CN106406249A - Transformer station inspection robot control system and method based on Android platform - Google Patents
Transformer station inspection robot control system and method based on Android platform Download PDFInfo
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- CN106406249A CN106406249A CN201510662077.XA CN201510662077A CN106406249A CN 106406249 A CN106406249 A CN 106406249A CN 201510662077 A CN201510662077 A CN 201510662077A CN 106406249 A CN106406249 A CN 106406249A
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- 238000013523 data management Methods 0.000 claims description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a transformer station inspection robot control system and method based on an Android platform. The transformer station inspection robot control system includes an Android platform client, a transformer station PC server, a transformer station inspection robot, a first wireless communication module and a second wireless communication module. The Android platform client is arranged on a mobile terminal, the mobile terminal is communicated with the transformer station inspection robot via the first wireless communication module, the transformer station PC server is disposed on a transformer station monitoring server, and the transformer station monitoring server is communicated with the transformer station inspection robot via the second wireless communication module. According to the invention, a tablet computer or a mobile phone can be used as the control terminal of the transformer station inspection robot, and another devices based on the Android platform also can be used as the control terminal; and compared with the remote control of a conventional computer, the control system provided is more convenient and improves the intelligent and portable level of the control of the transformer station inspection robot.
Description
Technical field
The present invention relates to the operating maintenance technical field of power system, more particularly, to a kind of patrolled based on the transformer station of Android platform
Inspection robot control system and method.
Background technology
Intelligent Mobile Robot has been widely used in the equipment routing inspection work of domestic transformer station at present, with substation inspection
The continuous development of the correlation technique of robot, Portable transformer substation crusing robot remote control equipment also constantly improving, more added with
Control beneficial to robot.The patent of Patent No. CN201210083408, discloses a kind of magnetic navigation routing inspection robot intelligence
Control system, is combined by database storage system, man-machine interactive system and robot movement-control system and constitutes control centre, control
System controls robot to be patrolled and examined centrally through wireless telecommunication system and detects, the data message that final intelligent acquisition system will detect
Return to control centre through wireless telecommunication system again, this patent provides a kind of joystick of Non-follow control machine people, for existing
The forward-reverse of personnel Non-follow control machine people is turned etc., but does not provide the cradle head control of robot, and do not possess with
The interactive function of control centre is it is impossible to issuing patrol task by joystick to robot and controlling patrol task.
The portable control of existing Intelligent Mobile Robot and existing substation inspection system also have the following disadvantages：
(1) existing Portable transformer substation crusing robot control device is that hardware and software bundles, and autgmentability is poor, controls
Function is simple, and the portability of software is poor.
(2) when single Intelligent Mobile Robot is used for multiple transformer station's execution patrol task, need transformer station's PC service end
Carry out issuing and executing, not as Intelligent Mobile Robot control device side of patrol task in the office of Surveillance center being disposed
Just, but provide corresponding system and method currently without corresponding Intelligent Mobile Robot control device.
Content of the invention
The purpose of the present invention is exactly to solve the above problems it is proposed that a kind of substation inspection machine based on Android platform
People's control system and method, this system and method
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of Intelligent Mobile Robot control system based on Android platform, including：Android platform client, power transformation
Stand PC service end, Intelligent Mobile Robot, the first wireless communication module and the second wireless communication module；
Described Android platform client is installed on mobile terminals, and mobile terminal passes through the first wireless communication module and transformer station
Crusing robot communicates, and transformer station's PC service end is deployed on supervisory control of substation server, and supervisory control of substation server passes through the
Two wireless communication modules are communicated with Intelligent Mobile Robot.
Described Android platform client includes：
Login authentication module：Access right for Android platform client controls；
Parameter setting module：For arranging the driving type of the IP address in network connection and port numbers and robot；
Communication management module：The request of the state for setting communication and Web Service and return；
State display module：For showing that task control result, Intelligent Mobile Robot that transformer station PC service end returns return
Drive control result, cradle head control result and the robotary information returned；
BCM Body Control Module：For controlling the body movement of Intelligent Mobile Robot；
Cradle head control module：Head for controlling Intelligent Mobile Robot moves.
Described transformer station PC service end includes：
Data management module：For storing substation equipment model, robot model, patrol task model, patrolling and examining data, carry
For the interpolation of data, deletion, modification and inquiry；
Model configuration module：For providing the configuration of substation equipment model, robot model, patrol task model；
Communication management module：The request of the state for setting communication and Web Service and return；
Web service module：For providing Web Service interface and managing the issue of Web Service；
FTP management module：For managing the robot model's configuration file in Intelligent Mobile Robot 3 and patrol task model
Configuration file.
Intelligent Mobile Robot includes：
Communication management module：The request of the state for setting communication and Web Service and return；
Message processing module (MPM)：For parsing and returning the control message of Android platform client and transformer station's PC service end transmission；
Drive module：For controlling the body movement of Intelligent Mobile Robot；
Head module：Head for controlling Intelligent Mobile Robot moves；
Task execution module：For controlling Intelligent Mobile Robot to start, executing and stopping patrol task.
A kind of method of the Intelligent Mobile Robot control system based on Android platform, including：
Step 1, system initialization：Initialization including Android platform client and the initialization of Intelligent Mobile Robot；
Step 2, login authentication：The information of user input is mated with the information of storage inside, the match is successful enters Android
Platform client, otherwise, does not allow access into；
Step 3, parameter setting：The IP address of setting Intelligent Mobile Robot, port, driving type, and transformer station PC
The URL of the Web service that service end is issued；
Step 4, carries out network connection, and Android platform client sends message to Intelligent Mobile Robot and realizes to transformer station
The control of crusing robot car body and head simultaneously shows to control result；
Or show and update local task list, task is controlled.
In described step 1, Android platform client initialization includes reading local parameter, loaded and displayed user interface；Power transformation
Crusing robot of standing initialization includes startup power supply, electricity on each operational module, loads local model parameter, each operational module of startup
Process thread and start timing services.
In described step 4, the method carrying out network connection is specially：
Android platform client, according to the IP address of user input and port, initiates TCP connection request, substation inspection machine
Device people returns after receiving TCP connection request and allows TCP to connect, and gives Android platform client distribution of machine people's status data,
Android platform client is processed after receiving robotary data and is shown；
Android platform client judges network connection situation, if network connection is abnormal, again initiates TCP connection request；
If network connection is normal, entrance etc. is to be operated.
In described step 4, to the concrete grammar of Intelligent Mobile Robot car body and the control of head it is：
Android platform client sends car body and cradle head control message to Intelligent Mobile Robot, and Intelligent Mobile Robot is received
To controlling after message, carry out packet parsing；
Intelligent Mobile Robot is controlled driving and control head operation according to message commands type；
After Intelligent Mobile Robot receives drive module and the control result of head module feedback, to Android platform client
Send driving condition data and head status data.
In described step 4, the method that task is controlled is specially：
(1) obtain task list：Android platform client is to transformer station PC service end acquisition request task list, transformer station
PC service end returns task list, and Android platform client updates local task list according to returning result and shows；
(2) issue task list：Android platform client issues task list, transformer station to transformer station's PC service end request
PC service end is passed through FTP and is sent patrol task configuration file to Intelligent Mobile Robot；
Intelligent Mobile Robot returns and issues result, and successfully whether transformer station's PC service end judge to issue according to returning result,
If issuing successfully, returning to Android platform client and issuing successfully；If issuing failure, issuing again through FTP and appointing
Business configuration file, after retrying unsuccessfully set point number, returns to Android platform client and issues failure；
(3) start task：Android platform client asks startup task (id=x), transformer station PC to transformer station's PC service end
, to Intelligent Mobile Robot request startup task (id=x), Intelligent Mobile Robot is by the startup result of task (id=x) for service end
Return to transformer station's PC service end, the startup result of task (id=x) is returned to Android platform visitor by transformer station's PC service end
Family end；
(4) stop task：Android platform client services to transformer station's PC service end request stopping task, transformer station PC
Hold and ask stopping task to Intelligent Mobile Robot；Intelligent Mobile Robot returns task to transformer station's PC service end to be stopped
As a result, transformer station PC service end returns task stopping result to Android platform client.
The concrete grammar of described step (3) is：
Android platform client passes through FTP to transformer station's PC service end request startup task (id=x), transformer station's PC service end
The version number of the task (id=x) on inquiry Intelligent Mobile Robot, Intelligent Mobile Robot returns to transformer station's PC service end
The version number of task (id=x)；
Transformer station's PC service end judges whether version number is consistent, if inconsistent, return task to Android platform client and opens
Move unsuccessfully；If version is consistent, transformer station's PC service end is to Intelligent Mobile Robot request startup task (id=x)；
Intelligent Mobile Robot judges whether task (id=x) has loaded, if having loaded startup tasks carrying, without
Load, then load and start tasks carrying, the startup result of task (id=x) is returned to transformer station's PC service end, transformer station PC
The startup result of task (id=x) is returned to Android platform client by service end；
Finally, Android platform client shows task start result according to the feedback of transformer station's PC service end.
The invention has the beneficial effects as follows：
1 present invention can be used panel computer or mobile phone as Intelligent Mobile Robot control terminal, it is possible to use is based on
The other equipment of Android platform is with respect to the remotely control of traditional computer, more convenient, thus improving substation inspection machine
Intellectuality and portability level that device people controls.
Android platform client in 2 present invention directly closely can be led to Intelligent Mobile Robot by wireless apss
Letter, so that the car body of Intelligent Mobile Robot controls and cradle head control real-time is higher, facilitates user to substation inspection machine
Device people closely controlled.
3 when Intelligent Mobile Robot is used for multiple transformer station's execution patrol task, and robot transports another from a transformer station
An outer transformer station, it is direct that the task control method that the present invention provides can facilitate user directly to pass through Android platform client
Carry out issuing and executing of patrol task, thus do not use in the office of Surveillance center that transformer station's PC service end is disposed carrying out
The issuing and executing of patrol task.
Brief description
Fig. 1 is the Intelligent Mobile Robot control system architecture figure based on Android platform of the present invention；
Fig. 2 is car body and the cloud platform control method flow chart of the present invention；
Fig. 3 is the task control method flow chart of the present invention；
Wherein, 1.Android platform client, 2. transformer station PC service end, 3. Intelligent Mobile Robot, 4. radio communication mold
Block, 5. wireless communication module, 101. login authentication modules, 102. parameter setting module, 103. communication management module, 104. states
Display module, 105. BCM Body Control Modules, 106. cradle head control modules, 107. task control modules, 201. data management modules,
202. model configuration modules, 203. communication management module, 204.Web service module, 205.FTP management module, 301. communication tubes
Reason module, 302. message processing module (MPM)s, 303. drive modules, 304. head modules, 305. task execution module.
Specific embodiment：
The present invention will be further described with embodiment below in conjunction with the accompanying drawings：
It should be appreciated that the Intelligent Mobile Robot in this patent is typical electronic product, including mechanical part and control unit
Point, focus on the improvement that Intelligent Mobile Robot control system is carried out involved by this patent, to the driving being directed to
Module and head module, do control object, and in the case of meeting system reliability connection, those skilled in the art should know it even
Connect mode and specific works mode, therefore, the brief description that the application does to it, those skilled in the art are according to this area phase
Close knowledge easily to know.
The embodiment of the present invention provides a kind of Intelligent Mobile Robot control system based on Android platform, as shown in figure 1,
Including Android platform client 1, transformer station's PC service end 2, Intelligent Mobile Robot 3, wireless communication module 4, no
Line communication module 5.
Android platform client 1 is arranged on Android panel computer or mobile phone, by wireless communication module 4 and power transformation
Crusing robot 3 of standing communicates.Android platform client 1 includes login authentication module 101, parameter setting module 102, leads to
Letter management module 103, state display module 104, BCM Body Control Module 105, cradle head control module 106, task control module
107.
Further, login authentication module 101 is used for the access right control of Android platform client 1, is tested by logging in
Card user identity.
Further, parameter setting module 102 is used for arranging IP address and the port numbers in network connection, for arranging robot
Driving type, for example：Double drives, 4 wheel driven.
Further, communication management module 103 is used for managing the connection of TCP communication, disconnections, status monitoring, and Android is flat
Platform client 1 is as TCP Client；For managing request and the return of Web Service, Android platform client 1 is made
For Web Service client.
Further, state display module 104 is used for showing the task control result that transformer station's PC service end 2 returns, and is used for
Drive control result, cradle head control result and robotary information that display Intelligent Mobile Robot 3 returns.
Further, BCM Body Control Module 105 is used for controlling the drive module of Intelligent Mobile Robot 3, realizes controlling machine
The function of people's body movement.
Further, cradle head control module 106 is used for controlling the head module of Intelligent Mobile Robot 3, realizes controlling machine
The function of user tripod head motion.
Further, task control module 107 includes following functions：Obtain patrol task list, issue patrol task list,
Start patrol task, stop patrol task.
Transformer station's PC service end 2 is deployed on supervisory control of substation server, by wireless communication module 5 and substation inspection machine
Device people 3 communicates.Transformer station's PC service end 2 includes data management module 201, model configuration module 202, communication management module
203rd, Web service module 204, FTP management module 205.
Further, data management module 201 be used for storing substation equipment model, robot model, patrol task model,
Patrol and examine data, interpolation, deletion, modification and the inquiry of data are provided.
Further, model configuration module 202 provides substation equipment model, robot model, the configuration of patrol task model,
Robot model and patrol task model is provided to be handed down to the function of Intelligent Mobile Robot 3.
Further, communication management module 203 is used for managing the connection of TCP communication, disconnection, status monitoring, transformer station PC
Service end 2 is as TCP Client；For managing request and the return of Web Service, transformer station's service end 2 is as Web
The service end of Service.
Further, Web service module 204 is used for managing the issue of Web Service, for providing Web Service interface.
Further, FTP management module 205 is used for managing the robot mould in Intelligent Mobile Robot 3 by File Transfer Protocol
Type configuration file and patrol task model configuration file.Transformer station's PC service end 2 is as ftp client, substation inspection machine
Device people 3 is as FTP service end.
Intelligent Mobile Robot 3 includes communication management module 301, message processing module (MPM) 302, drive module 303, head mould
Block 304, task execution module 305.
Further, communication management module 301 is used for managing the connection of TCP communication, disconnection, status monitoring, substation inspection
Robot 3, as TCP service end, provides list and the management of TCP Client.
Further, message processing module (MPM) 302 is used for parsing Android platform client 1 and transformer station's PC service end 2 sends
Control message, for setting up and being sent to the returned packet of Android platform client 1 and transformer station's PC service end 2.
Further, drive module 303 includes drive control device and servomotor, and wherein double drive adopts 2 servomotors, and four
Drive and adopt 4 servomotors.For controlling the body movement of Intelligent Mobile Robot 3
Further, head module 304 includes cradle head control module and tripod head equipment, and described cradle head control module is awarded using China
Structure described in power patent No. ZL200920029359.6.Head for controlling Intelligent Mobile Robot 3 moves.
Further, task execution module 305 is used for controlling the startup of Intelligent Mobile Robot 3 and stops patrol task, uses
Execute patrol task in patrol task model is issued according to transformer station's PC service end.
Further, wireless communication module 4 is the wireless apss based on 802.11N, is arranged on Intelligent Mobile Robot 3, uses
Access in providing Android platform client 1.
Further, wireless communication module 5 is 2 wireless bridges based on 802.11N, and 1 is arranged on transformer station PC service
End 2 uses as ap mode, and 1 is arranged on Intelligent Mobile Robot 3 and uses as station pattern.
According to the Intelligent Mobile Robot control system of the preferred embodiment shown in Fig. 1, the present invention provides a kind of car body and head
Control method, as shown in Fig. 2 comprise the steps：
Step 1, system initialization.Initialization including Android platform client and the initialization of Intelligent Mobile Robot.
Android platform client initialization includes reading local parameter, loaded and displayed user interface.Intelligent Mobile Robot initializes
Process thread, start timing including electricity, the local model parameter of loading, each operational module of startup on startup power supply, each operational module
Service.
Step 2, login authentication.User needs to input username and password, then carries out with locally stored username and password
Coupling, the match is successful can log in using Android platform client, otherwise do not allow to log in use.
Step 3, parameter setting.User input needs the IP address of Intelligent Mobile Robot controlling, port, drives type.
Step 4, network connection.Android platform client, according to the IP address of user input and port, is initiated TCP and is connected
Request, Intelligent Mobile Robot returns after receiving TCP connection request and allows TCP to connect, and gives Android platform client
Distribution of machine people's status data, Android platform client is processed after receiving robotary data and is shown.Android
Platform client judges network connection situation, if network connection is abnormal, again initiates TCP connection request；If network is even
Connect normal, entrance etc. is to be operated.
Step 5, car body controls and cradle head control.Android platform client sends car body and head to Intelligent Mobile Robot
Control message, after Intelligent Mobile Robot receives control message, carry out packet parsing.Then Intelligent Mobile Robot according to
Message commands type is controlled driving and control head operation.
Step 6, display control result.After Intelligent Mobile Robot receives drive module and the control result of head module feedback,
Send driving condition data and head status data to Android platform client.
According to the Intelligent Mobile Robot control system of the preferred embodiment shown in Fig. 1, the present invention provides a kind of task control side
Method, as shown in figure 3, comprise the steps：
Step 1, system initialization.Patrol including the initialization of Android platform client, transformer station's PC service end, transformer station
The initialization of inspection robot.Android platform client initialization includes reading local parameter, loaded and displayed user interface.Power transformation
The initialization of PC service end of standing includes loading of databases, stress model configuration, Web Services Publishing.Intelligent Mobile Robot
Initialization includes startup power supply, electricity on each operational module, loads local model parameter, start each operational module process thread, open
Dynamic timing services.
Step 2, login authentication.User needs to input username and password, then carries out with locally stored username and password
Coupling, the match is successful can log in using Android platform client, otherwise do not allow to log in use.
Step 3, parameter setting.User needs to input the URL of the Web service that transformer station's PC service end is issued, for accessing
The Web Service interface that transformer station's PC service end is issued.
Step 4, shows local task list.After user clicks on task control interface, load after completing user interface element, show
Show the task list in local cache.
Step 5, task control.
Wherein, following process can be subdivided into for task control again：
(1) obtain task list.Android platform client is to transformer station PC service end acquisition request task list, transformer station
PC service end returns task list, and Android platform client updates local task list according to returning result and shows.
(2) issue task list.Android platform client issues task list, transformer station to transformer station's PC service end request
PC service end is passed through FTP and is sent patrol task configuration file to Intelligent Mobile Robot.Under Intelligent Mobile Robot returns
Send out result, transformer station's PC service end issues whether successful, if issuing successfully, to Android platform according to returning result judgement
Client returns and issues successfully；If issuing failure, issue task configuration file again through FTP, after retrying failure 3 times,
Return to Android platform client and issue failure.
(3) start task.Android platform client asks startup task (id=x), transformer station PC to transformer station's PC service end
Service end inquires about the version number of the task (id=x) on Intelligent Mobile Robot by FTP, and Intelligent Mobile Robot is to power transformation
PC service end of standing returns the version number of task (id=x).Transformer station's PC service end judges whether version number is consistent, if inconsistent,
Return task start failure to Android platform client；If version is consistent, transformer station's PC service end is to substation inspection machine
Device people request startup task (id=x), Intelligent Mobile Robot judges whether task (id=x) has loaded, if loaded opened
Dynamic tasks carrying, without loading then loading tasks execution, the startup result of task (id=x) is returned to transformer station PC clothes
Business end, the startup result of task (id=x) is returned to Android platform client by transformer station's PC service end.Finally, Android
Platform client shows task start result according to the feedback of transformer station's PC service end.
(4) stop task.Android platform client services to transformer station's PC service end request stopping task, transformer station PC
Hold and ask stopping task to Intelligent Mobile Robot.Intelligent Mobile Robot returns task to transformer station's PC service end to be stopped
As a result, transformer station PC service end returns task stopping result to Android platform client.
Step 6, waits follow-up work to control.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, the not limit to the scope of the present invention
System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art do not need to pay
Go out the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of Intelligent Mobile Robot control system based on Android platform, is characterized in that, including：Android puts down
Platform client, transformer station's PC service end, Intelligent Mobile Robot, the first wireless communication module and the second wireless communication module；
Described Android platform client is installed on mobile terminals, and mobile terminal passes through the first wireless communication module and transformer station
Crusing robot communicates, and transformer station's PC service end is deployed on supervisory control of substation server, and supervisory control of substation server passes through the
Two wireless communication modules are communicated with Intelligent Mobile Robot.
2. a kind of Intelligent Mobile Robot control system based on Android platform as claimed in claim 1, is characterized in that,
Described Android platform client includes：
Login authentication module：Access right for Android platform client controls；
Parameter setting module：For arranging the driving type of the IP address in network connection and port numbers and robot；
Communication management module：The request of the state for setting communication and Web Service and return；
State display module：For showing that task control result, Intelligent Mobile Robot that transformer station PC service end returns return
Drive control result, cradle head control result and the robotary information returned；
BCM Body Control Module：For controlling the body movement of Intelligent Mobile Robot；
Cradle head control module：Head for controlling Intelligent Mobile Robot moves.
3. a kind of Intelligent Mobile Robot control system based on Android platform as claimed in claim 1, is characterized in that,
Described transformer station PC service end includes：
Data management module：For storing substation equipment model, robot model, patrol task model, patrolling and examining data, carry
For the interpolation of data, deletion, modification and inquiry；
Model configuration module：For providing the configuration of substation equipment model, robot model, patrol task model；
Communication management module：The request of the state for setting communication and Web Service and return；
Web service module：For providing Web Service interface and managing the issue of Web Service；
FTP management module：For managing the robot model's configuration file in Intelligent Mobile Robot 3 and patrol task model
Configuration file.
4. a kind of Intelligent Mobile Robot control system based on Android platform as claimed in claim 1, is characterized in that,
Intelligent Mobile Robot includes：
Communication management module：The request of the state for setting communication and Web Service and return；
Message processing module (MPM)：For parsing and returning the control message of Android platform client and transformer station's PC service end transmission；
Drive module：For controlling the body movement of Intelligent Mobile Robot；
Head module：Head for controlling Intelligent Mobile Robot moves；
Task execution module：For controlling Intelligent Mobile Robot to start, executing and stopping patrol task.
5. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 1, it is special
Levying is, including：
Step 1, system initialization：Initialization including Android platform client and the initialization of Intelligent Mobile Robot；
Step 2, login authentication：The information of user input is mated with the information of storage inside, the match is successful enters Android
Platform client, otherwise, does not allow access into；
Step 3, parameter setting：The IP address of setting Intelligent Mobile Robot, port, driving type, and transformer station PC
The URL of the Web service that service end is issued；
Step 4, carries out network connection, and Android platform client sends message to Intelligent Mobile Robot and realizes to transformer station
The control of crusing robot car body and head simultaneously shows to control result；
Or show and update local task list, task is controlled.
6. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 5, it is special
Levying is, in described step 1, Android platform client initialization includes reading local parameter, loaded and displayed user interface；Become
Crusing robot initialization in power station includes startup power supply, electricity on each operational module, loads local model parameter, each Working mould of startup
Block processes thread and starts timing services.
7. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 5, its
Feature is, in described step 4, the method carrying out network connection is specially：
Android platform client, according to the IP address of user input and port, initiates TCP connection request, substation inspection machine
Device people returns after receiving TCP connection request and allows TCP to connect, and gives Android platform client distribution of machine people's status data,
Android platform client is processed after receiving robotary data and is shown；
Android platform client judges network connection situation, if network connection is abnormal, again initiates TCP connection request；
If network connection is normal, entrance etc. is to be operated.
8. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 5, its
Feature is, in described step 4, to the concrete grammar of Intelligent Mobile Robot car body and the control of head is：
Android platform client sends car body and cradle head control message to Intelligent Mobile Robot, and Intelligent Mobile Robot is received
To controlling after message, carry out packet parsing；
Intelligent Mobile Robot is controlled driving and control head operation according to message commands type；
After Intelligent Mobile Robot receives drive module and the control result of head module feedback, to Android platform client
Send driving condition data and head status data.
9. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 5, its
Feature is, in described step 4, the method that task is controlled is specially：
(1) obtain task list：Android platform client is to transformer station PC service end acquisition request task list, transformer station
PC service end returns task list, and Android platform client updates local task list according to returning result and shows；
(2) issue task list：Android platform client issues task list, transformer station to transformer station's PC service end request
PC service end is passed through FTP and is sent patrol task configuration file to Intelligent Mobile Robot；
Intelligent Mobile Robot returns and issues result, and successfully whether transformer station's PC service end judge to issue according to returning result,
If issuing successfully, returning to Android platform client and issuing successfully；If issuing failure, issuing again through FTP and appointing
Business configuration file, after retrying unsuccessfully set point number, returns to Android platform client and issues failure；
(3) start task：Android platform client asks startup task (id=x), transformer station PC to transformer station's PC service end
, to Intelligent Mobile Robot request startup task (id=x), Intelligent Mobile Robot is by the startup result of task (id=x) for service end
Return to transformer station's PC service end, the startup result of task (id=x) is returned to Android platform visitor by transformer station's PC service end
Family end；
(4) stop task：Android platform client services to transformer station's PC service end request stopping task, transformer station PC
Hold and ask stopping task to Intelligent Mobile Robot；Intelligent Mobile Robot returns task to transformer station's PC service end to be stopped
As a result, transformer station PC service end returns task stopping result to Android platform client.
10. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 9, its
Feature is that the concrete grammar of described step (3) is：
Android platform client passes through FTP to transformer station's PC service end request startup task (id=x), transformer station's PC service end
The version number of the task (id=x) on inquiry Intelligent Mobile Robot, Intelligent Mobile Robot returns to transformer station's PC service end
The version number of task (id=x)；
Transformer station's PC service end judges whether version number is consistent, if inconsistent, return task to Android platform client and opens
Move unsuccessfully；If version is consistent, transformer station's PC service end is to Intelligent Mobile Robot request startup task (id=x)；
Intelligent Mobile Robot judges whether task (id=x) has loaded, if having loaded startup tasks carrying, without
Load, then load and start tasks carrying, the startup result of task (id=x) is returned to transformer station's PC service end, transformer station PC
The startup result of task (id=x) is returned to Android platform client by service end；
Finally, Android platform client shows task start result according to the feedback of transformer station's PC service end.
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |