CN104122843A - Concentrated control system for city underground railway intelligent detection robots and realization method - Google Patents
Concentrated control system for city underground railway intelligent detection robots and realization method Download PDFInfo
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Abstract
The invention aims at providing a concentrated control system for city underground railway intelligent inspection robots. Through a concentrated control method, the system combines detection robots at different stations and carries out unified scheduling, overall planning and concentrated management on the detection robots. Furthermore, the system carries out accurate navigation and positioning on the robots through a positioning system and acquires an electrical-device state and a railway operation state and returns detection data and the work state of robot bodies to a monitoring center in a real-time manner. At the same time, the monitoring center implements monitoring of the robots through a wireless network and processes the returned data so that faults such as appearance abnormity and internal thermal defects and the like of the railway state can be found out in a real-time manner and thus safe and reliable inspection of a city underground railway network is realized.
Description
Technical field
The present invention relates to track equipment area of maintenance, particularly a kind of for Urban Underground track Intelligent Measurement robot centralized control system and implementation method.
Background technology
Traditional city's underground rail work of patrolling and examining is mainly completed by staff, and the Urban Underground track for night routing inspection, can strengthen staff's labour intensity.The work of patrolling and examining is a very difficult job, and especially long to circuit, the more severe Urban Underground track of environment, need to expend a large amount of manpowers and time; The underground rail that while patrols and examines for nobody or few people patrols and examines, the emergency command scheduling difficulty when electrical equipment malfunction is also very large.Therefore use intelligent robot system to replace to a certain extent manually underground rail being carried out to automatic detecting, by the development trend that becomes underground rail and patrol and examine.
Summary of the invention
In view of this, the object of this invention is to provide a kind of Urban Underground track Intelligent Measurement robot centralized control system, this system, by centralized control, merges the detection robot of different websites, will detect robot United Dispatching, and overall planning is managed concentratedly.
Further, by positioning system to robot accurate navigation, location, gather electrical equipment state and orbital motion state, immediately to Surveillance center, return and detect data and robot body duty, simultaneously, Surveillance center processes to robot implementing monitoring and to the data of returning by wireless network, immediately finds the faults such as the abnormal appearance of track condition and internal heat defect, thereby realizes Urban Underground rail network safety, patrol and examine reliably.
The object of the invention is to be achieved through the following technical solutions:
Urban Underground track Intelligent Measurement robot centralized control system comprises supervisory layers, communication layers and working lining, wherein
Described supervisory layers comprises following ingredient
Data management station
Its effect shows as data information management, and it comprises data management work centre, historic data server, monitor workstation, maintenance work station, form workstation.
Preposition communication
Its effect shows as the window as demonstrating data management, and it comprises printer, display screen.
Server
Its effect shows as and connectivity port, internet, and it comprises safe divider wall, web server.
Obviously, server, preposition communication and data management station interconnect by LAN.
Described working lining comprises safe divider wall and site works station
Described site works station comprises Surveillance center, communication network and crusing robot, and described Surveillance center realizes remote monitoring and exchanges data by communication network and crusing robot, wherein,
Described Surveillance center comprises following ingredient:
Monitoring host computer platform
Its effect shows as central data processing system;
Patrol and examine monitoring backstage
Its effect shows as and receives the Monitoring Data that crusing robot beams back and process;
Robot remote communication control device,
Its effect shows as to crusing robot exchange steering order and detects data;
Described crusing robot comprises following ingredient:
Robot control module
Its effect shows as crusing robot ontology data control center;
Robot body
It comprises motion structure, drive system, and wherein, drive system and robot control module electrically connect;
Algorithms of Robots Navigation System
Its effect shows as for adjusting the trajectory path planning of robot, and itself and robot control module electrically connect;
Robot communication module,
Its effect shows as message exchange between Surveillance center and robot control module;
Detection system, it comprises image detection device and supersonic detection device
Its effect shows as underground rail running status and the electrical equipment state of detecting;
Described supervisory layers, working lining are with crossing the mutual swap data of communication layers.
Further supervisory layers server comprises safe divider wall, web server, described web server is obtained data message by Communication Layer, after safe divider wall is processed, by LAN (Local Area Network), transfer to control data corporation, via data management workstation data allocations, transfer to historic data server, monitor workstation, maintenance work station, form workstation and front end communication.
Further, described Communication Layer is wide area Internet, and its supervisory layers server, working lining all carry out exchanges data by wide area Internet.
Further, the safe divider wall of working lining is wanted to be connected with Communication Layer, and carries out data transmission, the safe divider wall transmission of described working lining data are come to site works station, and obviously, site works station data are processed by safe divider wall, by wide area Internet, transfer to supervisory layers workstation.
Further, safe divider wall of working lining and a site works station form a working lining base station, and working lining is comprised of several base stations.
Further site works station is patrolled and examined monitoring backstage piece and is comprised on-site signal processing submodule, electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module, described on-site signal is processed submodule and is obtained by communication network the related data that crusing robot gathers, and transfers to after treatment electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module;
Further, described Surveillance center Monitoring Data memory module also comprises electronic chart, for showing real time position and the track route of Urban Underground orbital simulation scene and crusing robot;
Further, described Algorithms of Robots Navigation System comprises a plurality of alignment sensors, and with the joining electric-control system of robot main body mechanism, the data that described electric-control system gathers according to alignment sensor are adjusted the athletic posture of crusing robot;
Further, described alignment sensor comprises ultrasonic sensor, laser sensor and indoor GPS, and described indoor GPS carries out real time data exchange according to the base station network that is arranged in advance Urban Underground rail system, guarantees track route;
Further, described detection system comprises image detection device and supersonic detection device, and described image detection device comprises visible light camera and infrared video camera; Described supersonic detection device comprises ultrasonic sensor; Described detection system collection site data message is delivered to Surveillance center by communication network.
Further, described communication network adopts 2.4G wireless network, in Urban Underground rail network, is provided with 2.4G wireless signal repeating base station simultaneously;
The invention has the beneficial effects as follows:
Native system by crusing robot to the electrical equipment state of Urban Underground track and orbital motion state-detection, and in real time the related data of collection being sent to Surveillance center by communication network, staff can do real-time monitoring to the electrical equipment state of Urban Underground track and orbital motion state;
2. native system is processed submodule, electrical equipment status checkout submodule, orbital motion status monitoring submodule by signal and for monitor data, is analyzed, processes, and early warning is carried out in hazardous location;
3. native system also comprises electric map module, and Surveillance center, according to electronic chart, represents the course of work of crusing robot comprehensively, and its intuitive display is convenient to staff and is understood in time the on-the-spot situation of patrolling and examining;
4. the present invention also has reliable Algorithms of Robots Navigation System, makes robot want to cruise along predetermined paths, can accurately locate electrical equipment state and orbital motion state simultaneously;
5. the present invention is based on the database two-shipper consistance treatment mechanism of soft reproduction technology, guaranteed the consistance of database.
6. the present invention adopts dynamic data management technology greatly to alleviate the burden of data typings; Provide data management storehouse, the demand of the various data managements of energy overall treatment; There is seamless interfacing with graphic platform, simulation preview function is provided.
7. the present invention adopts focus control mode, merges the detection robot of different websites, will detect robot United Dispatching, overall planning, centralized management.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating below, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized and be obtained by instructions and claims below.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is collection control network diagram;
Fig. 2 is site works of the present invention station system layout block diagram;
Fig. 3 is communication network link topology;
Fig. 4 is the structural representation of detection system transmission;
Fig. 5 is the composition schematic diagram of electronic chart;
Fig. 6 is data management stratal diagram.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment is only for the present invention is described, rather than in order to limit the scope of the invention.
Fig. 1 is collection control network diagram of the present invention, and as shown in Figure 1, Urban Underground track Intelligent Measurement robot centralized control system comprises supervisory layers, communication layers and working lining, wherein:
Described supervisory layers comprises following ingredient
Data management station
Its effect shows as data information management, and it comprises data management work centre, historic data server, monitor workstation, maintenance work station, form workstation.
Preposition communication
Its effect shows as the window as demonstrating data management, and it comprises printer, display screen.
Server
Its effect shows as and connectivity port, internet, and it comprises safe divider wall, web server.
Obviously, server, preposition communication and data management station interconnect by LAN.
Described working lining comprises safe divider wall and site works station
Described site works station comprises Surveillance center, communication network and crusing robot, and described Surveillance center realizes remote monitoring and exchanges data by communication network and crusing robot, wherein,
Described Surveillance center comprises following ingredient:
Monitoring host computer platform
Its effect shows as central data processing system;
Patrol and examine monitoring backstage
Its effect shows as and receives the Monitoring Data that crusing robot beams back and process;
Robot remote communication control device,
Its effect shows as to crusing robot exchange steering order and detects data;
Described crusing robot comprises following ingredient:
Robot control module
Its effect shows as crusing robot ontology data control center;
Robot body
It comprises motion structure, drive system, and wherein, drive system and robot control module electrically connect;
Algorithms of Robots Navigation System
Its effect shows as for adjusting the trajectory path planning of robot, and itself and robot control module electrically connect;
Robot communication module,
Its effect shows as message exchange between Surveillance center and robot control module;
Detection system, it comprises image detection device and supersonic detection device
Its effect shows as underground rail running status and the electrical equipment state of detecting;
Described supervisory layers, working lining are with crossing the mutual swap data of communication layers.
Preferentially, web server is obtained data by wide area Internet, through safe divider wall, processes and transfers to data management workstation; Data management workstation is by raw data through row back-up processing and transfer to historic data server, and monitor workstation shows front end website workstation working time, service data, operation picture in real time; It act as service data administrative center software systems maintenance work station; Form workstation is data centralization output stage.
Described safe divider wall is to transmitting data through row encryption, decryption processing.
It comprises printer, display screen described front end communication, and it act as shows operational effect to outside.
The safe divider wall of described working lining is wanted to be connected with Communication Layer, and carries out data transmission, and the safe divider wall transmission of described working lining data are come to site works station, obviously, site works station data are processed by safe divider wall, by wide area Internet, transfer to supervisory layers workstation.
Further, safe divider wall of working lining and a site works station form a working lining base station, and working lining is comprised of several base stations.
Further site works station is patrolled and examined monitoring backstage piece and is comprised on-site signal processing submodule, electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module, described on-site signal is processed submodule and is obtained by communication network the related data that crusing robot gathers, and transfers to after treatment electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module;
Fig. 2 is site works of the present invention station system layout block diagram, as shown in Figure 2, site works of the present invention station system, mainly comprise control center 6, communication network 7 and crusing robot 8 three parts, Surveillance center 6 realizes remote control and data transmission by communication network 7 and crusing robot 8, wherein, Surveillance center mainly comprises following ingredient:
Monitoring host computer platform 16;
Patrol and examine monitoring backstage 17: comprise that signal is processed submodule 1, motor device is controlled submodule 2, track condition monitoring module 3, monitor data storage module 4;
Remote control 5;
Crusing robot 7 comprises following ingredient:
Robot control module 9, and its effect shows as crusing robot ontology data control center;
Robot body 15, it comprises motion structure, drive system, wherein, drive system and robot control module electrically connect;
Algorithms of Robots Navigation System 10, its effect shows as for adjusting the trajectory path planning of robot, and itself and robot control module electrically connect;
Robot communication module 11, its effect shows as message exchange between Surveillance center and robot control module;
Detection system 12, it comprises image detection device and supersonic detection device, its effect shows as underground rail running status and the electrical equipment state of detecting;
Fig. 3 is communication network link topology, and as shown in the figure, communication network comprises Surveillance center's end antenna, repeating base station, robot body end antenna, robot body.
Fig. 4 is the structural representation of detection system transmission, the data message that this transmission structure gathers image detection device, supersonic detection device, by communication network and the monitoring electrical equipment monitoring module on backstage and track condition monitoring module, through row exchanges data, make to monitor backstage and obtain electrical equipment and orbital motion status data.
Fig. 5 is the composition schematic diagram of electronic chart, as shown in the figure, this electronic chart mainly comprises electronic chart, robotary and path planning three macroplates, wherein, electronic chart is for representing the simulated scenario of Urban Underground track, and crusing robot is back to Surveillance center backstage by wireless network by status informations such as self residing position, track route, ongoing work, represents to staff after treatment on electronic chart.This makes staff understand on-the-spot situation in mode very intuitively, also makes man-machine interface very friendly.
It is to utilize on the basis of virtual map technology that robotary shows, by 3D graphics mode, represents in real time robot ambulation path, robot running status, equipment position location and implementation path planning etc.Virtual map develop software and the support of computer hardware under, the graphical interfaces of actual geospatial information and computer virtual is associated to the remote monitoring of realization to robotary.
Path planning is divided into the operation of global path planning and local path, and global path planning is to provide corresponding cartographic information and mission bit stream by electronic chart, according to shortest path, minimum, the comprehensive the most excellent multiple strategy of turning, the motion path of robot of planning department; The result that when local path is moved, ambient data and global path planning are collected by navigational system by robot is comprehensively analyzed, and provides in real time robot local path, and the speed of crusing robot and angle of turn order, be transferred to control module.
Control module, by receiving in real time local behavior program results, is carried out Dynamic Modeling to car body, and the speed command receiving is decomposed to each motor, calculates the speed that each motor need to bear, thereby realizes the autokinetic movement of robot.
Fig. 6 is data management hierarchy chart, and described data management level comprises base station layer, component layer, logical layer and administration and supervision authorities.Wherein component layer comprises:
JSP assembly:
JSP assembly is used Java programming language to write tags and the scriptlets of class XML, encapsulates and produces the dynamically processing logic of output.Webpage can also be present in by tags and scriptlets access the applied logic of the resource of service end.JSP is separated by the demonstration of webpage logical and webpage design, and the reusable design based on assembly is separated presentation logic from Servlet.
Servlet assembly:
The present invention realizes and on server, moves Java, and this assembly can be used Java programming language to realize.On the large server of the traffic, the advantage of Java servlet is that their execution speed is more faster than cgi script.Each user's request is activated into a thread in single program, and without creating independent process, it reduces the system overhead of server-side processes request.
Described administration and supervision authorities comprise:
Data base management system (DBMS):
It carries out unified management and control to database, to guarantee security and the integrality of database.Staff, by the data in data base management system (DBMS) accessing database, also can carry out the maintenance work of database; It can realize a plurality of application programs and user removes foundation, modification and querying database at the same time or not in the same time with diverse ways.The present invention adopts DBMS that data definition language (DDL) DDL(Data Definition Language is provided) and data manipulation language (DML) DML(Data Manipulation Language), for mode configuration and the Permission Constraints of user definition database, realize operations such as the appending of data, deletions.
Network management system:
It comprises the hardware devices such as router, switch, server, workstation, safe divider wall, preposition communication, and represents with virtual link form, to network system administrator, provides a comprehensive and systematic network management view.
Client management system:
It act as centralized management, maintenance site SMT Station Management platform, and each site works station can be carried out data by client management system and be reported, analyzes, downloads.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of claim scope of the present invention.
Claims (8)
1. Urban Underground track Intelligent Measurement robot centralized control system comprises supervisory layers, communication layers and working lining, and wherein said supervisory layers comprises following ingredient; Data management station, its effect show as data information management, and it comprises data management work centre, historic data server, monitor workstation, maintenance work station, form workstation; Preposition communication, its effect shows as the window as demonstrating data management, and it comprises printer, display screen; Server, its effect show as and connectivity port, internet, and it comprises safe divider wall, web server.
2. according to claim 1, described site works station comprises Surveillance center, communication network and crusing robot, and described Surveillance center realizes remote monitoring and exchanges data by communication network and crusing robot.
3. according to claim 2, described Surveillance center comprises: monitoring host computer platform, and its effect shows as central data processing system; Patrol and examine monitoring backstage, its effect shows as and receives the Monitoring Data that crusing robot beams back and process; Robot remote communication control device, its effect shows as to crusing robot exchange steering order and detects data.
4. according to claim 3, described crusing robot comprises following ingredient: robot control module, and its effect shows as crusing robot ontology data control center; Robot body, it comprises motion structure, drive system, wherein, drive system and robot control module electrically connect; Algorithms of Robots Navigation System, its effect shows as for adjusting the trajectory path planning of robot, and itself and robot control module electrically connect; Robot communication module, its effect shows as message exchange between Surveillance center and robot control module; Detection system, it comprises image detection device and supersonic detection device.
5. according to claim 1, described supervisory layers server comprises safe divider wall, web server, described web server is obtained data message by Communication Layer, after safe divider wall is processed, by LAN (Local Area Network), transfer to control data corporation, via data management workstation data allocations, transfer to historic data server, monitor workstation, maintenance work station, form workstation and front end communication.
6. according to claim 5, described Communication Layer is wide area Internet, and its supervisory layers server, working lining all carry out exchanges data by wide area Internet.
7. according to claim 3, the safe divider wall of described working lining is wanted to be connected with Communication Layer, and carry out data transmission, the safe divider wall transmission of described working lining data are come to site works station, obviously, site works station data are processed by safe divider wall, by wide area Internet, transfer to supervisory layers workstation.
8. according to claim 6, described site works station is patrolled and examined monitoring backstage piece and is comprised on-site signal processing submodule, electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module, described on-site signal is processed submodule and is obtained by communication network the related data that crusing robot gathers, and transfers to after treatment electrical equipment monitoring module, track condition monitoring module and Monitoring Data memory module.
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| CN105278533A (en) * | 2015-11-10 | 2016-01-27 | 北京特种机械研究所 | Omnidirectional moving platform navigation method |
| CN105487507A (en) * | 2015-11-26 | 2016-04-13 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system bases on railway robot |
| CN106625663A (en) * | 2016-12-13 | 2017-05-10 | 山东鲁能智能技术有限公司 | Information subscription subsystem of substation polling robot centralized monitoring system and method |
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| US10105844B2 (en) | 2016-06-16 | 2018-10-23 | General Electric Company | System and method for controlling robotic machine assemblies to perform tasks on vehicles |
| CN108830464A (en) * | 2018-05-29 | 2018-11-16 | 黄麒睿 | Device parameter inspection fault management system based on analog map |
| CN110341749A (en) * | 2019-07-24 | 2019-10-18 | 武汉大学 | A kind of track disease crusing robot system and control method |
| CN111844018A (en) * | 2020-05-29 | 2020-10-30 | 北京理工大学 | Fire-fighting site detection robot management method and device |
| CN113510694A (en) * | 2021-04-14 | 2021-10-19 | 中车青岛四方车辆研究所有限公司 | Intelligent inspection robot system for rail transit |
| CN113850925A (en) * | 2020-06-28 | 2021-12-28 | 上海电器科学研究所（集团）有限公司 | Intelligent inspection system for urban underground comprehensive pipe gallery |
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| CN105278533B (en) * | 2015-11-10 | 2018-05-18 | 北京特种机械研究所 | A kind of Omni-mobile platform navigation method |
| CN105278533A (en) * | 2015-11-10 | 2016-01-27 | 北京特种机械研究所 | Omnidirectional moving platform navigation method |
| CN105487507A (en) * | 2015-11-26 | 2016-04-13 | 深圳市施罗德工业测控设备有限公司 | Intelligent pipe network system bases on railway robot |
| US10105844B2 (en) | 2016-06-16 | 2018-10-23 | General Electric Company | System and method for controlling robotic machine assemblies to perform tasks on vehicles |
| CN106625663A (en) * | 2016-12-13 | 2017-05-10 | 山东鲁能智能技术有限公司 | Information subscription subsystem of substation polling robot centralized monitoring system and method |
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| CN108830464A (en) * | 2018-05-29 | 2018-11-16 | 黄麒睿 | Device parameter inspection fault management system based on analog map |
| CN110341749B (en) * | 2019-07-24 | 2021-04-16 | 武汉大学 | Track disease inspection robot system and control method |
| CN110341749A (en) * | 2019-07-24 | 2019-10-18 | 武汉大学 | A kind of track disease crusing robot system and control method |
| CN111844018A (en) * | 2020-05-29 | 2020-10-30 | 北京理工大学 | Fire-fighting site detection robot management method and device |
| CN113850925A (en) * | 2020-06-28 | 2021-12-28 | 上海电器科学研究所（集团）有限公司 | Intelligent inspection system for urban underground comprehensive pipe gallery |
| CN113510694A (en) * | 2021-04-14 | 2021-10-19 | 中车青岛四方车辆研究所有限公司 | Intelligent inspection robot system for rail transit |
| WO2023203367A1 (en) * | 2022-04-20 | 2023-10-26 | 博歌科技有限公司 | Automatic inspection system |
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Application publication date: 20141029 |