CN102750752B - Power tunnel comprehensive environment automatic tour inspection system - Google Patents
Power tunnel comprehensive environment automatic tour inspection system Download PDFInfo
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Abstract
The invention relates to a power tunnel comprehensive environment automatic tour inspection system. The system comprises a real-time monitoring platform, a datum acquiring server and an intelligent tour inspection robot; the intelligent tour inspection robot walks on a track paved in the tunnel, a movement body is provided with a 360DEG all-angle video camera, an LED illuminating lamp, a harmful gas probe, a temperature/humidity probe, and a positioning module; the intelligent tour inspection robot acquires information about an environment in which the position of the robot is located, and reports the information to the datum acquiring server, the datum acquiring server transmits the information to the real-time monitoring platform, and the real-time monitoring platform processes video information, and detection environment information about harmful gases, the content of oxygen in air, and the temperature/humidity; and the real-time monitoring platform controls the intelligent tour inspection robot, completes datum access, storage, graphical interface display, GIS positioning and stereo display. The system allows key tunnels to undergo uninterrupted tour inspection, replaces artificial tour inspection, and adopts most effective onsite processing measures for abrupt events in power tunnels in the first time.
Description
Technical field
The present invention relates to a kind of electric power supervisory control field, relate in particular to electric power tunnel integrated environment robotization cruising inspection system.
Background technology
Along with sustained economic growth, urban distribution network fast development, Modern Urban Living and production have reached unprecedented degree to the dependence of electric power, modern urban construction is carried and is had higher requirement electric power, urban aerial circuit power transmission is replaced by underground high voltage cable, and the quantity of underground high voltage cable just sharply rises.Therefore the monitoring to underground high voltage cable and the monitoring to tunnel environment become particularly important, traditional monitor mode generally adopts the mode of periodical inspection and maintenance to check the operation conditions of underground electric power tunnel, and this mode can cause a large amount of manpower wastes and a lot of potential defect and fault to find.This just requires electric system to have some modern surveillance and control measures of high reliability, realize fixing, discrete online detection mode by some tunnel of high-tech technology, but this detection mode just can detect the tunnel environment of fixing position, know that fault has occurred still does not but know can only manually enter on-the-spot situation tunnel and intervene.And for some important electric power tunnels, need the dynamic and continuous environment for tunnel to monitor and remote intervention.How to ensure the security of operation accident that tunnel inner cable does not happen suddenly large because of overload, the situation such as overheated, how to ensure the personal safety of workmen in tunnel, how to ensure the safe operation of high-tension cable net, how for the environment in tunnel dynamic continuous carry out remote monitoring and remote intervention, these problems are pendulum a difficult problems in face of people.
Patent of invention content
Object of the present invention is exactly in order to address the above problem, a kind of electric power tunnel integrated environment robotization cruising inspection system is provided, it realizes uninterruptedly patrolling and examining emphasis tunnel, replace manual inspection, realize the site disposal to unexpected incidents in electric power tunnel, take the most effective treatment measures in the very first time.This system realizes by Long-distance Control automatic detecting, adapts to electric power tunnel environment, non-touch remote power feeding, video and data-transformation facility; Realize temperature/humidity, harmful gas content, oxygen content in air detecting function in tunnel; Realize interactive intercommunication command function; Realize at the uniform velocity patrol and examine voluntarily, working position accurate stopping is surveyed, emergency at a high speed arrives, runs into the alarm of obstacle automatic stopping and run into personnel's tracking detecting function that slows down; Possesses stronger anti-power plant interference performance; Possess the anti-shake function of vehicle-mounted impact, meet the picture steadiness requirement in operational process; Also possess climbing, brake, turning, positioning function.Relatively traditional manual intervention, there is its quick, safe, efficient advantage, by coordinating of fixing, discrete online monitoring system and dynamic, continuous monitoring system, can fundamentally realize the change of electric power tunnel patrol mode, realize automatic tour and the repair based on condition of component of real meaning, further improve the safe class of important electric power tunnel.
To achieve these goals, the present invention adopts following technical scheme:
A kind of electric power tunnel integrated environment robotization cruising inspection system, it comprises Real-time real-time monitoring platform, data acquisition server and intelligent inspection robot; On the track that intelligent inspection robot is laid in tunnel, walk, it moves body and is provided with 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, locating module; The environmental information that intelligent inspection robot gathers position is at any time reported to data acquisition server, data acquisition server transmission information is to Real-time real-time monitoring platform, and Real-time real-time monitoring platform is processed video information, harmful gas and oxygen content in air, temperature/humidity acquisition environment information; Real-time real-time monitoring platform, to the automatic remote control of intelligent inspection robot and manually control, completes data access, storage, graphic interface displaying, GIS location and solid show.
Described Real-time real-time monitoring platform comprises application server, and it is communicated by letter with resource management server, front-end control server, monitoring management server, streaming media server, data analytics server, graphic resource manager respectively; Front-end control server is connected with data acquisition server, the data that receive from data acquisition server are passed to application server, the steering order simultaneously application server of reception and monitoring management server being forwarded by application server passes to data acquisition server, reaches the object of remote collection; Application server is accepted application for registration, carries out image data, reported data, data analysis, Data Integration; Application server is responsible for the in-stockroom operation of all historical state data, and is each client forwarding monitor data; Resource management server configures connection between all software modules, communication system data and system equipment data, and all software modules have only configured after corresponding data at resource management server, just become effective software module, communicate by letter normally; Monitoring management server provides man-machine interface for user, grasp in real time equipment running status, check alarm and process alarm, report form statistics; The running status of equipment has GIS map, data list, equipment state to show multiple display form; In addition, provide global search for inquiring qualified equipment, check its state, and locate its geographic position on GIS figure; Streaming media server obtains vision signal, and the video flowing that gathers up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, receive the operational order that client sends, Long-distance Control camera; Graphic resource manager is for every other server provides the graphic resource of use, comprises small icon, the GIS map used in interface, is presented at picture and Flash figure in GIS map; Described data analytics server is responsible for the browsing of various history and alert data, classified statistics, derivation, curve and report generation; The module that collects and arrange that it carries out gathering the data of preservation, according to the various classification of equipment, query history record, alarm record, various alarm notification record that date and statistical carry out; And the basic data of all configurations in database is inquired about and added up, derive various forms, curve map, broken line graph and histogram according to Query Result.
After described application server operation, connect corresponding database according to configuration file, after successful connection, wait for that each client active request connects; Connection failure provides the prompting of database connection failure; After application server starts successfully, can initiatively receive the logging request from each client, after client logins successfully, and between application server, there is the heartbeat of 10 seconds to shake hands, if do not shaken hands between the two between 30 seconds, application server can initiatively disconnect this and connect, until this client is asked again; Login successfully rear beginning data processing.
First connection data storehouse after described front-end control startup of server, if connection data Kucheng merit, from database loading equipemtn information, after having loaded, is waited for the connection logging request of terminal; If the failure of connection data storehouse, points out user to check that configuration or network connect; After front-end control startup of server completes, front-end control server is connection data acquisition server initiatively, send logging request to data acquisition server, receive after the logging request of front-end control server, data acquisition server carries out authentication to front-end control server, if successful connection, shows the prompting of successful connection at front-end control server, if connection failure, front-end control server shows the prompting of connection failure; Front-end control server, in the time of needs transmission of video or video control, can initiatively connect streaming media server, after end of transmission (EOT), initiatively disconnects.
After described resource management server starts, first, from the configuration of local profile reading database, connect corresponding database according to configuration file, successful connection, shows the data that configured; If connection failure, provides the prompting of connection failure.After database successful connection, resource management server attempts connecting application server, if connection failure, after a while, again attempt connecting application server, if successful connection sends logging request to application server, application server allows after connection request timing to find heartbeat data to application server, is connected guaranteeing with the long of application server; If the login of application server refusal resource management server, points out the reason of login failure to user.
After described monitoring management startup of server, first connection data storehouse, after database successful connection, load seating stand, and according to seating stand loading equipemtn information and status information of equipment, after having loaded, program has started from database; If the failure of connection data storehouse, points out failed reason; After the initialization of monitoring management server completes, trial and application server connect, if connection failure after a while, attempts connecting application server again; If successful connection, sends logging request to application server, and wait for the login response of application server; If application server refusal monitoring management server log, points out the reason of login failure to user; If application server allows monitoring management server log, timing sends heartbeat data to application server, is connected guaranteeing with the long of application server; If can not receive for a long time any data of application server, think invalid with being connected of application server, monitoring management server active disconnection is connected with application server, after waiting for a period of time, reconnects and login application server;
Described streaming media server connection data storehouse first after starting, after database connection failure, the reason of prompting connection failure; If database successful connection, show the data that configured in database, after database successful connection, streaming media server attempts connecting application server, if successful connection, send logging request to application server, application server allows after connection request timing to find heartbeat data to application server, is connected guaranteeing with the long of application server; If the login of application server refusal streaming media server, points out the reason of login failure to user.
Described graphic resource manager connection data storehouse first after starting, if database connection failure, the reason of prompting connection failure; If successful connection, interface loads the facility information, picture and the cartographic information that have added.
Described data analytics server connection data storehouse first after starting, if database connection failure, the reason of prompting connection failure; If successful connection, interface loads the facility information and the query interface that have added.
After described data acquisition server starts, front-end control server and intelligent inspection robot can be served as initiatively connection data acquisition server of client, and successful connection will be carried out the transmission of data, and connection failure has the prompting of connection failure.
After the normal operation of all programs, system has three kinds of mode of operations: line model, off-line mode, debugging mode.
Described line model is exactly that staff can carry out manual manipulation to robot at monitoring management server, control motion in several ways, camera on can control, can in urgent, open intercommunication microphone, can Long-distance Control warning lamp, can see live video real-time in tunnel, at any time the position at inspection machine people place and real-time detect humiture and the harmful gas in tunnel.
Described off-line mode does not allow manual control robot, and according to configuration automatic operation, the collection of robotary data is patrolled and examined with active reporting and realized by timing.It is that robot carries out data acquisition automatically according to the timing monitoring time of front-end control server configuration that timing is patrolled and examined, and the data of collection report monitor supervision platform to process, active reporting is that monitoring management server is while asking for the status information of robot, after robot collects data, active reporting is to front-end control server, when front-end control server receives the data of data acquisition server active reporting, to status data through after validity judgement, valid data are reported to application server, application server to data analysis after, first data information memory is arrived to database server, then the data retransmission after analyzing is arrived to monitoring management server, by monitoring management server to Data Analysis after GIS map, data list, equipment state is illustrated in interface, the running status of the equipment of checking that can be real-time at interface, checks alarm and processes alarm.
Described debugging mode is exactly in the time that needs carry out on-the-spot test, is switched to debugging mode by robot self panel, is coordinated and is carried out various test operations by field staff, cannot switch this pattern at monitor supervision platform;
Beneficial effect of the present invention:
Comprehensive, dynamic, the long-range monitoring of the electric power tunnel that electric power tunnel integrated environment robotization cruising inspection system passes through and can see the real-time situation in tunnel by video timely by remote control, can process the emergency occurring in time in the very first time.This system can realize the automatic detecting to electric power tunnel high-tension cable, can just can know situation in tunnel real-time in tunnel to electric power tunnel inspection manually down, avoid wasting manpower and material resources's waste, also increased to a great extent personnel's safety.Utilizing dynamic monitoring and site disposal to organically combine has improved the security protection of high-tension cable and has improved the efficiency of site disposal emergency condition, by realizing the intelligent management to electric power tunnel with original on-line detecting system interlock, the further expansion effectively preventing disasters, reduces loss to greatest extent.Native system is real-time, compatible good, and friendly interface is simple to operate, has realized the emergency preplan of intelligent tracking, accident and has processed and the pinpoint featured function of robot, for the safety of electric power tunnel escorts.
Brief description of the drawings
Fig. 1 is electric power tunnel integrated environment robotization cruising inspection system schematic diagram;
Fig. 2 is Real-time real-time monitoring platform schematic diagram;
Fig. 3 is at monitor supervision platform manipulation intelligent inspection robot schematic flow sheet;
Fig. 4 is equipment control, humiture, harmful gas image data schematic flow sheet
Wherein, 1. monitor supervision platform, 2. data acquisition server 3. intelligent inspection robots, 4. application server, 5. resource management server, 6. front-end control server, 7. monitoring management server, 8. streaming media server, 9. data analytics server, 10. graphic resource manager, 11. database servers.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As Fig. 1, electric power tunnel integrated environment robotization cruising inspection system, it comprises monitor supervision platform 1, and monitor supervision platform 1 is Real-time monitor supervision platform, also comprises the data acquisition server 2 and the intelligent inspection robot 3 that are connected successively with Real-time monitor supervision platform.
Data acquisition server 2 connects front-end control server 6 and intelligent inspection robot 3, plays the effect that connects monitor supervision platform 1 and intelligent inspection robot 3.Data acquisition server 2 gathers intelligent inspection robot 3 device datas downwards, the exchanges data of upwards having communicated by letter with front-end control server 6.After data acquisition server 2 starts, front-end control server 6 and intelligent inspection robot 3 can be as initiatively connection data acquisition servers 2 of client, and successful connection will be carried out the transmission of data, and connection failure has the prompting of connection failure.
2 at least with one intelligent inspection robots 3 of data acquisition server are connected, the information exchange that intelligent inspection robot 3 gathers is crossed data acquisition server 2 and is reported front-end control server 6, front-end control server 6 is uploaded to application server 4, and application server 4 is forwarded to monitoring management server 7 to data analysis with after storing.
Intelligent inspection robot 3, bears the major function of patrolling and examining in tunnel with site disposal, and major function has can intelligent motion control, realize uniform and automaticly patrol and examine, the high speed scene of the accident arrives, bend slows down, working position stops and equidistant pursuit movement.Intelligent inspection robot 3 is commanded, is kept away barrier and protected by vehicle intelligent control, video imaging, monitoring harmful gases, remote manual control, interactive intercommunication broadcast and forms.
The critical piece of intelligent inspection robot 3 comprises: car body, drive servomotor, control box, locating module, radar ultrasonic probe, 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, emergent intercommunications raise one's voice Mike, vehicle-mounted vibroshock.
As Fig. 2, Real-time real-time monitoring platform, it comprises application server 4, application server 4 respectively with resource management server 5, front-end control server 6, monitoring management server 7, streaming media server 8, data analytics server 9, graphic resource manager 10 connects; Front-end control server 6 is connected with a data acquisition server 2, and data acquisition server 2 is at least connected with an intelligent inspection robot 3.The all modules of monitor supervision platform 1 are all connected with database server 11, and modules is all distinguished accessing database after starting, and database is carried out to the operation of reading out data, data writing and statistics.
Wherein application server 4 provides network connection, communication and database manipulation for other modules.Resource management server 5 is data configuration management modules, configures other modules and application server 4 communicates to connect, and other each modules have only configured after corresponding data at resource management server 5, could normally work.Data are passed to application server 4 by front-end control server 6, and the steering order simultaneously application server of reception 4 and monitoring management server 7 being sended over is transmitted to data acquisition server 2, allows the passive work of data acquisition server 2.Monitoring management server 7 is direct user oriented platforms, and it provides man-machine interface for user, real time inspection data, alarming processing, geo-location, Long-distance Control, maintainer's management.Streaming media server 8 obtains front end vision signal, and the video flowing that gathers up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, can receive the operational order that client sends, Long-distance Control camera.Data analytics server 9 is the basic data of system and historical data statistics, and inquiry gathers and according to user's request, data generated to excel form or derived curve figure, histogram and broken line graph afterwards.Graphic resource manager 10 is modules of graphic resource configuration in system, and the small icon configuring in system, GIS map, the picture and the Flash figure that are presented in GIS map complete in this block configuration.
The nucleus module of Real-time real-time monitoring platform 1 is application server 4, and application server 4 can be accepted the application for registration of multiple equipment, then for these equipment provide image data, reported data, data analysis, Data Integration several functions.For the difference of equipment in supervisory system, according to the difference that receives data type, front-end control server 6 modules are overlapped in system support more, can receive data, voice, video several data form, and realize watch-dog control, calibration function.These modules are managed concentratedly and configuration by resource management server 5 modules.
Resource management server 5 is data configuration management software modules of 1 in Real-time real-time monitoring platform, it configures connection between all software modules, communication system data and system equipment data, only has the relevant information of robot 3 after this block configuration, in system, all data just can carry out alternately, just communicating by letter normally.
The tie that front-end control server 6 is data acquisition, the mode of front-end control server 6 data actuality collections has two: one is that timing is patrolled and examined, and one is active reporting.It is regularly intelligent inspection robot 3 to be patrolled and examined according to the automatic detecting time of configuration in front-end control server 6 that timing is patrolled and examined, the data in timing reading out data acquisition server 2 in data block.Active reporting is in the time receiving the data of data acquisition server 2 active reportings, after validity judgement, is reported to application to take server 4 valid data for probe data, status data.
Streaming media server 8 is to obtain front end vision signal, and the video flowing that gathers up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, can receive the operational order that client sends, Long-distance Control camera.
Data analytics server 9 provides the browsing of various history and alert data in supervisory system, classified statistics, derivation, curve and report generation.Data analytics server 9 is modules that collect and arrange that the data to gathering preservation are carried out, there is powerful query function, it can be according to the various classification of equipment, query history record, alarm record, various alarm notification record that date and statistical carry out.It can also be inquired about and add up the basic data of all configurations in database in addition, and can derive various forms, curve map, broken line graph and histogram according to Query Result.
Graphic resource manager 10 is graphic resources that in Real-time real-time monitoring platform 1, every other software module is used, and comprises that small icon, the GIS map in interface, used, the picture and the Flash that are presented in GIS map scheme.
Monitoring management server 7 is the display platforms that represent to user, be divided into B/S, two kinds of forms of C/S, form by using browser and client software provides data, chart, emulation GIS map shows interface intuitively for user, and responds the control operation of user for watch-dog.Monitoring management server 7 is organized associated in logic equipment by the concept of configuration equipment, represents data by Table List, configuration card figure, emulation GIS ground diagram form.When alarm generation, the equipment that display alarm in real time occurs, is shown as different colours according to the difference of alert levels, and the details that allow user to check alarm, also can carry out alarm statistics, and carry out acknowledged alarm.According to the difference of data type, monitoring management server 7 can also show historical data with the form of curve, is convenient to carry out statistical study.Corresponding to each configuration equipment, module is by figure, animation, panel board, the current state of scale intuitionistic form display device.Monitoring management server 7 can also carry out intelligent inspection robot 3 parameter queries statistics and alarm statistics so that more convenient grasp intelligent inspection robot 3 in tunnel up-to-date dynamically.
Monitoring management server 7 receives the status information of humiture, harmful gas, oxygen content in air, other control informations and other equipment of robot 3 from application server, by analysis and calculate, draw device value; If numerical value exceedes the value limit of system configuration, state value is carried out to alarming processing and interface display; If numerical value does not exceed the value limit of system configuration, will represent to user by equipment state list, GIS map, Flash figure, real-time change curve; Video information and to the control of camera by streaming media server 8 gather forward be presented at monitoring management server 7, on monitoring management server 7, Long-distance Control intelligent inspection robot 3; In the time of disaster or emergency condition generation, operator on duty, by the function of the voice broadcast service of monitoring management server 7, notifies and guides the orderly tunnel of withdrawing generation disaster of workmen in the mode of urgent broadcast; Carry out line model, off-line mode switching by monitoring management server 7, control at monitoring management server 7 to alarm lamp and illuminating lamp, in operational process, while having fault or obstacle, send in three different coloured light warning reminding tunnels staff's attention of working; Obtain and control the accurate positional information of intelligent inspection robot 3 at monitoring management server 7, make intelligent inspection robot 3 stop and detect in exact position; Monitoring management server 7 provides intelligent inspection robot 3 information and tunnel environment information in interface stereo display.Monitoring management server 7 is by reading the label on track, mark distance, intelligent inspection robot 3 is provided with a card reader, the distance of the label that can read through label time, if between two labels time, calculate the positional information in robot 3 motion according to the velocity gauge of driving wheel, and every can automatic calibration one-time positioning information through a label time.
When application server 4, resource management server 5, front-end control server 6, monitoring management server 7, streaming media server 8, data analytics server 9, graphic resource manager 10 start, first according to configuration file, connection data storehouse, if successful connection, interface will show connection data Kucheng merit, after successful connection, just can carry out the various read-write operations of data, complete the communications of data; If connect unsuccessfully, interface can the connection failure of reminder-data storehouse.
As Fig. 3, monitor supervision platform 1 manipulates the flow process of intelligent inspection robot 3:
Before manipulation intelligent inspection robot 3, first monitoring management server 7 needs to apply for control, and the user who only has successfully application to obtain control can manipulate robot 3.At synchronization, system only allows a Subscriber Locked intelligent inspection robot 3.The user who obtains control can control asking for of the control of The Cloud Terrace, intercommunication, switch mode, searchlight, the exact position that obtains robot 3, real-time tunnel humiture and harmful gas data to the robot 3 of locking, if locking user does not carry out any operation for a long time, monitoring management server 7 need to initiatively discharge this user's control, carries out unlocking operation.If robot 3 is not made to any control at the appointed time after release, front-end control server 6 will be cancelled monitoring management server 7 controls automatically, the pattern of monitoring management server 7 meeting switchover operations, intelligent inspection robot 3 is switched to off-line mode from line model.
Electric power tunnel integrated environment robotization cruising inspection system mode of operation is divided into: line model, off-line mode, debugging mode.
Line model manipulates manually, staff carries out manual operation machine people 3 by monitoring management server 7, while wanting control 3, first need the control of robot 3 to lock, 3, robot after locking allows this monitoring management server 7 to control; Control finishes rear monitoring management server 7 needs initiatively release control power, if robot 3 is not made to any control in the fixed time again, front-end control server 6 will be cancelled the control of monitoring management server 7 automatically; Synchronization only allows a monitoring management server 7 to obtain control; The control request that the monitoring management server 7 that 6 responses of front-end control server are possessed of control power sends; The monitoring management server 7 that obtains control is carried out following control operation: pattern switching, motion control, equipment control, fixed point gather; Pattern is switched and is carried out the switching of line model and off-line mode at monitoring management server 7 exactly; Motion control manipulates by three kinds of patterns robot 3 exactly on monitoring management server 7: Manual Mode, velocity mode, mode position; Manual Mode is exactly that mouse is clicked once at interface, and robot 3 will move to fixed-direction the distance of appointment; Velocity mode receives exactly and starts after movement directive, with the speed motion of specifying, after wait receives and ceases and desist order, finishes motion; Mode position is to be switched to mode position on monitoring management server 7, specifies the position of wanting robot 3 to move, and robot 3 can move quickly into assigned address; Equipment control is exactly the light fixture switch of control 3 and the switch of intercommunication power supply; Fixed point collection is exactly that manual control machine device people 3 moves to assigned address, gathers environmental parameter around and is reported to Real-time real-time monitoring platform 1;
Off-line mode is that robot 3 does not allow manual control, and according to configuration drainage pattern automatic operation, drainage pattern is divided into poll collection, timing acquiring and gathers always; Off-line mode configuration only allows the user with administrator right to manage and configure; In the time adopting poll to gather, according to the poll time triggering collection work arranging; In the time adopting timing acquiring, only has the just triggering collection work of time point of setting that arrives; In the time that employing gathers always, robot 3 is according to collection point circle collection;
In the time that needs carry out on-the-spot test, be switched to debugging mode by robot 3 self panel, coordinate and carry out various test operations by field staff, monitor supervision platform 1 cannot switch this pattern;
As Fig. 4, equipment control, humiture, harmful gas image data flow process, monitoring management server 7 sends and controls or data acquisition request to application server 4, application server 4 is committed to front-end control server 6 through data processing with after analyzing, the information that front-end control server 6 sends according to application server 4 is forwarded to data acquisition server 2, data acquisition server 2 is asked for data message according to information analysis to corresponding intelligent inspection robot 3, intelligent inspection robot 3 carries out apparatus control or data acquisition after receiving acquisition or control command, the data that collect turn back to monitoring management server 7 according to former road.
Claims (9)
1. an electric power tunnel integrated environment robotization cruising inspection system, is characterized in that, it comprises Real-time real-time monitoring platform, data acquisition server and intelligent inspection robot; On the track that intelligent inspection robot is laid in tunnel, walk, it moves body and is provided with 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, locating module; The environmental information that intelligent inspection robot gathers position is at any time reported to data acquisition server, data acquisition server transmission information is to Real-time real-time monitoring platform, and Real-time real-time monitoring platform is processed video information, harmful gas and oxygen content in air, temperature/humidity acquisition environment information; Real-time real-time monitoring platform, to the automatic remote control of intelligent inspection robot and manually control, completes data access, storage, graphic interface displaying, GIS location and solid show;
Described Real-time real-time monitoring platform comprises application server, and it is communicated by letter with resource management server, front-end control server, monitoring management server, streaming media server, data analytics server, graphic resource manager respectively; Front-end control server is connected with data acquisition server, the data that receive from data acquisition server are passed to application server, the steering order simultaneously application server of reception and monitoring management server being forwarded by application server passes to data acquisition server, reaches the object of remote collection; Application server is accepted application for registration, carries out image data, reported data, data analysis, Data Integration; Application server is responsible for the in-stockroom operation of all historical state data, and is each client forwarding monitor data; Resource management server configures connection between all software modules, communication system data and system equipment data, and all software modules have only configured after corresponding data at resource management server, just become effective software module, communicate by letter normally; Monitoring management server provides man-machine interface for user, grasp in real time equipment running status, check alarm and process alarm, report form statistics; The running status of equipment has GIS map, data list, equipment state to show multiple display form; In addition, provide global search for inquiring qualified equipment, check its state, and locate its geographic position on GIS figure; Streaming media server obtains vision signal, and the video flowing that gathers up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, receive the operational order that client sends, Long-distance Control camera; Graphic resource manager is for every other server provides the graphic resource of use, comprises small icon, the GIS map used in interface, is presented at picture and Flash figure in GIS map; Data analytics server is responsible for the browsing of various history and alert data, classified statistics, derivation, curve and report generation; The module that collects and arrange that it carries out gathering the data of preservation, according to the various classification of equipment, query history record, alarm record, various alarm notification record that date and statistical carry out; And the basic data of all configurations in database is inquired about and added up, derive various forms, curve map, broken line graph and histogram according to Query Result; Described monitoring management server is by reading the label on track, mark distance, intelligent inspection robot is provided with a card reader, the distance of the label that can read through label time, if between two labels time, calculate the positional information in robot motion according to the velocity gauge of driving wheel, and every can automatic calibration one-time positioning information through a label time.
2. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, is characterized in that, after described application server operation, connects corresponding database according to configuration file, after successful connection, waits for that each client active request connects; Connection failure provides the prompting of database connection failure; After application server starts successfully, can initiatively receive the logging request from each client, after client logins successfully, and between application server, there is the heartbeat of 10 seconds to shake hands, if do not shaken hands between the two between 30 seconds, application server can initiatively disconnect this and connect, until this client is asked again; Login successfully rear beginning data processing.
3. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, is characterized in that, connection data storehouse first after described front-end control startup of server, if connection data Kucheng's merit, from database loading equipemtn information, after having loaded, wait for the connection logging request of terminal; If the failure of connection data storehouse, points out user to check that configuration or network connect; After front-end control startup of server completes, front-end control server is connection data acquisition server initiatively, send logging request to data acquisition server, receive after the logging request of front-end control server, data acquisition server carries out authentication to front-end control server, if successful connection, shows the prompting of successful connection at front-end control server, if connection failure, front-end control server shows the prompting of connection failure; Front-end control server, in the time of needs transmission of video or video control, can initiatively connect streaming media server, after end of transmission (EOT), initiatively disconnects.
4. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, it is characterized in that, first described resource management server from the configuration of local profile reading database, connects corresponding database according to configuration file, successful connection, shows the data that configured; If connection failure, provides the prompting of connection failure; After database successful connection, resource management server attempts connecting application server, if connection failure, after a while, again attempt connecting application server, if successful connection sends logging request to application server, application server allows after connection request timing to find heartbeat data to application server, is connected guaranteeing with the long of application server; If the login of application server refusal resource management server, points out the reason of login failure to user.
5. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, it is characterized in that, after described monitoring management startup of server, first connection data storehouse, after database successful connection, load seating stand from database, and according to seating stand loading equipemtn information and status information of equipment, after loading completes, program has started; If the failure of connection data storehouse, points out failed reason; After the initialization of monitoring management server completes, trial and application server connect, if connection failure after a while, is attempted connection server again; If successful connection, sends logging request to application server, and wait for the login response of application server; If application server refusal monitoring management server log, points out the reason of login failure to user; If application server allows monitoring management server log, timing sends heartbeat data to application server, is connected guaranteeing with the long of application server; If can not receive for a long time any data of application server, think invalid with being connected of application server, monitoring management server active disconnection is connected with application server, after waiting for a period of time, reconnects and login application server; Monitoring management server receives the status information of humiture, harmful gas, oxygen content in air, other control informations and other equipment of robot from application server, by analysis and calculate, draw device value; If numerical value exceedes the value limit of system configuration, state value is carried out to alarming processing and interface display; If numerical value does not exceed the value limit of system configuration, will represent to user by equipment state list, GIS map, Flash figure, real-time change curve; Video information and to the control of camera by streaming media server gather forward be presented at monitoring management server, on monitoring management server, remote control robot; In the time of disaster or emergency condition generation, operator on duty, by the function of the voice broadcast service of monitoring management server, notifies and guides the orderly tunnel of withdrawing generation disaster of workmen in the mode of urgent broadcast; Carry out line model, off-line mode switching by monitoring management server, control at monitoring management server to alarm lamp and illuminating lamp, in operational process, while having fault or obstacle, send in three different coloured light warning reminding tunnels staff's attention of working; Obtain and the accurate positional information of control at monitoring management server, make robot stop and detect in exact position; Monitoring management server provides robot information and tunnel environment information in interface stereo display.
6. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, is characterized in that, described streaming media server connection data storehouse first after starting, and after database connection failure, the reason of prompting connection failure; If database successful connection, show the data that configured in database, after database successful connection, streaming media server attempts connecting application server, if successful connection, send logging request to application server, application server allows after connection request timing to find heartbeat data to application server, is connected guaranteeing with the long of application server; If the login of application server refusal streaming media server, points out the reason of login failure to user.
7. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, is characterized in that, described graphic resource manager connection data storehouse first after starting, if database connection failure, the reason of prompting connection failure; If successful connection, interface loads the facility information, picture and the cartographic information that have added.
8. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1, is characterized in that, described data analytics server connection data storehouse first after starting, if database connection failure, the reason of prompting connection failure; If successful connection, interface loads the facility information and the query interface that have added.
9. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 5, it is characterized in that, described line model manipulates manually, staff carries out manual operation machine people by monitoring management server, while wanting control, first need the control of robot to lock, the robot after locking only allows this monitoring station to control; Control finishes rear monitoring management server needs initiatively release control power, if robot is not made to any control in the fixed time again, front-end control server will be cancelled the control of monitoring management server automatically; Synchronization only allows a monitoring management server to obtain control; Front-end control server only responds the control request that the monitoring management server that is possessed of control power sends; The monitoring management server that obtains control is carried out following control operation: pattern switching, motion control, equipment control, fixed point gather; Pattern is switched and is carried out the switching of line model and off-line mode at monitoring management server exactly; Motion control manipulates by three kinds of patterns robot exactly on monitoring server: Manual Mode, velocity mode, mode position; Manual Mode is exactly that mouse is clicked once at interface, and robot will move to fixed-direction the distance of appointment; Velocity mode receives exactly and starts after movement directive, with the speed motion of specifying, after wait receives and ceases and desist order, finishes motion; Mode position is to be switched to mode position on monitoring management server, specifies the position of wanting robot to move, and robot can move quickly into assigned address; Equipment control is exactly the light fixture switch of control and the switch of intercommunication power supply; Fixed point collection is exactly that manual control machine device people moves to assigned address, gathers environmental parameter around and is reported to Real-time real-time monitoring platform;
Described off-line mode is that robot does not allow manual control, and according to configuration drainage pattern automatic operation, drainage pattern is divided into poll collection, timing acquiring and gathers always; Off-line mode configuration only allows the user with administrator right to manage and configure; In the time adopting poll to gather, according to the poll time triggering collection work arranging; In the time adopting timing acquiring, only has the just triggering collection work of time point of setting that arrives; In the time that employing gathers always, robot is according to collection point circle collection;
In the time that needs carry out on-the-spot test, be switched to test pattern by robot self panel, coordinate and carry out various test operations by field staff, monitor supervision platform cannot switch this pattern;
The collection of robotary data is to be patrolled and examined with active reporting and realized by timing;
It is that robot carries out data acquisition automatically according to the timing monitoring time of front-end control server configuration under off-line mode that timing is patrolled and examined, and the data of collection report monitor supervision platform to process;
Active reporting is when under line model, monitoring management server is asked for the status information of robot, after robot collects data, active reporting is to front-end control server, front-end control server is in the time receiving the data of data acquisition server active reporting, status data, after validity judgement, is reported to application server by valid data.
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