleration operation on the deep learning model and returning operation results to the main controller. Compared with the technical content disclosed in the document, the intelligent degree of the power equipment inspection can be improved to a certain extent, but the intelligent degree is not high, and the requirement of high intelligence cannot be met.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects of the prior art and provides an intelligent inspection machine system which is full-intelligent, automatic and stable in operation.
The purpose of the invention is realized by the following technical scheme:
the intelligent inspection robot system comprises a robot, a holder control end arranged on the robot, a robot control system and a client, wherein the robot comprises a driving part, a data acquisition part, a positioning part and a wireless transceiver which are arranged on a robot main body; the input ends of the driving part and the data acquisition part are in communication connection with the control end of the holder, and the output ends of the positioning part and the data acquisition part are connected with the wireless transceiver; the robot control system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module and a debugging and maintaining module; the robot management module and the task management module are respectively connected with the real-time monitoring module, the real-time monitoring module is connected with the inspection result confirmation module, the inspection result confirmation module is connected with the data analysis module, and the data analysis module is connected with the user setting module and the debugging and maintaining module; the input end of the robot control system is connected with the client.
Further, the robot management module comprises a cradle head control module in communication connection with the cradle head control end, a high-definition camera control module, an infrared thermal imager control module, a pickup control module, a temperature and humidity sensor control module and a gas sensor control module in communication connection with the data acquisition part.
Further, the task management module comprises a task storage module, a task editing module and a task management module.
Further, the task storage module comprises a position storage module, an angle storage module and an acquisition task storage module; the task editing module comprises a route editing module and a time editing module; the task execution module comprises: the device comprises a remote control module, a real-time monitoring module and a data analysis module.
Furthermore, the real-time monitoring module comprises an inspection monitoring module and an inspection control module.
Furthermore, the inspection result confirming module comprises an equipment alarm information confirming module, an inspection result browsing module and an inspection report generating module; the equipment alarm information confirmation module comprises an equipment alarm information query module, a main wiring display module, a list display module, an SF6 pressure report reading module, a hydraulic report reading module and a position state identification report module.
Further, the inspection result analysis module comprises a comparison analysis module and a production report module.
Furthermore, the user setting module comprises an alarm threshold setting module, an alarm message lamp valve setting module, an authority management module, a typical inspection point location base maintenance module, an inspection point location setting module and a maintenance area setting module.
Furthermore, the debugging maintenance module comprises an inspection map maintenance module, a software setting module, a robot alarm query module and an abnormal point position identification query module.
Further, data acquisition portion includes high definition camera, infrared thermal imager, adapter, temperature and humidity sensor, gas sensor.
Compared with the prior art, the invention has the following beneficial effects:
1) the robot operation is remotely controlled, and automation is realized;
2) the data acquisition is diversified, and the requirements of multiple items of data acquisition are met;
3) the data acquisition precision is high, and the intelligent degree is high;
4) and automatically analyzing the detection data to form a report. Alarming and prompting abnormal data;
5) accurate location guarantees that the robot moves along the appointed route, avoids driftage.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a functional block diagram of the robotic control system of the present invention;
FIG. 3 is a functional block diagram of a robot management module of the present invention;
FIG. 4 is a functional block diagram of a task management module of the present invention;
FIG. 5 is a schematic block diagram of a real-time monitoring module of the present invention;
FIG. 6 is a schematic block diagram of a patrol result confirmation module according to the present invention;
FIG. 7 is a schematic block diagram of a routing inspection result analysis module of the present invention;
FIG. 8 is a functional block diagram of a user setup module of the present invention;
FIG. 9 is a functional block diagram of a debug maintenance module of the present invention.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are provided for illustrative purposes only and are not intended to be limiting; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Examples
As shown in fig. 1, an intelligent inspection robot system suitable for a transformer substation and controlling a robot to complete field inspection is provided, which comprises a robot 1, a holder control end 2 arranged on the robot 1, a robot control system 3 and a client 4, wherein the robot 1 comprises a driving part, a data acquisition part, a positioning part and a wireless transceiver arranged on a main body of the robot 1; the input ends of the driving part and the data acquisition part are in communication connection with the holder control end 2, and the output ends of the positioning part and the data acquisition part are connected with the wireless transceiver 5; the robot control system 3 comprises a robot management module 31, a task management module 32, a real-time monitoring module 33, an inspection result confirmation module 34, an inspection result analysis module 35, a user setting module 36 and a debugging maintenance module 37; the robot management module 31 and the task management module 32 are respectively connected with the real-time monitoring module 33, the real-time monitoring module 33 is connected with the inspection result confirmation module 34, the inspection result confirmation module 34 is connected with the data analysis module 35, and the data analysis module 35 is connected with the user setting module 36 and the debugging maintenance module 37; the input end of the robot control system 3 is connected with the client 4.
The inspection robot management module 31 selects an inspection area, the task management module 32 sets an inspection task, and the data analysis module 35 statistically analyzes information data acquired in the inspection process of the inspection robot 1; the task management module 32 comprises a task calendar sub-module and a task customization sub-module; the real-time monitoring module 33 comprises an electronic map sub-module, a video display sub-module, a microclimate sub-module, a real-time alarm sub-module and a real-time status sub-module, wherein the electronic map sub-module is provided with a hierarchical electronic map, the hierarchical electronic map is provided with at least three layers, and each layer of electronic map is provided with an inspection robot icon.
The robot control system 3 is connected to the client 4, and the operation of the robot management module 31, the task management module 32, the real-time monitoring module 33, the inspection result confirmation module 34, the inspection result analysis module 35, the user setting module 36, and the debugging and maintenance module 37 in the robot control system 3 can be controlled, monitored, and displayed on the operation interface of the client 4. The method comprises the steps that a command is issued to a module in a robot control system 3 by clicking an operation interface of a client 4, the module receives the command sent by the client 4 and sends the command to a cloud deck control end 2 arranged on a robot 1, and the cloud deck control end 2 receives the command and correspondingly controls the robot 1 to perform corresponding data acquisition or movement and other actions. Meanwhile, the robot 1 transmits the acquired data back to the robot control system 3 through the wireless transceiver 5 arranged on the robot 1, and the robot control system 3 analyzes and processes the transmitted acquired data and finally displays or queries the acquired data on the operation interface of the client 4. And the robot 1 is controlled to carry out corresponding inspection work remotely through an operation interface of the client 4. The monitoring system of the inspection robot operates at a monitoring terminal, and a system software platform consists of a human-computer interface, a permission management and image database and the like and is responsible for completing remote operation control of the inspection robot. As the uppermost layer of the whole inspection system, the monitoring system is the only interface between an operator and the inspection robot, can conveniently monitor the real-time running state and running data of the robot by the operator, is used for manually monitoring, remotely controlling, inquiring and managing the inspection data, controls the robot to execute an inspection instruction and realizes the remote operation control of the inspection robot. Moreover, the monitoring system can complete unmanned inspection according to the preset calibration information of the operator in consideration of the high repeatability of the inspection task. In the unmanned inspection process, the monitoring system has certain analysis capability on the acquired image information, can timely find the equipment instrument in the abnormal working condition and reports the equipment instrument to an operator. After finishing the daily polling task, the monitoring system can store the daily polling result in the database for the operator to inquire.
According to the invention, the intelligent inspection robot system is used for realizing the main functions of statistical analysis, investigation management, supervision implementation, task assignment, violation management, qualification management and the like of the field operation of the transformer substation, overcoming the problems that the field inspection of an operator on duty is required to ensure safety in the prior art, and the omnibearing no-dead-angle management and control is difficult to realize continuously, improving the potential safety hazard management and control level of the field operation of the transformer substation, and realizing high-intelligent remote control.
In an embodiment, the robot management module 31 includes a pan/tilt control module 310, a high definition camera control module 311, an infrared thermal imager control module 312, a pickup control module 313, a temperature/humidity sensor control module 314, and a gas sensor control module 315, which are communicatively connected to the pan/tilt control terminal 2. The pan/tilt control module 310 is in communication connection with the pan/tilt control end 2, and feeds back the current position of the pan/tilt control end 2 and controls the pan/tilt control end 2 to rotate. High definition camera control module 311, infrared thermal imager control module 312, pickup control module 313, temperature and humidity sensor control module 314 and gas sensor control module 315 are through connecting cloud platform control end 2 thereby the data acquisition portion on the control robot 1 corresponds work.
In one embodiment, the task management module 32 includes a task storage module 320, a task editing module 321, and a task execution module 322. The task management module 32 mainly implements functions such as comprehensive inspection, routine inspection, special inspection, custom task, map point selection, and task display. The task storage module 320 includes: the device comprises a position storage module, an angle storage module and an acquisition task storage module; the task editing module 321 includes: a route editing module and a time editing module; the task execution module 322 includes: the device comprises a remote control module, a real-time monitoring module and a data analysis module. The robot timing, positioning or quantitative work tasks can be set in the task management module 32 and the robot 1 is effectively controlled to prepare fully relevant inspection tasks.
In one embodiment, the real-time monitoring module 33 includes an inspection monitoring module 330 and an inspection control module 330. The functions of video monitoring, inspection message checking, robot control and the like are mainly realized. The real-time monitoring module 33 is connected with the data acquisition part of the robot 1 through the pan-tilt control terminal 2, and displays information such as on-site real-time video, graphics, sound, environment where the robot 1 is located and the like acquired by the data acquisition part on the operation interface of the client 4.
In one embodiment, the inspection result confirming module 34 includes an equipment alarm information confirming module 340, an inspection result browsing module 341, and an inspection report generating module 342; the device alarm information confirmation module 340 includes a device alarm information query module, a main wiring display module, a list display module, an SF6 pressure report reading module, a hydraulic report reading module, and a position state identification report module. The inspection result confirming module 34 mainly includes functions of equipment alarm inquiry confirmation, main wiring display, interval display, inspection result browsing and inspection report generation. The inspection result analysis module 35 includes a comparison analysis module 350 and a production report module 351. The inspection result analysis module 35 mainly realizes functions of comparison analysis, report generation and the like. The inspection result confirming module 34 classifies and collects the data transmitted by the wireless transceiver to form data convenient for the administrator to refer. Meanwhile, the data is transmitted to the inspection result analysis module 35, and the inspection result analysis module 35 performs comparison analysis on the real-time data in the inspection result confirmation module 34 and the initial set value to form an inspection report. When the real-time data exceeds the range of the initial setting value, the inspection result analysis system 35 sends alarm information so that the manager can find abnormality at the first time and correspondingly perform abnormality processing.
In one embodiment, the user setting module 36 includes an alarm threshold setting module 360, an alarm message valve setting module 360, a rights management module 362, a typical inspection point location base maintenance module 363, an inspection point location setting module 364, and an inspection area setting module 365. In the user setting module 36, a reference value with a certain range is set for each parameter on site, and after the inspection result analysis module 35 receives the data acquired by the robot in real time, the reference value in the user setting module 36 is compared to judge whether the real-time data on site is abnormal or not. When the detected data exceeds the set reference value, the robot control system 3 sends out an alarm signal to remind the manager. Meanwhile, when the robot 1 breaks down, the robot 1 can be automatically controlled or a manager can be prompted to move the robot to a designated area for maintenance.
In one embodiment, the debugging maintenance 37 module includes an inspection map maintenance module 370, a software setting module 371, a robot setting module 372, a robot alarm query module 373, and an abnormal point location identification query module 374. The debugging maintenance module 37 mainly realizes functions of routing inspection map maintenance, software setting, robot setting and the like. Through debugging maintenance module 37, not only can experimental intelligence patrol and examine each component operating condition in the robot system, get rid of unusually, also can update system settings at any time simultaneously, satisfy not passing time quantum or the task demand of patrolling and examining of different attributes.
In one embodiment, the data acquisition part comprises a high-definition camera, an infrared thermal imager, a pickup, a temperature and humidity sensor and a gas sensor. The robot 1 is provided with a multifunctional data acquisition part, so that the inspection requirements of production on all working factors on site are met, and automatic inspection is comprehensively realized.
It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The intelligent inspection robot system is characterized by comprising a robot, a holder control end arranged on the robot, a robot control system and a client; the robot comprises a driving part, a data acquisition part, a positioning part and a wireless transceiver which are arranged on a robot main body; the input ends of the driving part and the data acquisition part are in communication connection with the holder control end, and the output ends of the positioning part and the data acquisition part are connected with the wireless transceiver; the robot control system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module and a debugging and maintaining module; the robot management module and the task management module are respectively connected with the real-time monitoring module, the real-time monitoring module is connected with the inspection result confirmation module, the inspection result confirmation module is connected with the data analysis module, and the data analysis module is connected with the user setting module and the debugging and maintaining module; and the input end of the robot control system is connected with the client.
2. The intelligent inspection robot system according to claim 1, wherein the robot management module includes a pan-tilt control module, a high definition camera control module, an infrared thermal imager control module, a pickup control module, a temperature and humidity sensor control module, and a gas sensor control module that are communicatively connected to the pan-tilt control end.
3. The intelligent inspection robot system according to claim 1, wherein the task management module includes a task storage module, a task editing module, and a task execution module.
4. The intelligent inspection robot system according to claim 3, wherein the task storage module includes a location storage module, an angle storage module, and an acquisition task storage module; the task editing module comprises a route editing module and a time editing module; the task execution module comprises: the device comprises a remote control module, a real-time monitoring module and a data analysis module.
5. The intelligent inspection robot system according to claim 1, wherein the real-time monitoring module includes an inspection monitoring module and an inspection control module.
6. The intelligent inspection robot system according to claim 1, wherein the inspection result confirmation module includes an equipment alarm information confirmation module, an inspection result browsing module, and an inspection report generation module; the equipment alarm information confirmation module comprises an equipment alarm information query module, a main wiring display module, a list display module, an SF6 pressure report reading module, a hydraulic report reading module and a position state identification report module.
7. The intelligent inspection robot system according to claim 1, wherein the inspection result analysis module includes a comparative analysis module and a production report module.
8. The intelligent inspection robot system according to claim 1, wherein the user settings include an alarm threshold setting module, an alarm message light valve setting module, a rights management module, a typical inspection point location library maintenance module, an inspection point location setting module, and an inspection area setting module.
9. The intelligent inspection robot system according to claim 1, wherein the debugging maintenance module includes an inspection map maintenance module, a software setting module, a robot alarm query module and an abnormal point location identification query module.
10. The intelligent inspection robot system according to claim 1, wherein the data acquisition unit includes a high definition camera, an infrared thermal imager, a microphone, a temperature and humidity sensor, and a gas sensor.
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| CN202111258603.8A CN113894812A (en) | 2021-10-27 | 2021-10-27 | Intelligent inspection robot system |
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| CN202111258603.8A CN113894812A (en) | 2021-10-27 | 2021-10-27 | Intelligent inspection robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106406249A (en) * | 2015-10-14 | 2017-02-15 | 山东鲁能智能技术有限公司 | Transformer station inspection robot control system and method based on Android platform |
| CN107160388A (en) * | 2017-04-25 | 2017-09-15 | 国网浙江省电力公司 | Robot used for intelligent substation patrol monitoring system |
| CN206598277U (en) * | 2016-08-31 | 2017-10-31 | 杭州申昊科技股份有限公司 | A kind of crusing robot |
| CN110509278A (en) * | 2019-09-06 | 2019-11-29 | 云南电网有限责任公司电力科学研究院 | A kind of centralized management system and method for Intelligent Mobile Robot |
| CN112213979A (en) * | 2020-10-14 | 2021-01-12 | 西南石油大学 | Intelligent robot inspection system and method for station |
-
2021
- 2021-10-27 CN CN202111258603.8A patent/CN113894812A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406249A (en) * | 2015-10-14 | 2017-02-15 | 山东鲁能智能技术有限公司 | Transformer station inspection robot control system and method based on Android platform |
| CN206598277U (en) * | 2016-08-31 | 2017-10-31 | 杭州申昊科技股份有限公司 | A kind of crusing robot |
| CN107160388A (en) * | 2017-04-25 | 2017-09-15 | 国网浙江省电力公司 | Robot used for intelligent substation patrol monitoring system |
| CN110509278A (en) * | 2019-09-06 | 2019-11-29 | 云南电网有限责任公司电力科学研究院 | A kind of centralized management system and method for Intelligent Mobile Robot |
| CN112213979A (en) * | 2020-10-14 | 2021-01-12 | 西南石油大学 | Intelligent robot inspection system and method for station |
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