CN111176176B - Remote control system and method for power equipment X-ray detection robot - Google Patents
Remote control system and method for power equipment X-ray detection robot Download PDFInfo
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- CN111176176B CN111176176B CN202010006852.7A CN202010006852A CN111176176B CN 111176176 B CN111176176 B CN 111176176B CN 202010006852 A CN202010006852 A CN 202010006852A CN 111176176 B CN111176176 B CN 111176176B
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The application discloses remote control system of power equipment X-ray detection robot and method thereof, the system includes: a remote control base station for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnosis system. The problems of network delay, image distortion, low efficiency, time and labor waste caused by remote control of a robot, remote technical assistance of detection work and the like exist under the condition of the existing communication network due to the limitation of data transmission speed.
Description
Technical Field
The application relates to a remote control system and a method thereof, in particular to a remote control system and a method thereof of an X-ray detection robot of power equipment.
Background
At present, an X-ray detection robot is adopted in the X-ray detection equipment, so that various problems caused by manual carrying of the X-ray detection equipment can be solved.
The currently used X-ray intelligent detection robot does not realize remote control over 200m, and because a shooting system does not have the functions of shooting, judging, identifying and diagnosing defects, the remote control system is required to be used for controlling and transmitting image data in a transformer substation range (200 m) during detection. However, when the remote control system needs to perform remote control and image data transmission within a distance range of more than 200m in actual situations, under the current communication network condition, due to limitation of data transmission speed, the problems of network delay, image distortion, low efficiency, time and labor waste and the like exist in the remote control and detection of the robot.
It can be seen how to provide a remote control system and method for an X-ray detection robot of an electric power device, which can realize remote control and high-fidelity image data transmission, has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application provides a remote control system and a remote control method for an X-ray detection robot of power equipment, which are used for solving the problems that network delay, image distortion, low efficiency, time and labor are wasted in remote control of the robot, remote technical assistance of detection work and the like under the condition of the existing communication network due to the limitation of data transmission speed.
In one aspect, the present application provides a remote control system for an electrical device X-ray inspection robot, comprising:
a remote control base station for remotely controlling the X-ray detection robot;
the X-ray detection robot is used for detecting the power equipment;
a first 5G base station, the first 5G base station being proximate to the remote control base station;
a second 5G base station, the second 5G base station being proximate to the X-ray detection robot;
a main network;
the remote control base station includes a defect diagnosis subsystem.
Optionally, the remote control base station includes a first communication interface based on 5G communication;
the X-ray detection robot comprises a second communication interface based on 5G communication.
Optionally, the remote control base station includes a first data interface based on 5G communication;
the X-ray inspection robot includes a second data interface based on 5G communication.
Optionally, the X-ray detection robot further comprises at least one stereo camera, an X-ray machine, a navigation positioning subsystem, a body control subsystem and a controller;
the navigation positioning subsystem comprises a drawing module, a positioning module and a navigation module.
In another aspect, the present application provides a remote control method of an X-ray detection robot for an electrical device, including:
According to a starting signal instruction sent to the X-ray detection robot by the remote control base station, starting the X-ray detection robot;
the method for starting the X-ray detection robot according to the starting signal instruction sent to the X-ray detection robot by the remote control base station comprises the following steps:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station;
the first 5G base station sends the starting signal instruction to a main network;
the main network sends the starting signal instruction to a second 5G base station;
the second 5G base station sends the starting signal instruction to the X-ray detection robot;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started;
according to the position information of the power equipment sent to the X-ray detection robot by the remote control base station, the X-ray detection robot is moved to the position of the power equipment;
according to a detection operation instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot detects the power equipment;
obtaining related data and images of the power equipment according to the detection of the X-ray detection robot on the power equipment;
According to the related data and the image of the power equipment, which are sent to the remote control base station by the X-ray detection robot, the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
the method for performing defect diagnosis on the related data and the image of the power equipment by the defect diagnosis subsystem according to the related data and the image of the power equipment sent by the X-ray detection robot to the remote control base station, and obtaining a defect diagnosis result comprises the following steps:
the X-ray detection robot sends related data and images of the power equipment to the second 5G base station;
the second 5G base station sends the related data and the image of the power equipment to the main network;
the main network sends related data and images of the power equipment to the first 5G base station;
the first 5G base station sends related data and images of the power equipment to the remote control base station;
the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment received by the remote control base station to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data of the power equipment and relevant information of whether the image has defects or not;
According to the defect diagnosis result, the remote control base station makes an end detection instruction or an adjustment detection instruction;
and according to the ending detection instruction or the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, enabling the X-ray detection robot to perform corresponding actions.
Optionally, the remote control base station sends a start signal instruction for starting the X-ray detection robot to the first 5G base station, including:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station through a first communication interface based on 5G communication;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started, and comprises:
and the X-ray detection robot receives the starting signal instruction through a second communication interface based on 5G communication, and the X-ray detection robot is started.
Optionally, the X-ray detection robot sends the related data and the image of the power device to a second 5G base station, including:
the X-ray detection robot sends related data and images of the power equipment to the second 5G base station through a second data interface based on 5G communication;
The defect diagnosis subsystem performs defect diagnosis on related data and images of the power equipment received by the remote control base station to obtain a defect diagnosis result, and the defect diagnosis subsystem comprises:
the remote control base station receives related data and images of the power equipment through a first data interface based on 5G communication;
and the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result.
Optionally, the obtaining relevant data and images of the power equipment according to the detection of the power equipment by the X-ray detection robot includes:
shooting the power equipment through at least one stereoscopic camera to obtain an image of the power equipment;
and scanning and detecting the power equipment through an X-ray machine to obtain the related data of the power equipment.
Optionally, according to the defect diagnosis result, the method includes that the remote control base station generates an end detection instruction or the adjustment detection instruction and sends the end detection instruction to the X-ray detection robot, including:
according to the defect diagnosis result, the defect diagnosis subsystem judges whether the related data and the image of the power equipment have defects or not;
When the defect diagnosis subsystem judges that the related data and the image of the power equipment have no defects, the remote control base station generates an ending detection instruction and sends the ending detection instruction to the X-ray detection robot;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have defects, the remote control base station generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to an X-ray detection robot;
the method for enabling the X-ray detection robot to perform corresponding actions according to the end detection instruction or the adjustment detection instruction sent by the remote control base station to the X-ray detection robot comprises the following steps:
according to the ending detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot ends the detection of the power equipment;
according to the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is enabled to adjust detection actions;
when the X-ray detection robot completes adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
obtaining related data and images of the power equipment according to the detection of the X-ray detection robot on the power equipment;
According to the related data and the image of the power equipment, which are sent to the remote control base station by the X-ray detection robot, the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
according to the defect diagnosis result, the remote control base station makes an end detection instruction or an adjustment detection instruction;
and until the remote control base station makes an ending detection instruction, the X-ray detection robot ends the detection of the power equipment.
Optionally, the moving the X-ray detection robot to the position of the power device according to the position information of the power device sent by the remote control base station to the X-ray detection robot includes:
the remote control base station sends the position information of the power equipment to the X-ray detection robot;
planning a moving path of the X-ray detection robot by a navigation positioning subsystem of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot so as to obtain a planned moving path;
the navigation positioning subsystem of the X-ray detection robot plans a moving path of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot to obtain a planned moving path, and the method comprises the following steps:
According to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by a navigation positioning subsystem of the X-ray detection robot through a drawing module, and a target map is obtained;
according to the target map and the position information of the power equipment, the navigation positioning subsystem calibrates the position of the power equipment in the target map through a positioning module to obtain a target position;
according to the target position and the position information of the X-ray detection robot, planning a moving path of the X-ray detection robot by the navigation positioning subsystem through a navigation module so as to obtain a planned moving path;
and according to the planned moving path, the X-ray detection robot is moved to the position of the power equipment through the control of the controller by the body control subsystem of the X-ray detection robot and the control of the X-ray detection robot by the controller.
According to the technical scheme, the application provides a remote control system and a method of an X-ray detection robot of power equipment, wherein the method comprises the following steps: a remote control base station for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnosis subsystem. The remote control system and the method of the power equipment X-ray detection robot are provided. By adopting the 5G communication mode, the method can meet the requirements of high-capacity, low-delay and high-reliability data transmission and signal control. The problems of network delay, image distortion, low efficiency, time and labor waste caused by remote control of a robot, remote technical assistance of detection work and the like under the condition of the existing communication network due to the limitation of data transmission speed can be solved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a remote control system of an X-ray inspection robot for electrical equipment;
fig. 2 is a schematic structural diagram of a remote control base station;
FIG. 3 is a schematic view of the structure of an X-ray inspection robot;
FIG. 4 is a detailed structural schematic diagram of the navigation positioning subsystem;
FIG. 5 is a flow chart of a method of remote control of an electrical device X-ray inspection robot;
FIG. 6 is a detailed flowchart of step S1;
FIG. 7 is a detailed flowchart of step S2;
fig. 8 is a detailed flowchart of step S22;
fig. 9 is a detailed flowchart of step S4;
fig. 10 is a detailed flowchart of step S5;
FIG. 11 is a detailed flowchart of step S6;
fig. 12 is a detailed flowchart of step S7.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
At present, an X-ray detection robot is adopted in the X-ray detection equipment, so that various problems caused by manual carrying of the X-ray detection equipment can be solved.
The currently used X-ray intelligent detection robot does not realize remote control over 200m, and because a shooting system does not have the functions of shooting, judging, identifying and diagnosing defects, the remote control system is required to be used for controlling and transmitting image data in a transformer substation range (200 m) during detection. However, when the remote control system needs to perform remote control and image data transmission within a distance range of more than 200m in actual situations, under the current communication network condition, due to limitation of data transmission speed, the problems of network delay, image distortion, low efficiency, time and labor waste and the like exist in the remote control and detection of the robot.
In view of this, in one aspect, fig. 1 is a schematic structural diagram of a remote control system of an electrical power equipment X-ray detection robot, as shown in fig. 1, the present application provides a remote control system 00 of an electrical power equipment X-ray detection robot, including:
a remote control base station 1 for remotely controlling the X-ray detection robot 2;
an X-ray detection robot 2 for detecting the power equipment;
Optionally, fig. 2 is a schematic structural diagram of a remote control base station, fig. 3 is a schematic structural diagram of an X-ray detection robot, and as shown in fig. 2 and 3, the remote control base station 1 includes a first communication interface 11 based on 5G communication;
the X-ray inspection robot 2 includes a second communication interface 21 based on 5G communication;
optionally, the remote control base station 1 comprises a first data interface 12 based on 5G communication;
the X-ray inspection robot 2 includes a second data interface 22 based on 5G communication;
the first communication interface 11 and the second communication interface 21 are used for receiving or transmitting signals or instructions; the first data interface 12 and the second data interface 22 are used for receiving or transmitting data information. This section is merely illustrative and the present application is not limited thereto.
A first 5G base station 3, the first 5G base station 3 being close to the remote control base station 1;
a second 5G base station 4, the second 5G base station 4 being close to the X-ray detection robot 2;
the first 5G base station 3 and the second 5G base station 4 each comprise several base station interfaces, which may employ an eCPRI interface. The eCPRI interface follows basic principles of statistical multiplexing, adaptive bandwidth change in and related to the eCPRI interface, collaborative algorithm with high support performance gain, independence of interface flow on RRU antenna number, neutral air interface technology, RRS attribution relation migration and the like.
In the case of the remote control at a short distance (within 200 m), only the second 5G base station 4 near the X-ray detection robot 2 may be provided, or a common 5G base station near the X-ray detection robot 2 may be directly used. However, when the distance between the X-ray detection robot 2 and the remote control base station 1 is 200m or more, it is necessary to provide a 5G base station at the work site near the X-ray detection robot 2 and the remote control base station 1, respectively.
Alternatively, both the first 5G base station 3 and the second 5G base station 4 may employ 5GNR base stations.
The NR base station adopts a new waveform technology (F-OFDM, filtered-Orthogonal Frequency Division Multiplexing), and the subcarrier length and symbol duration of the OFDM (orthogonal frequency division multiplexing) waveform technology of 4G are fixed, which cannot meet the service application requirements of low-delay, high-reliability remote control (ul lc, ultra Reliable Low Latency Communications, extremely reliable low-delay communication) of the X-ray robot, high-speed transmission of detected data and images (eMBB, enhanced Mobile Broadband, enhanced mobile broadband) and multi-user connection (emtc, massive Machine Type of Communication, mass machine-type communication, i.e., large-scale internet of things). The F-OFDM is a self-adaptive air interface waveform modulation technology with variable subcarrier bandwidth, is an improved scheme based on OFDM, can realize flexible multiplexing of frequency domain and time domain resources, provides different subcarrier bandwidths and CP configurations for different services, and can lowest achieve one subcarrier bandwidth from the guard band among subcarriers with different bandwidths.
A main network 5;
the main network refers to a formally online, independently running blockchain network, and transaction actions on the network are recognized by community members.
As shown in fig. 2, the remote control base station 1 includes a defect diagnosis subsystem 13.
Optionally, as shown in fig. 3, the X-ray inspection robot 2 further includes at least one stereo camera 23, an X-ray machine 24, a navigation positioning subsystem 25, a body control subsystem 26, and a controller 27;
fig. 4 is a detailed structural diagram of the navigation positioning subsystem, and as shown in fig. 4, the navigation positioning subsystem 25 includes a drawing module 251, a positioning module 252 and a navigation module 253.
The X-ray inspection robot 2 of the present application may be a master-slave X-ray inspection robot. The master robot carries an imaging plate (not shown in fig. 3) and the slave robot carries an X-ray machine 24, the imaging plate being matched to the position of the X-ray machine 24 by adjusting the height and angle of the slave robot to ensure that the firing cone angle of the X-ray machine 24 is perpendicular to the imaging plate. The present application is not particularly limited.
As shown in fig. 3 and 4, the X-ray inspection robot 2 further includes at least one stereo camera 23, an X-ray machine 24, a navigation positioning subsystem 25, a body control subsystem 26, and a controller 27. The navigation positioning subsystem 25 includes a mapping module 251, a positioning module 252, and a navigation module 253. The X-ray inspection robot 2 may further include a lidar 28, a light sensor 29, an odometer 30, a gyroscope 31.
The stereo camera 23 is used to capture the appearance of the power equipment to be detected, the line appearance, the work environment, the surrounding environment in which the X-ray detection robot 2 is moving, and the like. When the X-ray detecting robot 2 employs a master-slave robot, the number of the stereo cameras 23 may be two or more, and more stereo cameras 23 may be provided for more comprehensively photographing the target image. The X-ray machine 24 is used for scanning and detecting the power equipment. The navigation positioning subsystem 25 is configured to obtain position information of the X-ray detection robot 2, and plan a movement path of the X-ray detection robot 2 according to the position information of the power device and the position information of the X-ray detection robot 2, so as to obtain a planned movement path. The body control subsystem 26 is used for controlling the controller 27 according to the planned moving path, and the controller 27 controls the X-ray detection robot 2 so that the X-ray detection robot 2 moves to the position of the electric device.
The lidar 28 is used to locate an object or detect the speed of movement of an object using a laser beam, and may detect surrounding obstacles during movement of the X-ray detection robot 2, or detect a specific position of a power device, etc. The light sensor 29 is used for performing relevant sensing by using a light sensing device; the odometer 30 is used for recording mileage data of the movement of the X-ray detection robot 2; the gyroscope 31 is used to sense various parameters of the X-ray inspection robot 2 in moving and stationary states. The present application is merely a schematic illustration of the structure of the X-ray detection robot 2, and uses of the respective structures, and is not particularly limited.
The navigation positioning subsystem 25 can operate in a Windows environment, the body control subsystem 26 can operate in a Beckhff real-time core environment, the programming environment of the body control system can adopt the TwoCat 3 software of Beckhff, the TwoCat 3 complies with the IEC61131-3 standard, and five programming languages of the PLC are supported. This description is illustrative only and is not intended to be limiting in any way.
The X-ray inspection robot 2 further includes conventional components of the X-ray inspection robot 2 such as a work platform, a robotic arm, and a tool system, none of which are shown in fig. 3, and the present application is not limited in detail.
As shown in fig. 2, the defect diagnosis subsystem 13 of the remote control base station 1 is configured to analyze and determine an image captured by at least one stereo camera 23 of the X-ray detection robot 2 to obtain relevant data of the power device, whether the image has a defect, and relevant information of the defect; the defect diagnosis subsystem 13 is further configured to analyze and determine related data of the power device obtained by scanning by the X-ray machine 24, so as to obtain whether the related data of the power device has a defect and related information of the defect;
the remote control of the power equipment X-ray detection robot is based on a 5G communication mode, and the remote control can meet the requirements of data transmission and signal control with large capacity, low time delay and high reliability. The method can solve the problems of network delay, image distortion, low efficiency and the like due to the limitation of data transmission speed under the current communication network condition, and the problems of time and labor waste and the like.
On the other hand, fig. 5 is a flowchart of a remote control method of an electrical device X-ray detection robot, and, in combination with fig. 1 and 5, the present application provides a remote control method of an electrical device X-ray detection robot, including:
s1: according to a starting signal instruction sent by the remote control base station 1 to the X-ray detection robot 2, starting the X-ray detection robot 2;
fig. 6 is a detailed flowchart of step S1, and in combination with fig. 1 and 6, S1 causes the X-ray detection robot 2 to start according to a start signal instruction sent from the remote control base station 1 to the X-ray detection robot 2, including:
s11: the remote control base station 1 sends a starting signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3;
optionally, as shown in fig. 2 and 6, S11, the remote control base station 1 sends a start signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3, including:
s111: the remote control base station 1 sends a starting signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3 through the first communication interface 11 based on 5G communication;
s12: the first 5G base station 3 sends a starting signal instruction to the main network 5;
s13: the main network 5 sends a starting signal instruction to the second 5G base station 4;
S14: the second 5G base station 4 sends a starting signal instruction to the X-ray detection robot 2;
s15: the X-ray detection robot 2 receives the starting signal instruction, and the X-ray detection robot 2 is started;
optionally, referring to fig. 3 and fig. 6, S15, the X-ray detection robot receives a start signal instruction, and the X-ray detection robot starts, including:
s151: the X-ray detection robot 2 receives the starting signal instruction through the second communication interface 21 based on 5G communication, and the X-ray detection robot 2 is started;
as shown in fig. 3, the second communication interface 21 based on 5G communication receives a start signal command and sends the start signal command to the body control subsystem 26, and the body control subsystem 26 controls the controller 27 to start the X-ray inspection robot 2.
S2: according to the position information of the power equipment sent to the X-ray detection robot 2 by the remote control base station 1, the X-ray detection robot 2 is moved to the position of the power equipment;
optionally, fig. 7 is a detailed flowchart of step S2, and in combination with fig. 1, fig. 2, fig. 3, and fig. 7, according to the position information of the power device sent by the remote control base station to the X-ray detection robot 2, the moving the X-ray detection robot 2 to the position of the power device includes:
S21: the remote control base station 1 transmits the position information of the power equipment to the X-ray detection robot 2;
the remote control base station 1 transmits the position information of the power equipment to the X-ray inspection robot 2 through the first data interface 12 based on 5G communication.
It should be noted that the position information of the power equipment to be detected may be marked in the form of a two-dimensional code or in the form of a simple number or text, which is not particularly limited in this application. The location information may include map information, longitude and latitude value information, and the like, and is not particularly limited.
S22: according to the position information of the power equipment and the position information of the X-ray detection robot 2, the navigation positioning subsystem 25 of the X-ray detection robot 2 plans the moving path of the X-ray detection robot 2 to obtain a planned moving path;
fig. 8 is a detailed flowchart of step S22, and in combination with fig. 4 and 8, S22 plans a movement path of the X-ray detection robot 2 according to the position information of the power device and the position information of the X-ray detection robot, by using the navigation positioning subsystem 25 of the X-ray detection robot 2, so as to obtain a planned movement path, including:
s221: according to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by the navigation positioning subsystem 25 of the X-ray detection robot 2 through the drawing module 251, and a target map is obtained;
S222: the navigation positioning subsystem 25 marks the position of the power equipment in the target map by the positioning module 252 according to the target map and the position information of the power equipment to obtain a target position;
s223: according to the target position and the position information of the X-ray detection robot, the navigation positioning subsystem 25 plans the moving path of the X-ray detection robot 2 through the navigation module 253 so as to obtain a planned moving path;
s23: the X-ray inspection robot 2 is moved to the position of the electric device by the control of the controller 27 by the body control subsystem 26 of the X-ray inspection robot 2 and the control of the X-ray inspection robot 2 by the controller 27 according to the planned movement path.
It should be noted that, during the movement of the X-ray detection robot, the cooperation of the lidar, the light sensor and the gyroscope may be used to enable the X-ray detection robot to avoid an obstacle in the route or to traverse a special terrain section. The distance accumulated by the movement of the X-ray detection robot may be recorded by an odometer.
S3: according to a detection operation instruction sent by the remote control base station 1 to the X-ray detection robot 2, the X-ray detection robot 2 detects the power equipment;
S4: according to the detection of the power equipment by the X-ray detection robot 2, obtaining related data and images of the power equipment;
optionally, fig. 9 is a detailed flowchart of step S4, and in combination with fig. 1, fig. 3 and fig. 9, the steps for obtaining relevant data and images of the power equipment according to the detection of the power equipment by the X-ray detection robot 2 include:
s41: shooting the power equipment through at least one stereo camera 23 to obtain an image of the power equipment;
s42: the power equipment is scanned and detected by the X-ray machine 24, and the related data of the power equipment are obtained.
S5: according to the related data and the image of the power equipment sent by the X-ray detection robot 2 to the remote control base station 1, the defect diagnosis subsystem 13 performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
fig. 10 is a detailed flowchart of step S5, and in combination with fig. 1 and 10, according to the related data and image of the power equipment sent by the X-ray detection robot 2 to the remote control base station 1, the defect diagnosis subsystem 13 performs defect diagnosis on the related data and image of the power equipment, so as to obtain a defect diagnosis result, which includes:
s51: the X-ray detection robot 2 sends the related data and the image of the power equipment to the second 5G base station 4;
Optionally, as shown in fig. 1, 3 and 10, the X-ray detection robot 2 sends the relevant data and images of the power equipment to the second 5G base station 4, including:
s511: the x-ray inspection robot 2 transmits the related data and images of the power equipment to the second 5G base station 4 through the second data interface 22 based on the 5G communication;
s52: the second 5G base station 4 transmits the related data and images of the power equipment to the main network 5;
s53: the main network 5 transmits the related data and images of the power equipment to the first 5G base station 3;
s54: the first 5G base station 3 transmits related data and images of the power equipment to the remote control base station 1;
s55: the defect diagnosis subsystem 13 performs defect diagnosis on the related data and the image of the power equipment received by the remote control base station 1 to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data of the power equipment and relevant information of whether the image has defects or not;
it should be noted that, here, the related data and the image having defects may include both cases that the related data and the image have defects and that the related data and the image do not satisfy quality requirements. It is readily understood that the defect of the related data and image may be that the data and image are distorted or erroneous; the relevant information of the corresponding defect is the specific position or other information of the distortion and the error. The quality requirements of the related data and the image may not be met, such as the angle, the definition, the exposure degree, etc. of the image may not be met, an angle preset threshold, a definition preset threshold, an exposure degree preset threshold, etc. may be set in the defect diagnosis subsystem, and the related data and the image may be compared to determine whether the corresponding angle preset threshold, definition preset threshold, exposure degree preset threshold, etc. can be reached; the corresponding defect-related information is the angle, definition, and value of the difference between the exposure and the preset threshold, etc. The present application is not specifically limited to the examples described herein.
Optionally, referring to fig. 1, fig. 2, and fig. 10, the defect diagnosis subsystem 13 performs defect diagnosis on relevant data and images of the power equipment received by the remote control base station 1, to obtain a defect diagnosis result, where the defect diagnosis result includes:
s551: the remote control base station 1 receives related data and images of the power equipment through the first data interface 12 based on 5G communication;
s552: the defect diagnosis subsystem 13 performs defect diagnosis on the related data and images of the power equipment to obtain a defect diagnosis result.
S6: according to the defect diagnosis result, the remote control base station 1 generates an end detection instruction or the adjustment detection instruction and sends the end detection instruction to the X-ray detection robot 2;
optionally, fig. 11 is a detailed flowchart of step S6, and in combination with fig. 1, fig. 2, and fig. 11, S6 is configured to enable the remote control base station 1 to generate an end detection instruction or the adjustment detection instruction according to the defect diagnosis result, and send the end detection instruction to the X-ray detection robot 2, where the method includes:
s61: based on the result of the defect diagnosis, the defect diagnosis subsystem 13 judges whether the related data and image of the power equipment have defects;
s62: when the defect diagnosis subsystem 13 judges that the related data and the image of the power equipment are not defective, the remote control base station 1 generates an end detection instruction and sends the end detection instruction to the X-ray detection robot 2;
It should be noted that, at this time, the absence of a defect means that the related data and the image of the power device have no distortion or error, and can meet the quality requirement, for example, the angle, the definition and the exposure of the image can all meet the preset threshold value.
S63: when the defect diagnosis subsystem 13 determines that the related data and the image of the power equipment have defects, the remote control base station 1 generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to the X-ray detection robot 2.
At this time, the defect means that the related data and the image of the power device have defects such as distortion or error, or cannot meet the quality requirement, such as the situation that the angle, the definition and the exposure of the image cannot meet the preset threshold value at will. In either case, the remote control base station 1 generates an adjustment detection instruction according to the relevant information of the defect and transmits the adjustment detection instruction to the X-ray detection robot 2, as long as the relevant data and the image belonging to the power equipment have defects.
S7: according to the end detection instruction or the adjustment detection instruction sent to the X-ray detection robot by the remote control base station 1, the X-ray detection robot 2 is caused to perform corresponding actions.
Optionally, fig. 12 is a detailed flowchart of step S7, as shown in fig. 12, S7, according to an end detection instruction or an adjustment detection instruction sent by the remote control base station 1 to the X-ray detection robot 2, the method for making the X-ray detection robot 2 perform a corresponding action includes:
s71: according to an ending detection instruction sent by the remote control base station 1 to the X-ray detection robot 2, the X-ray detection robot 2 ends the detection of the power equipment;
as shown in fig. 1, 2 and 3, the remote control base station 1 sends an end detection command to the X-ray detection robot 2 through the first communication interface 11 based on 5G communication, the X-ray detection robot 2 receives the end detection command through the second communication interface 21 based on 5G communication, and sends the end detection command to the body control subsystem 26, and the body control subsystem 26 controls the controller 27 to execute the end detection command. The end detection command may be a return to home of the imaging plate, robotic arm (not shown in fig. 3), etc. The present application is not particularly limited.
S72: the X-ray detection robot 2 is caused to perform adjustment of the detection operation in accordance with an adjustment detection command transmitted from the remote control base station 1 to the X-ray detection robot 2.
It should be noted that, as shown in fig. 1, 2 and 3, the remote control base station 1 sends an adjustment detection instruction to the X-ray detection robot 2 through the first communication interface 11 based on 5G communication, the X-ray detection robot 2 receives the adjustment detection instruction through the second communication interface 21 based on 5G communication, and sends the adjustment detection instruction to the body control subsystem 26, and the body control subsystem 26 controls the controller 27 to execute the adjustment detection instruction. The instruction to adjust the detection may be to adjust the position or angle of a robotic arm (not shown in fig. 3) of the X-ray detection robot 2, the position or angle of the X-ray machine 24, the position or angle of an imaging plate (not shown in fig. 3), and the position, angle, exposure, focal length, etc. of the stereo camera 23.
S73: when the X-ray detection robot completes adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
s74: according to the detection of the X-ray detection robot on the power equipment, obtaining related data and images of the power equipment;
s75: according to the related data and the image of the power equipment sent by the X-ray detection robot to the remote control base station, the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
S76: according to the defect diagnosis result, the remote control base station makes an end detection instruction or adjusts the detection instruction;
s77: and until the remote control base station makes a detection ending instruction, enabling the X-ray detection robot to end detection of the power equipment.
The defect diagnosis subsystem is used for diagnosing whether related data and pictures obtained by detecting the power equipment through the X-ray junction detection robot are defective or not, when the defects exist, the detection pose of the X-ray junction detection robot needs to be correspondingly adjusted, the X-ray junction detection robot after the detection pose is adjusted needs to re-detect the power equipment, the related data and pictures are obtained again, the defect diagnosis is continued, and steps S73-S77 need to be circularly carried out before the defect diagnosis subsystem obtains defect diagnosis results without defects. It should be noted that the defects of the related data and the image of the power equipment may be that the image is not shot at the related part of the power equipment, or the image is shot at the related part of the power equipment, but the angle is not clear enough, the shooting angle needs to be converted or adjusted, or the image is blurred, etc.; the related data and the image of the power device may have defects such as related data missing, and the like, and will not be described herein.
The application provides a remote control method of an X-ray detection robot of power equipment. It should be noted that, the remote control method of the power equipment X-ray detection robot provided by the application is a method for controlling the remote control with the distance of more than 200 m; in the case where the control distance is within 200m, the close range control can be performed by using a D2D (Device-to-Device) communication control method in the 5G communication mode.
When the X-ray detection robot is mainly applied to a transformer substation, a distance is generally within 200m when a detection person remotely controls the robot in a transformer substation control building, a D2D communication mode under a 5G network is adopted, session data are directly transmitted between the robot and a control base station, the data do not need to be forwarded through the 5G base station, and related control instructions are still in charge of the 5G network. When the wireless communication infrastructure is damaged or the coverage blind area of the wireless network is detected, the terminal can realize end-to-end communication and even access to the 5G network by means of D2D. In a 5G network, D2D communications may be deployed in both licensed and unlicensed frequency bands. Compared with the communication between the robot and the control base station through Bluetooth and WLAN, the D2D can be automatically connected without manual pairing and user configuration; D2D uses licensed bands of telecom operators, whose interference environment is controllable, and remote control and data transmission have higher reliability.
In addition, the method provided by the application needs to be improved in interface, deployment of 5GNR base station and the like before implementation. The new 5GNR base station is deployed or a common 5GNR base station is used, and the present application is not particularly limited. The original data and communication interface is modified into a data and communication interface based on 5G communication. The related communication and data transmission modules of the X-ray detection robot and the remote control base station are changed into modules based on 5G communication, and a mode of chip replacement and embedded development can be adopted.
The application provides a remote control system of an X-ray detection robot of power equipment and a method thereof, wherein the method comprises the following steps: a remote control base station for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnosis subsystem.
The application provides a remote control system and a remote control method for an X-ray detection robot of power equipment. By adopting the 5G communication mode, the method can meet the requirements of high-capacity, low-delay and high-reliability data transmission and signal control. The problems of network delay, image distortion, low efficiency and the like exist under the condition of the existing communication network due to the limitation of data transmission speed, and the problems of time and labor waste and the like exist in the remote control of the robot. And judging whether the related data and the image of the power equipment detected by the X-ray detection robot have defects or not through the diagnosis of the related data and the image of the power equipment by the defect diagnosis subsystem, and when the power equipment is detected to be faulty by the X-ray detection robot, the electric power worker can directly see accurate fault data and pictures, so that the efficiency of remote monitoring of the power equipment by the electric power worker can be enhanced.
It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in essence or what contributes to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.
The same or similar parts between the various embodiments in this specification are referred to each other. In particular, for the embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments for the matters.
Claims (10)
1. A remote control system for an electrical equipment X-ray inspection robot, comprising:
a remote control base station for remotely controlling the X-ray detection robot;
the X-ray detection robot is used for detecting the power equipment;
A first 5G base station, the first 5G base station being proximate to the remote control base station;
a second 5G base station, the second 5G base station being proximate to the X-ray detection robot;
a main network;
the remote control base station comprises a defect diagnosis subsystem;
the remote control base station is used for sending a starting signal instruction for starting the X-ray detection robot to the first 5G base station;
the first 5G base station is used for sending the starting signal instruction to a main network;
the main network is used for sending the starting signal instruction to a second 5G base station;
the second 5G base station is used for sending the starting signal instruction to the X-ray detection robot;
the X-ray detection robot is used for receiving the starting signal instruction to start; according to the position information of the power equipment sent to the X-ray detection robot by the remote control base station, the X-ray detection robot is moved to the position of the power equipment;
the X-ray detection robot is used for receiving a detection operation instruction sent by the remote control base station; detecting the power equipment according to the detection operation instruction to obtain related data and images of the power equipment;
The X-ray detection robot is used for sending related data and images of the power equipment to the second 5G base station;
the second 5G base station is used for sending related data and images of the power equipment to the main network;
the main network is used for sending related data and images of the power equipment to the first 5G base station;
the first 5G base station is used for sending related data and images of the power equipment to the remote control base station;
the defect diagnosis subsystem is used for performing defect diagnosis on the related data and the image of the power equipment received by the remote control base station to obtain a defect diagnosis result; according to the defect diagnosis result, the remote control base station makes an end detection instruction or adjusts the detection instruction;
the remote control base station is used for sending the ending detection instruction or the adjustment detection instruction to the X-ray detection robot so that the X-ray detection robot can perform corresponding actions.
2. The system of claim 1, wherein the remote control base station comprises a first communication interface based on 5G communication;
the X-ray detection robot comprises a second communication interface based on 5G communication.
3. The system of claim 1, wherein the remote control base station comprises a first data interface based on 5G communication;
the X-ray inspection robot includes a second data interface based on 5G communication.
4. The system of claim 1, wherein the X-ray inspection robot further comprises at least one stereo camera, an X-ray machine, a navigation positioning subsystem, a body control subsystem, and a controller;
the navigation positioning subsystem comprises a drawing module, a positioning module and a navigation module.
5. A remote control method of an X-ray detection robot for an electrical device, the method comprising:
according to a starting signal instruction sent to the X-ray detection robot by the remote control base station, starting the X-ray detection robot;
the method for starting the X-ray detection robot according to the starting signal instruction sent to the X-ray detection robot by the remote control base station comprises the following steps:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station;
the first 5G base station sends the starting signal instruction to a main network;
the main network sends the starting signal instruction to a second 5G base station;
The second 5G base station sends the starting signal instruction to the X-ray detection robot;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started;
according to the position information of the power equipment sent to the X-ray detection robot by the remote control base station, the X-ray detection robot is moved to the position of the power equipment;
according to a detection operation instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot detects the power equipment;
obtaining related data and images of the power equipment according to the detection of the X-ray detection robot on the power equipment;
according to the related data and the image of the power equipment, which are sent to the remote control base station by the X-ray detection robot, the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
the method for performing defect diagnosis on the related data and the image of the power equipment by the defect diagnosis subsystem according to the related data and the image of the power equipment sent by the X-ray detection robot to the remote control base station, and obtaining a defect diagnosis result comprises the following steps:
The X-ray detection robot sends related data and images of the power equipment to the second 5G base station;
the second 5G base station sends the related data and the image of the power equipment to the main network;
the main network sends related data and images of the power equipment to the first 5G base station;
the first 5G base station sends related data and images of the power equipment to the remote control base station;
the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment received by the remote control base station to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data of the power equipment and relevant information of whether the image has defects or not;
according to the defect diagnosis result, the remote control base station makes an end detection instruction or an adjustment detection instruction;
and according to the ending detection instruction or the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, enabling the X-ray detection robot to perform corresponding actions.
6. The method of claim 5, wherein the remote control base station transmits a start signal instruction to start the X-ray inspection robot to the first 5G base station, comprising:
The remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station through a first communication interface based on 5G communication;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started, and comprises:
and the X-ray detection robot receives the starting signal instruction through a second communication interface based on 5G communication, and the X-ray detection robot is started.
7. The method of claim 5, wherein the X-ray inspection robot transmits data and images related to the power equipment to a second 5G base station, comprising:
the X-ray detection robot sends related data and images of the power equipment to the second 5G base station through a second data interface based on 5G communication;
the defect diagnosis subsystem performs defect diagnosis on related data and images of the power equipment received by the remote control base station to obtain a defect diagnosis result, and the defect diagnosis subsystem comprises:
the remote control base station receives related data and images of the power equipment through a first data interface based on 5G communication;
and the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result.
8. The method of claim 5, wherein the obtaining the relevant data and images of the power device based on the detection of the power device by the X-ray detection robot comprises:
shooting the power equipment through at least one stereoscopic camera to obtain an image of the power equipment;
and scanning and detecting the power equipment through an X-ray machine to obtain the related data of the power equipment.
9. The method according to claim 5, wherein the causing the remote control base station to generate an end detection instruction or the adjustment detection instruction according to the defect diagnosis result and transmit the end detection instruction to the X-ray detection robot comprises:
according to the defect diagnosis result, the defect diagnosis subsystem judges whether the related data and the image of the power equipment have defects or not;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have no defects, the remote control base station generates an ending detection instruction and sends the ending detection instruction to the X-ray detection robot;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have defects, the remote control base station generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to an X-ray detection robot;
The method for enabling the X-ray detection robot to perform corresponding actions according to the end detection instruction or the adjustment detection instruction sent by the remote control base station to the X-ray detection robot comprises the following steps:
according to the ending detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot ends the detection of the power equipment;
according to the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is enabled to adjust detection actions;
when the X-ray detection robot completes adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
obtaining related data and images of the power equipment according to the detection of the X-ray detection robot on the power equipment;
according to the related data and the image of the power equipment, which are sent to the remote control base station by the X-ray detection robot, the defect diagnosis subsystem performs defect diagnosis on the related data and the image of the power equipment to obtain a defect diagnosis result;
according to the defect diagnosis result, the remote control base station makes an end detection instruction or an adjustment detection instruction;
And until the remote control base station makes an ending detection instruction, the X-ray detection robot ends the detection of the power equipment.
10. The method of claim 5, wherein moving the X-ray inspection robot to the location of the power device based on the location information of the power device transmitted from the remote control base station to the X-ray inspection robot, comprises:
the remote control base station sends the position information of the power equipment to the X-ray detection robot;
planning a moving path of the X-ray detection robot by a navigation positioning subsystem of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot so as to obtain a planned moving path;
the navigation positioning subsystem of the X-ray detection robot plans a moving path of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot to obtain a planned moving path, and the method comprises the following steps:
according to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by a navigation positioning subsystem of the X-ray detection robot through a drawing module, and a target map is obtained;
According to the target map and the position information of the power equipment, the navigation positioning subsystem calibrates the position of the power equipment in the target map through a positioning module to obtain a target position;
according to the target position and the position information of the X-ray detection robot, planning a moving path of the X-ray detection robot by the navigation positioning subsystem through a navigation module so as to obtain a planned moving path;
and according to the planned moving path, the X-ray detection robot is moved to the position of the power equipment through the control of the controller by the body control subsystem of the X-ray detection robot and the control of the X-ray detection robot by the controller.
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