CN104391510A - Control method and system of robot applied to multi-substation routing inspection - Google Patents
Control method and system of robot applied to multi-substation routing inspection Download PDFInfo
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- CN104391510A CN104391510A CN201410643210.2A CN201410643210A CN104391510A CN 104391510 A CN104391510 A CN 104391510A CN 201410643210 A CN201410643210 A CN 201410643210A CN 104391510 A CN104391510 A CN 104391510A
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- crusing robot
- mobile unit
- automatically lifting
- positional information
- control
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Abstract
The invention discloses control method and system of a robot applied to multi-substation routing inspection. The method is characterized in that an automatic lifting device of a vehicle-mounted device is controlled to be lowered down according to the position information of a routing inspection robot and the position information of the vehicle-mounted device, and then the routing inspection robot is controlled to be automatically moved to reach the designated position of the vehicle-mounted device through the automatic lifting device. According to the method and system, the routing inspection robot is not manually carried to the vehicle-mounted device, so that the labor cost can be decreased, and the routing inspection robot is avoided being transported between a plurality of substations.
Description
Technical field
The present invention relates to electric inspection process field, relate to a kind of control system and method for the robot patrolled and examined for multi-Substation in particular.
Background technology
The work of patrolling and examining of the domestic transformer station of current part patrols and examines alternative manual inspection by robot.Due to the introduction of crusing robot and maintenance cost higher, thus in order to cost-saving, usually utilize a crusing robot to patrol and examine multi-Substation.
Because the volume of crusing robot self is comparatively large, need more manpower when transporting between multiple transformer station, transport is inconvenient.
Summary of the invention
In view of this, the present invention openly provides a kind of control method and system of the robot patrolled and examined for multi-Substation, enters mobile unit, facilitate the transport of crusing robot automatically to control crusing robot.
For achieving the above object, the invention provides following technical scheme:
For a control method for the crusing robot of multi-Substation, comprising:
Obtain the positional information of described crusing robot and the position location information of mobile unit, described mobile unit is configured with apparatus for automatically lifting;
According to the positional information of described crusing robot and the positional information of described mobile unit, control the landing of described apparatus for automatically lifting;
Control described crusing robot and enter described apparatus for automatically lifting, and control the rise of described apparatus for automatically lifting;
After described apparatus for automatically lifting rises completely, control described crusing robot and enter described mobile unit.
Preferably, the positional information of the described positional information according to described crusing robot and described mobile unit, controls the landing of described apparatus for automatically lifting, comprising:
When determining that the distance of described crusing robot and described mobile unit is in preset range, control the landing of described apparatus for automatically lifting.
Preferably, the described crusing robot of described control enters described apparatus for automatically lifting, and controls the rise of described apparatus for automatically lifting, comprising:
Export decline instruction to described apparatus for automatically lifting, and obtain the running status of described apparatus for automatically lifting;
When the running status of described apparatus for automatically lifting shows that described apparatus for automatically lifting stops declining, issue operating instruction to described crusing robot;
When described crusing robot moves to the assigned address of described apparatus for automatically lifting, control described crusing robot out of service, and issue climb command to described automatic lifting.
Preferably, described after described apparatus for automatically lifting rises completely, control described crusing robot and enter described mobile unit, comprising:
Obtain the running status of described apparatus for automatically lifting;
When the running status of described apparatus for automatically lifting shows described apparatus for automatically lifting, operating instruction below described crusing robot, controls the location of instruction that described crusing robot moves to described mobile unit.
For a control system for the crusing robot of multi-Substation, comprising: be configured with the crusing robot of the first locating device, be configured with mobile unit and the server of the second locating device, wherein said mobile unit is provided with apparatus for automatically lifting;
Described crusing robot is used for the positional information being sent described crusing robot by described first locating device to described server;
Described mobile unit is used for the positional information being sent described mobile unit by described second locating device to described server;
Described server is used for controlling the lifting of described apparatus for automatically lifting according to the positional information of described crusing robot and the positional information of described mobile unit, and controls described crusing robot and enter described mobile unit.
Preferably, described crusing robot comprises the first signal receiving-transmitting device be connected with described first locating device;
Described first information receiving-transmitting device is used for the positional information sending described crusing robot to described server, and receives the steering order that described server issues.
Preferably, described mobile unit comprises: the secondary signal receiving-transmitting device be connected with described second locating device;
Described secondary signal receiving-transmitting device is used for the positional information sending described mobile unit to described server, and receives the steering order that described server issues.
Preferably, described mobile unit comprises: the power supply charged to described crusing robot.
Preferably, described mobile unit comprises: the stationary installation of fixing described crusing robot.
Preferably, described apparatus for automatically lifting comprises: crane, the motor driving described crane to run and the platform be arranged on described crane.
Through as shown from the above technical solution, the invention discloses a kind of control method and system of the crusing robot for multi-Substation.The method, by according to the positional information of crusing robot and the positional information of mobile unit, controls the apparatus for automatically lifting decline of mobile unit.And then, control crusing robot moves to mobile unit assigned address by apparatus for automatically lifting, without the need to being manually transported on mobile unit by crusing robot, decreasing human cost, facilitating the transport of crusing robot between multiple transformer station.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 shows the schematic flow sheet of an embodiment of the control method of a kind of crusing robot for multi-Substation of the present invention;
Fig. 2 shows the structural representation of an embodiment of the control system of a kind of crusing robot for multi-Substation of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Because the weight and volume of crusing robot is larger, thus need to consume more manpower in crusing robot is to the transportation of multiple transformer station, the invention discloses a kind of control method and system of crusing robot of patrolling and examining for multi-Substation for this reason, enter mobile unit automatically to control crusing robot, facilitate the transport of crusing robot.
Be more than core concept of the present invention, for enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing.
Set forth a lot of detail in the following description so that fully understand the present invention, but the present invention can also adopt other to be different from alternate manner described here to implement, those skilled in the art can when without prejudice to doing similar popularization when intension of the present invention, therefore the present invention is by the restriction of following public specific embodiment.
Embodiment one
The schematic flow sheet of an embodiment of the control method of a kind of robot for patrolling and examining of the present invention is shown see Fig. 1.
As shown in Figure 1, the method comprises:
101: obtain the positional information of described crusing robot and the positional information of mobile unit.
The positional information of this crusing robot and the positional information of mobile unit obtain by the locating device be arranged on crusing robot and mobile unit, such as: GPS locating device.
102: according to the positional information of described crusing robot and the positional information of described mobile unit, control the landing of described apparatus for automatically lifting.
When the positional information of crusing robot and the positional information of mobile unit reach default requirement, such as when the positional information of crusing robot and the positional information of mobile unit show that the distance of crusing robot and mobile unit is in preset range, control apparatus for automatically lifting landing.
103: control described crusing robot and enter described apparatus for automatically lifting, and control the rise of described apparatus for automatically lifting.
When determining that apparatus for automatically lifting is in landing completely, operating instruction can be exported to crusing robot, controlling crusing robot and entering apparatus for automatically lifting.Meanwhile, can the positional information of Real-time Obtaining crusing robot, when crusing robot arrives the assigned address of apparatus for automatically lifting, can instruction out of service below crusing robot, crusing robot to be parked in the assigned address of apparatus for automatically lifting.
104: after described apparatus for automatically lifting rises completely, control described crusing robot and enter described mobile unit.
After determining that crusing robot arrives the assigned address of apparatus for automatically lifting, climb command below apparatus for automatically lifting, and the running status of implementing monitoring apparatus for automatically lifting.
After the running status surface apparatus for automatically lifting of apparatus for automatically lifting completes uphill process, issue operating instruction to crusing robot, control the assigned address that crusing robot runs to mobile unit.
The structural representation of an embodiment of the control system of a kind of robot for patrolling and examining of the present invention is shown see Fig. 2.
This system mainly comprises:
The crusing robot 1 being configured with the first locating device, the mobile unit 2 being configured with the second locating device and server 3, wherein said mobile unit is provided with apparatus for automatically lifting.
Described crusing robot is used for the positional information being sent described crusing robot by described first locating device to described server;
Described mobile unit is used for the positional information being sent described mobile unit by described second locating device to described server;
Described server is used for controlling the lifting of described apparatus for automatically lifting according to the positional information of described crusing robot and the positional information of described mobile unit, and controls described crusing robot and enter described mobile unit.
It should be noted that, in order to realize between crusing robot and server, and the information interaction 6 between mobile unit and server.Described crusing robot comprises the first signal receiving-transmitting device be connected with described first locating device.Described mobile unit comprises: the secondary signal receiving-transmitting device be connected with described second locating device.
Wherein, described first information receiving-transmitting device is used for the positional information sending described crusing robot to described server, and receives the steering order that described server issues.
Described secondary signal receiving-transmitting device is used for the positional information sending described mobile unit to described server, and receives the steering order that described server issues.
In addition, in the transportation of crusing robot, in order to ensure the normal operation of crusing robot, the power supply charged can be set at mobile unit to described crusing robot for this reason, and the stationary installation of fixing described crusing robot.
It should be noted that, apparatus for automatically lifting comprises in the present embodiment: crane, the motor driving described crane to run and the platform be arranged on described crane.In addition, in other embodiments, automatic up and down ramp also can be adopted to replace apparatus for automatically lifting.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, article or the equipment comprising described key element and also there is other identical element.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. for a control method for the crusing robot of multi-Substation, it is characterized in that, comprising:
Obtain the positional information of described crusing robot and the positional information of mobile unit, described mobile unit is configured with apparatus for automatically lifting;
According to the positional information of described crusing robot and the positional information of described mobile unit, control the landing of described apparatus for automatically lifting;
Control described crusing robot and enter described apparatus for automatically lifting, and control the rise of described apparatus for automatically lifting;
After described apparatus for automatically lifting rises completely, control described crusing robot and enter described mobile unit.
2. method according to claim 1, is characterized in that, the positional information of the described positional information according to described crusing robot and described mobile unit, controls the landing of described apparatus for automatically lifting, comprising:
When determining that the distance of described crusing robot and described mobile unit is in preset range, control the landing of described apparatus for automatically lifting.
3. method according to claim 1, is characterized in that, the described crusing robot of described control enters described apparatus for automatically lifting, and controls the rise of described apparatus for automatically lifting, comprising:
Export decline instruction to described apparatus for automatically lifting, and obtain the running status of described apparatus for automatically lifting;
When the running status of described apparatus for automatically lifting shows that described apparatus for automatically lifting stops declining, issue operating instruction to described crusing robot;
When described crusing robot moves to the assigned address of described apparatus for automatically lifting, control described crusing robot out of service, and issue climb command to described automatic lifting.
4. method according to claim 1, is characterized in that, described after described apparatus for automatically lifting rises completely, controls described crusing robot and enters described mobile unit, comprising:
Obtain the running status of described apparatus for automatically lifting;
When the running status of described apparatus for automatically lifting shows described apparatus for automatically lifting, operating instruction below described crusing robot, controls the location of instruction that described crusing robot moves to described mobile unit.
5. the control system for the crusing robot of multi-Substation, it is characterized in that, comprise: be configured with the crusing robot of the first locating device, be configured with mobile unit and the server of the second locating device, wherein said mobile unit is provided with apparatus for automatically lifting;
Described crusing robot is used for the positional information being sent described crusing robot by described first locating device to described server;
Described mobile unit is used for the positional information being sent described mobile unit by described second locating device to described server;
Described server is used for controlling the lifting of described apparatus for automatically lifting according to the positional information of described crusing robot and the positional information of described mobile unit, and controls described crusing robot and enter described mobile unit.
6. control system according to claim 5, is characterized in that, described crusing robot comprises the first signal receiving-transmitting device be connected with described first locating device;
Described first information receiving-transmitting device is used for the positional information sending described crusing robot to described server, and receives the steering order that described server issues.
7. control system according to claim 5, is characterized in that, described mobile unit comprises: the secondary signal receiving-transmitting device be connected with described second locating device;
Described secondary signal receiving-transmitting device is used for the positional information sending described mobile unit to described server, and receives the steering order that described server issues.
8. control system according to claim 5, is characterized in that, described mobile unit comprises: the power supply charged to described crusing robot.
9. control system according to claim 5, is characterized in that, described mobile unit comprises: the stationary installation of fixing described crusing robot.
10. control system according to claim 5, is characterized in that, described apparatus for automatically lifting comprises: crane, the motor driving described crane to run and the platform be arranged on described crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410643210.2A CN104391510B (en) | 2014-11-10 | 2014-11-10 | A kind of control method and system of the robot patrolled and examined for multi-Substation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410643210.2A CN104391510B (en) | 2014-11-10 | 2014-11-10 | A kind of control method and system of the robot patrolled and examined for multi-Substation |
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| CN104391510A true CN104391510A (en) | 2015-03-04 |
| CN104391510B CN104391510B (en) | 2017-05-31 |
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Cited By (8)
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| CN104843509A (en) * | 2015-05-29 | 2015-08-19 | 山东鲁能智能技术有限公司 | System and method for automatically transporting inspection robots for transformer substations |
| CN104842338A (en) * | 2015-05-29 | 2015-08-19 | 山东鲁能智能技术有限公司 | Automatic substation patrol robot transport dispatching system and method |
| CN104908627A (en) * | 2015-05-29 | 2015-09-16 | 山东鲁能智能技术有限公司 | Transformer substation patrol robot transportation device and method |
| CN105128031A (en) * | 2015-05-29 | 2015-12-09 | 山东鲁能智能技术有限公司 | Centralized dispatching system and method for inspection robots in transformer substation |
| CN105894603A (en) * | 2016-03-31 | 2016-08-24 | 广东电网有限责任公司中山供电局 | One-machine-to-multiple-station patrol system |
| CN108147234A (en) * | 2017-12-07 | 2018-06-12 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
| CN110007620A (en) * | 2018-01-05 | 2019-07-12 | 菜鸟智能物流控股有限公司 | Equipment control method and device |
| CN110854725A (en) * | 2019-11-29 | 2020-02-28 | 国网智能科技股份有限公司 | Service linkage system and method between multiple power substations |
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| CN108147234A (en) * | 2017-12-07 | 2018-06-12 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
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| CN104391510B (en) | 2017-05-31 |
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