CN102750752A - Power tunnel comprehensive environment automatic tour inspection system - Google Patents
Power tunnel comprehensive environment automatic tour inspection system Download PDFInfo
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Abstract
The invention relates to a power tunnel comprehensive environment automatic tour inspection system. The system comprises a real-time monitoring platform, a datum acquiring server and an intelligent tour inspection robot; the intelligent tour inspection robot walks on a track paved in the tunnel, a movement body is provided with a 360DEG all-angle video camera, an LED illuminating lamp, a harmful gas probe, a temperature/humidity probe, and a positioning module; the intelligent tour inspection robot acquires information about an environment in which the position of the robot is located, and reports the information to the datum acquiring server, the datum acquiring server transmits the information to the real-time monitoring platform, and the real-time monitoring platform processes video information, and detection environment information about harmful gases, the content of oxygen in air, and the temperature/humidity; and the real-time monitoring platform controls the intelligent tour inspection robot, completes datum access, storage, graphical interface display, GIS positioning and stereo display. The system allows key tunnels to undergo uninterrupted tour inspection, replaces artificial tour inspection, and adopts most effective onsite processing measures for abrupt events in power tunnels in the first time.
Description
Technical field
The present invention relates to a kind of electric power supervisory control field, relate in particular to electric power tunnel integrated environment robotization cruising inspection system.
Background technology
Along with sustained economic growth, urban distribution network fast development; Modern city life and the dependence of producing electric power have reached unprecedented degree; Modern urban construction is carried electric power and is had higher requirement; The city overhead transmission line send electricity to be replaced by underground high voltage cable, and the quantity of underground high voltage cable just sharply rises.Therefore become particularly important to the monitoring of underground high-tension cable and to the monitoring of tunnel environment; Traditional monitor mode generally adopts the mode of periodical inspection and maintenance that the operation conditions of underground electric power tunnel is checked, this mode can cause great amount of manpower waste and a lot of potential defective and fault to find.This just requires electric system to have some modern surveillance and control measures of high reliability; Realized fixing, discrete online detection mode through some tunnel of high-tech technology; But this detection mode just can detect the tunnel environment of fixing position; Know the situation that fault has taken place but but do not known the scene, can only artificially get into the tunnel and intervene.And, need dynamic and continuous environment to monitor and remote intervention for the tunnel for some important electric power tunnels.How to guarantee that the tunnel inner cable is not because of overload, security of operation accident that situation such as overheated burst is big; How to ensure workmen's in the tunnel personal safety; How to ensure the safe operation of high-tension cable net; How for the environment in tunnel dynamic continuous carry out remote monitoring and remote intervention, these problems are pendulum a difficult problems in face of people.
The patent of invention content
The object of the invention is exactly in order to address the above problem; A kind of electric power tunnel integrated environment robotization cruising inspection system is provided; It realizes uninterruptedly patrolling and examining the emphasis tunnel; Replace manual inspection, realize site disposal, take the most effectively treatment measures in the very first time to unexpected incidents in the electric power tunnel.This system realizes patrolling and examining, adapt to electric power tunnel environment, non-touch remote power feeding, video and data-transformation facility automatically through Long-distance Control; Realization is to temperature/humidity, harmful gas content, air oxygen level detecting function in the tunnel; Realize interactive intercommunication command function; Realize at the uniform velocity patrolling and examining voluntarily, the working position accurate stopping is surveyed, emergency arrives, runs into the alarm of obstacle automatic stopping at a high speed and run into personnel's tracking detecting function that slows down; Possesses stronger anti-power plant interference performance; Possess the anti-shake function of vehicle-mounted influence, satisfy the picture steadiness requirement in the operational process; Also possess climbing, brake, turning, positioning function.Conventional artificial intervention relatively; Have its fast, safety, advantage efficiently; Through cooperating of fixing, discrete online monitoring system and dynamic, continuous monitoring system; Can realize fundamentally that electric power tunnel patrols and examines the change of pattern, realize the automatic tour and the repair based on condition of component of real meaning, further improve the safe class of important electric power tunnel.
To achieve these goals, the present invention adopts following technical scheme:
A kind of electric power tunnel integrated environment robotization cruising inspection system, it comprises the Real-time real-time monitoring platform, data acquisition server and intelligent inspection machine people; Walk on the track that the intelligent inspection machine people lays in the tunnel, it moves body and is provided with 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, locating module; The environmental information that the intelligent inspection machine people gathers the position at any time is reported to data acquisition server; Data acquisition server transmission information is to the Real-time real-time monitoring platform, and the Real-time real-time monitoring platform is handled video information, harmful gas and air oxygen level, temperature/humidity acquisition environment information; The Real-time real-time monitoring platform is to intelligent inspection machine people's automatic remote control and manually control, and the access of completion data, storage, graphic interface are showed, GIS locatees and solid show.
Said Real-time real-time monitoring platform comprises application server, and it is communicated by letter with resource management server, front-end control server, monitoring management server, streaming media server, data analytics server, graphic resource manager respectively; The front-end control server is connected with data acquisition server; To give application server from the data transfer that data acquisition server receives; Simultaneously the application server and the monitoring management server that receive are passed to data acquisition server through the steering order that application server forwards, reach the purpose of remote collection; Application server is accepted application for registration, carries out image data, reported data, data analysis, data integration; Application server is responsible for the in-stockroom operation of all historical state data, and is each client forwarding monitor data; Connection between all software modules of resource management server configuration, communication system data and system equipment data, all software modules only after resource management server has disposed corresponding data, just become effective software module, communicate by letter normally; The monitoring management server provides man-machine interface for the user, grasps equipment running in real time, checks alarm and handles alarm, report form statistics; Equipment running has GIS map, data list, equipment state to show multiple display form; In addition, provide global search to be used to inquire qualified equipment, check its state, and on GIS figure, locate its geographic position; Streaming media server obtains vision signal, and the video flowing gathered up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, receive the operational order that client sends, the Long-distance Control camera; The graphic resource manager is the graphic resource that every other server provides use, comprises that small icon, the GIS map used in the interface, the picture and the Flash that are presented in the GIS map scheme; Said data analytics server is responsible for the browsing of various history and alert data, classified statistics, derivation, curve and report generation; The module that collects and put in order that it carries out the data of gathering preservation, according to the various classification of equipment, the query history record that date and statistical carry out, alarm record, various alarm notification record; And the basic data of all configurations in the database inquired about and add up, derive various forms, curve map, broken line graph and histogram according to Query Result.
After the said application server operation, connect corresponding database, after the successful connection, wait for that each client active request connects according to configuration file; Connection failure provides the prompting of database connection failure; After application server starts successfully; Can initiatively receive logging request from each client; After client is logined successfully, and there is 10 seconds heartbeat to shake hands between the application server, if do not shake hands between 30 seconds between the two; Application server can initiatively break off this connection, asks once more up to this client; Begin data processing after logining successfully.
At first connect database behind the said front-end control startup of server,,, after loading is accomplished, wait for the connection logging request at terminal from database loading equipemtn information if connect data Kucheng merit; If the connection failed database then points out customer inspection configuration or network to connect; After the front-end control startup of server is accomplished; The front-end control server initiatively connects data acquisition server, after data acquisition server sends logging request, receives the logging request of front-end control server; Data acquisition server carries out authentication to the front-end control server; If successful connection then show the prompting of successful connection at the front-end control server, if connection failure, the front-end control server shows the prompting of connection failure; The front-end control server can initiatively connect streaming media server when needs video transmission or video control, initiatively break off after the end of transmission (EOT) connecting.
After said resource management server starts, at first from the configuration of local profile reading database, connect corresponding database according to configuration file, successful connection shows and has disposed the data of completion; If connection failure provides the prompting of connection failure.After the database successful connection, resource management server is attempted connecting application server, if connection failure; After a while; Again attempt connecting application server, if successful connection is then sent logging request to application server; Application server allows then regularly to find heartbeat data to application server behind the connection request, is connected with the long of application server guaranteeing; If the login of application server refusal resource management server is then to the reason of user prompt login failure.
Behind the said monitoring management startup of server, at first connect database, after the database successful connection, load seating stand, and according to seating stand loading equipemtn information and status information of equipment, after loading was accomplished, program start was accomplished from database; If connection failed database, the then reason of prompting failure; After accomplishing, the initialization of monitoring management server attempts connecting, if connection failure after a while, attempts connecting application server again with application server; If successful connection is then sent logging request to application server, and wait for the login response of application server; If application server refusal monitoring management server log is then to the reason of user prompt login failure; If application server allows the monitoring management server log, then regularly send heartbeat data to application server, be connected with the long of application server guaranteeing; If can not receive any data of application server for a long time, then think invalid with being connected of application server, the monitoring management server initiatively breaks off and being connected of application server, and after waiting for a period of time, connects again and logins application server;
Said streaming media server at first connects database after starting, after the database connection failure, and the reason of prompting connection failure; If database successful connection; Then show the data that in database, disposed, after the database successful connection, streaming media server attempts connecting application server; If successful connection; Then send logging request to application server, application server allows then regularly to find heartbeat data to application server behind the connection request, is connected with the long of application server guaranteeing; If the login of application server refusal streaming media server is then to the reason of user prompt login failure.
Said graphic resource manager at first connects database after starting, if the database connection failure, the reason of prompting connection failure; If successful connection, the interface loads facility information, picture and the cartographic information that has added.
Said data analytics server at first connects database after starting, if the database connection failure, the reason of prompting connection failure; If successful connection, the interface loads facility information and the query interface that has added.
After said data acquisition server started, the front-end control server can initiatively be connected data acquisition server as client with the intelligent inspection machine people, and successful connection will be carried out the transmission of data, and connection failure has the prompting of connection failure.
After the normal operation of all programs, there are three kinds of mode of operations in system: line model, off-line mode, debugging mode.
Said line model is exactly that the staff can carry out manual manipulation to robot at the monitoring management server; Control robot motion in several ways; Camera on can control robot can be opened the intercommunication microphone in urgent, can the Long-distance Control warning lamp; Can see live video real-time in the tunnel, humiture and the harmful gas in the tunnel detected in the position at inspection machine people place and real-time at any time.
Said off-line mode does not allow the manual control robot, and according to configuration work automatically, the collection of robotary data is through regularly patrolling and examining and initiatively reporting realization.Regularly patrol and examine that to be robot carry out data acquisition automatically according to the timing monitoring time of front-end control server configures, the data of collection report monitor supervision platform to handle; Initiatively report is that the monitoring management server is when asking for the status information of robot; Robot initiatively is reported to the front-end control server after collecting data; When the front-end control server receives the data that data acquisition server initiatively reports, after status data judged through validity, valid data are reported to application server; After application server is analyzed data; At first data information memory is arrived database server, the data forwarding after will analyzing then is illustrated in interface by the monitoring management server to data parsing back GIS map, data list, equipment state to the monitoring management server; Can be real-time at the interface check equipment running, check alarm and handle alarm.
Said debugging mode is exactly when needs carry out on-the-spot test, switches to debugging mode through robot self panel, cooperates through the field staff and carries out various test operations, can't switch this pattern at monitor supervision platform;
Beneficial effect of the present invention:
Comprehensive, dynamic, the long-range monitoring of the electric power tunnel that electric power tunnel integrated environment robotization cruising inspection system passes through and can see the real-time situation in the tunnel through video timely through remote control can in time be handled the emergency that takes place in the very first time.This system can realize patrolling and examining automatically the electric power tunnel high-tension cable; Can artificially just can know situation in the tunnel real-time in the tunnel to the electric power tunnel inspection down; Avoid wasting manpower and material resources's waste, also increased personnel's safety to a great extent.Utilize dynamic monitoring and site disposal to organically combine the efficient that has improved the security protection of high-tension cable and improved the site disposal emergency condition; Through realizing intelligent management to electric power tunnel with original on-line detecting system interlock; The further expansion that effectively prevents disasters reduces loss to greatest extent.Native system is real-time, and is compatible good, and friendly interface is simple to operate, realized that the emergency preplan of intelligent tracking, accident is handled and the pinpoint featured function of robot, for the safety of electric power tunnel escorts.
Description of drawings
Fig. 1 is an electric power tunnel integrated environment robotization cruising inspection system synoptic diagram;
Fig. 2 is a Real-time real-time monitoring platform synoptic diagram;
Fig. 3 is for to control intelligent inspection machine people flow process synoptic diagram at monitor supervision platform;
Fig. 4 is device control, humiture, harmful gas image data schematic flow sheet
Wherein, 1. monitor supervision platform, 2. data acquisition server 3. intelligent inspection machine people; 4. application server, 5. resource management server, 6. front-end control server; 7. monitoring management server, 8. streaming media server, 9. data analytics server; 10. graphic resource manager, 11. database servers.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Like Fig. 1, electric power tunnel integrated environment robotization cruising inspection system, it comprises monitor supervision platform 1, and monitor supervision platform 1 is the Real-time monitor supervision platform, also comprises the data acquisition server 2 and intelligent inspection machine people 3 that are connected successively with the Real-time monitor supervision platform.
Data acquisition server 2 connects front-end control server 6 and intelligent inspection machine people 3, plays the effect that connects monitor supervision platform 1 and intelligent inspection machine people 3.Data acquisition server 2 is gathered intelligent inspection machine people 3 device datas downwards, upwards communicates by letter with front-end control server 6 and accomplishes exchanges data.After data acquisition server 2 started, front-end control server 6 can initiatively be connected data acquisition server 2 as client with intelligent inspection machine people 3, and successful connection will be carried out the transmission of data, and connection failure has the prompting of connection failure.
Data acquisition server 2 is connected with an intelligent inspection machine people 3 at least; The information that intelligent inspection machine people 3 gathers reports front-end control server 6 through data acquisition server 2; Front-end control server 6 is uploaded to application server 4, is forwarded to monitoring management server 7 after 4 pairs of data of application server are analyzed and stored.
Intelligent inspection machine people 3 bears the major function of patrolling and examining in the tunnel with site disposal, major function have can smart motion control, realizes uniform and automaticly patrolling and examining, the high speed scene of the accident arrives, bend slows down, working position parking and equidistant pursuit movement.Intelligent inspection machine people 3 commands, keeps away barrier by vehicle intelligent control, video imaging, monitoring harmful gases, remote manual control, interactive intercommunication broadcasting and protects and form.
Intelligent inspection machine people 3 critical piece comprises: car body, drive servomotor, control box, locating module, radar ultrasonic probe, 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, emergent intercommunications raise one's voice Mike, vehicle-mounted vibroshock.
Like Fig. 2, the Real-time real-time monitoring platform, it comprises application server 4; Application server 4 respectively with resource management server 5, front-end control server 6, monitoring management server 7; Streaming media server 8, data analytics server 9, graphic resource manager 10 connects; Front-end control server 6 is connected with a data acquisition server 2, and data acquisition server 2 is connected with an intelligent inspection machine people 3 at least.Monitor supervision platform 1 all modules all are connected with database server 11, and each module is all distinguished accessing database after starting, and database is carried out reading of data, writes the operation of data and statistics.
Wherein application server 4 provides network connection, communication and database manipulation for other modules.Resource management server 5 is data configuration management modules, dispose 4 communications of other modules and application server and be connected, other each modules only after resource management server 5 has disposed corresponding data, the ability operate as normal.Front-end control server 6 is given application server 4 with data transfer, and the steering order that simultaneously application server 4 that receives and monitoring management server 7 is sended over is transmitted to data acquisition server 2, lets data acquisition server 2 passive work.Monitoring management server 7 is direct user oriented platforms, and it provides man-machine interface for the user, real time inspection data, alarming processing, geo-location, Long-distance Control, maintainer's management.Streaming media server 8 obtains the front end vision signal, and the video flowing gathered up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, can receive the operational order that client sends, the Long-distance Control camera.Data analytics server 9 is basic data and historical data statistics of system, and inquiry gathers the back and according to user's request data generated excel form or derived curve figure, histogram and broken line graph.Graphic resource manager 10 is modules of graphic resource configuration in the system, and the small icon that disposes in the system, GIS map, the picture and the Flash figure that are presented in the GIS map accomplish in this block configuration.
The nucleus module of Real-time real-time monitoring platform 1 is an application server 4, and application server 4 can be accepted the application for registration of a plurality of equipment, for these equipment image data, reported data, data analysis, the multiple function of data integration is provided then.To the difference of equipment in the supervisory system, according to the difference that receives data type, front-end control server 6 modules are overlapped in system's support more, can receive data, voice, video several data form, and realize watch-dog control, calibration function.These modules are managed concentratedly and are disposed through resource management server 5 modules.
Front-end control server 6 is the tie of data acquisition, and the mode of front-end control server 6 data mode collections has two: one is regularly to patrol and examine, and one for initiatively reporting.Regularly patrolling and examining is that automatic monitoring time according to configuration in the front-end control server 6 is is regularly patrolled and examined intelligent inspection machine people 3, regularly the data in the data block in the reading of data acquisition server 2.Initiatively reporting is when receiving the data that data acquisition server 2 initiatively reports, and after judging through validity for probe data, status data, valid data is reported to use obeys server 4.
Graphic resource manager 10 is graphic resources that every other software module is used in the Real-time real-time monitoring platform 1, comprises that small icon, the GIS map used in the interface, the picture and the Flash that are presented in the GIS map scheme.
When application server 4, resource management server 5, front-end control server 6, monitoring management server 7, streaming media server 8, data analytics server 9,10 startups of graphic resource manager; At first according to configuration file; Connect database, if successful connection, the interface will show connection data Kucheng merit; Just can carry out the various read-write operations of data after the successful connection, accomplish the communications of data; Get nowhere if connect, the interface can reminder-data storehouse connection failure.
Like Fig. 3, monitor supervision platform 1 is controlled intelligent inspection machine people 3 flow process:
Before controlling intelligent inspection machine people 3, monitoring management server 7 at first need be applied for control, and the user who has only successfully application to obtain control can control robot 3.At synchronization, system only allows a Subscriber Locked intelligent inspection machine people 3.The user who obtains control can control the control of The Cloud Terrace, intercommunication, switch mode, searchlight to the robot 3 of locking, obtains the exact position of robot 3, the asking for of real-time tunnel humiture and harmful gas data; If the locking user does not carry out any operation for a long time; Monitoring management server 7 need initiatively discharge this user's control, carries out unlocking operation.If robot 3 is not made any control at the appointed time after the release; Front-end control server 6 will be cancelled monitoring management server 7 controls automatically; The pattern that then monitoring management server 7 can switchover operations, intelligent inspection machine people 3 switches to off-line mode from line model.
Electric power tunnel integrated environment robotization cruising inspection system mode of operation is divided into: line model, off-line mode, debugging mode.
Line model is controlled manually; The staff carries out manual operation machine people 3 through monitoring management server 7; When wanting control robot 3, at first need the control of robot 3 be locked, 3 in the robot after the locking allows this monitoring management server 7 to control; Control finishes back monitoring management server 7 need initiatively discharge control, if robot 3 is not made any control in the fixed time again, front-end control server 6 will be cancelled the control of monitoring management server 7 automatically; Synchronization only allows a monitoring management server 7 to obtain control; The control request that the monitoring management server 7 that 6 responses of front-end control server are possessed of control power sends; The monitoring management server 7 that obtains control is carried out following control operation: mode switch, motion control, device control, fixed point collection; Mode switch is exactly to carry out the switching of line model and off-line mode at monitoring management server 7; Motion control is controlled through three kinds of patterns robot 3 on monitoring management server 7 exactly: crawl pattern, velocity mode, mode position; The crawl pattern is exactly that mouse is clicked once at the interface, and robot 3 will move the distance of appointment to fixed-direction; After velocity mode receives the beginning movement directive exactly,, wait for that receiving the back of ceasing and desisting order finishes motion with the speeds of appointment; Mode position is on monitoring management server 7, to switch to mode position, specifies the position of wanting robot 3 to move, and robot 3 can move quickly into assigned address; Device control is exactly the light fixture switch of control robot 3 and the switch of intercommunication power supply; Fixed point collection is exactly that manual control machine device people 3 moves to assigned address, and the environmental parameter around gathering is reported to Real-time real-time monitoring platform 1;
Off-line mode is that robot 3 does not allow manual control, works automatically according to the configuration drainage pattern, and drainage pattern is divided into poll collection, timing acquiring and gathers always; The off-line mode configuration only allows the user with administrator right to manage and dispose; When adopting poll to gather, according to the poll Time Triggered collecting work that is provided with; When adopting timing acquiring, has only the just triggering collection work of setting of time point that arrives; When employing was gathered always, robot 3 was according to the collection point circle collection;
When needs carry out on-the-spot test, switch to debugging mode through robot 3 self panel, cooperate through the field staff and carry out various test operations, monitor supervision platform 1 can't switch this pattern;
Like Fig. 4; Device control, humiture, harmful gas image data flow process; Monitoring management server 7 sends control or data acquisition request to application server 4; Application server 4 is committed to front-end control server 6 through data processing with after analyzing, and front-end control server 6 is forwarded to data acquisition server 2 according to the information that application server 4 sends, and data acquisition server 2 is asked for data message according to information analysis to the intelligent inspection machine people 3 of correspondence; Intelligent inspection machine people 3 carries out machine control or data acquisition after receiving acquisition or control command, and the data that collect turn back to monitoring management server 7 according to former road.
Claims (10)
1. an electric power tunnel integrated environment robotization cruising inspection system is characterized in that it comprises the Real-time real-time monitoring platform, data acquisition server and intelligent inspection machine people; Walk on the track that the intelligent inspection machine people lays in the tunnel, it moves body and is provided with 360 ° of full angle video frequency pick-up heads, LED lighting, harmful gas probe, temperature/humidity probe, locating module; The environmental information that the intelligent inspection machine people gathers the position at any time is reported to data acquisition server; Data acquisition server transmission information is to the Real-time real-time monitoring platform, and the Real-time real-time monitoring platform is handled video information, harmful gas and air oxygen level, temperature/humidity acquisition environment information; The Real-time real-time monitoring platform is to intelligent inspection machine people's automatic remote control and manually control, and the access of completion data, storage, graphic interface are showed, GIS locatees and solid show.
2. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 1; It is characterized in that; Said Real-time real-time monitoring platform comprises application server, and it is communicated by letter with resource management server, front-end control server, monitoring management server, streaming media server, data analytics server, graphic resource manager respectively; The front-end control server is connected with data acquisition server; To give application server from the data transfer that data acquisition server receives; Simultaneously the application server and the monitoring management server that receive are passed to data acquisition server through the steering order that application server forwards, reach the purpose of remote collection; Application server is accepted application for registration, carries out image data, reported data, data analysis, data integration; Application server is responsible for the in-stockroom operation of all historical state data, and is each client forwarding monitor data; Connection between all software modules of resource management server configuration, communication system data and system equipment data, all software modules only after resource management server has disposed corresponding data, just become effective software module, communicate by letter normally; The monitoring management server provides man-machine interface for the user, grasps equipment running in real time, checks alarm and handles alarm, report form statistics; Equipment running has GIS map, data list, equipment state to show multiple display form; In addition, provide global search to be used to inquire qualified equipment, check its state, and on GIS figure, locate its geographic position; Streaming media server obtains vision signal, and the video flowing gathered up of each video collector of controlled storage; Video flowing or video file are transmitted to each client, receive the operational order that client sends, the Long-distance Control camera; The graphic resource manager is the graphic resource that every other server provides use, comprises that small icon, the GIS map used in the interface, the picture and the Flash that are presented in the GIS map scheme; Data analytics server is responsible for the browsing of various history and alert data, classified statistics, derivation, curve and report generation; The module that collects and put in order that it carries out the data of gathering preservation, according to the various classification of equipment, the query history record that date and statistical carry out, alarm record, various alarm notification record; And the basic data of all configurations in the database inquired about and add up, derive various forms, curve map, broken line graph and histogram according to Query Result; Said monitoring management server is through reading the label on the track; The sign distance; The intelligent inspection machine people is provided with a card reader, the distance of the label that can read through the label time, if be in two labels between the time; Then calculate the positional information among the robot motion according to the velocity gauge of driving wheel, and every calibration one-time positioning information automatically through a label time.
3. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, after the said application server operation, connects corresponding database according to configuration file, after the successful connection, waits for that each client active request connects; Connection failure provides the prompting of database connection failure; After application server starts successfully; Can initiatively receive logging request from each client; After client is logined successfully, and there is 10 seconds heartbeat to shake hands between the application server, if do not shake hands between 30 seconds between the two; Application server can initiatively break off this connection, asks once more up to this client; Begin data processing after logining successfully.
4. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, at first connects database behind the said front-end control startup of server; If connect data Kucheng merit; From database loading equipemtn information, after loading is accomplished, wait for the connection logging request at terminal; If the connection failed database then points out customer inspection configuration or network to connect; After the front-end control startup of server is accomplished; The front-end control server initiatively connects data acquisition server, after data acquisition server sends logging request, receives the logging request of front-end control server; Data acquisition server carries out authentication to the front-end control server; If successful connection then show the prompting of successful connection at the front-end control server, if connection failure, the front-end control server shows the prompting of connection failure; The front-end control server can initiatively connect streaming media server when needs video transmission or video control, initiatively break off after the end of transmission (EOT) connecting.
5. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2; It is characterized in that said resource management server at first from the configuration of local profile reading database, connects corresponding database according to configuration file; Successful connection shows and has disposed the data of completion; If connection failure provides the prompting of connection failure; After the database successful connection, resource management server is attempted connecting application server, if connection failure; After a while; Again attempt connecting application server, if successful connection is then sent logging request to application server; Application server allows then regularly to find heartbeat data to application server behind the connection request, is connected with the long of application server guaranteeing; If the login of application server refusal resource management server is then to the reason of user prompt login failure.
6. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, behind the said monitoring management startup of server; At first connect database; After the database successful connection, load seating stand from database, and according to seating stand loading equipemtn information and status information of equipment; After loading completion, program start is accomplished; If connection failed database, the then reason of prompting failure; After accomplishing, the initialization of monitoring management server attempts connecting, if connection failure after a while, is attempted the Connection Service device again with application server; If successful connection is then sent logging request to application server, and wait for the login response of application server; If application server refusal monitoring management server log is then to the reason of user prompt login failure; If application server allows the monitoring management server log, then regularly send heartbeat data to application server, be connected with the long of application server guaranteeing; If can not receive any data of application server for a long time, then think invalid with being connected of application server, the monitoring management server initiatively breaks off and being connected of application server, and after waiting for a period of time, connects again and logins application server;
The monitoring management server through analyzing and calculating, draws device value from the status information of humiture, harmful gas, air oxygen level, other control informations and other equipment of application server reception robot; If numerical value surpasses the value limit of system configuration, state value is carried out alarming processing and interface display; If numerical value surpasses the value limit of system configuration, then will tabulate, GIS map, Flash figure, real-time change curve represent to the user through equipment state; Video information and the control of camera then gathered to transmit through streaming media server be presented at the monitoring management server, on the monitoring management server, remote control robot; When disaster or emergency condition generation, the operator on duty notifies and guides the orderly tunnel of withdrawing the generation disaster of workmen through the function of the voice broadcast service of monitoring management server with the mode of urgent broadcast; Carry out line model, off-line mode switching through the monitoring management server; In of the control of monitoring management server to alarm lamp and illuminating lamp; In operational process, when fault or obstacle are arranged, send in the three different coloured light warning reminding tunnels staff's attention of working; Obtain the accurate positional information with control robot at the monitoring management server, robot is stopped in the exact position detect; The monitoring management server provides robot information and the stereo display at the interface of tunnel environment information.
7. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, said streaming media server at first connects database after starting, after the database connection failure, and the reason of prompting connection failure; If database successful connection; Then show the data that in database, disposed, after the database successful connection, streaming media server attempts connecting application server; If successful connection; Then send logging request to application server, application server allows then regularly to find heartbeat data to application server behind the connection request, is connected with the long of application server guaranteeing; If the login of application server refusal streaming media server is then to the reason of user prompt login failure.
8. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, said graphic resource manager at first connects database after starting, if the database connection failure, the reason of prompting connection failure; If successful connection, the interface loads facility information, picture and the cartographic information that has added.
9. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 2 is characterized in that, said data analytics server at first connects database after starting, if the database connection failure, the reason of prompting connection failure; If successful connection, the interface loads facility information and the query interface that has added.
10. electric power tunnel integrated environment robotization cruising inspection system as claimed in claim 6; It is characterized in that; Said line model is controlled manually, and the staff carries out manual operation machine people through the monitoring management server, when control robot; At first need lock ROBOT CONTROL power, the robot after the locking only allows this monitoring station to control; Control finishes back monitoring management server need initiatively discharge control, if robot is not made any control in the fixed time again, the front-end control server will be cancelled the control of monitoring management server automatically; Synchronization only allows a monitoring management server to obtain control; The front-end control server only responds the control request that the monitoring management server that is possessed of control power sends; The monitoring management server that obtains control is carried out following control operation: mode switch, motion control, device control, fixed point collection; Mode switch is exactly to carry out the switching of line model and off-line mode at the monitoring management server; Motion control is controlled through three kinds of patterns robot on monitoring server exactly: crawl pattern, velocity mode, mode position; The crawl pattern is exactly that mouse is clicked once at the interface, and robot will move the distance of appointment to fixed-direction; After velocity mode receives the beginning movement directive exactly,, wait for that receiving the back of ceasing and desisting order finishes motion with the speeds of appointment; Mode position is on the monitoring management server, to switch to mode position, specifies the position of wanting robot movement, and robot can move quickly into assigned address; Device control is exactly the light fixture switch of control robot and the switch of intercommunication power supply; Fixed point collection is exactly that manual control machine device people moves to assigned address, and the environmental parameter around gathering is reported to the Real-time real-time monitoring platform;
Said off-line mode is that robot does not allow manual control, works automatically according to the configuration drainage pattern, and drainage pattern is divided into poll collection, timing acquiring and gathers always; The off-line mode configuration only allows the user with administrator right to manage and dispose; When adopting poll to gather, according to the poll Time Triggered collecting work that is provided with; When adopting timing acquiring, has only the just triggering collection work of setting of time point that arrives; When employing was gathered always, robot was according to the collection point circle collection;
When needs carry out on-the-spot test, switch to test pattern through robot self panel, cooperate through the field staff and carry out various test operations, monitor supervision platform can't switch this pattern;
The collection of robotary data is through regularly patrolling and examining and initiatively reporting realization;
Regularly patrolling and examining is that robot carries out data acquisition automatically according to the timing monitoring time of front-end control server configures under off-line mode, and the data of collection report monitor supervision platform to handle;
Initiatively reporting is when the monitoring management server is asked for the status information of robot under line model; Robot initiatively is reported to the front-end control server after collecting data; The front-end control server is when receiving the data that data acquisition server initiatively reports; After the judgement of status data process validity, valid data are reported to application server.
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| CN201210195394.1A CN102750752B (en) | 2012-06-14 | 2012-06-14 | Power tunnel comprehensive environment automatic tour inspection system |
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| CN201210195394.1A CN102750752B (en) | 2012-06-14 | 2012-06-14 | Power tunnel comprehensive environment automatic tour inspection system |
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Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co., Ltd Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |