CN104391510B - A kind of control method and system of the robot patrolled and examined for multi-Substation - Google Patents
A kind of control method and system of the robot patrolled and examined for multi-Substation Download PDFInfo
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- CN104391510B CN104391510B CN201410643210.2A CN201410643210A CN104391510B CN 104391510 B CN104391510 B CN 104391510B CN 201410643210 A CN201410643210 A CN 201410643210A CN 104391510 B CN104391510 B CN 104391510B
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- crusing robot
- mobile unit
- automatically lifting
- positional information
- control
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007423 decrease Effects 0.000 claims abstract description 4
- 238000007689 inspection Methods 0.000 claims description 7
- 238000011022 operating instruction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of control method and system of the crusing robot for multi-Substation.The method controls the apparatus for automatically lifting of mobile unit to decline by the positional information and the positional information of mobile unit according to crusing robot.And then, control crusing robot is automatically moved to the specified location of mobile unit by apparatus for automatically lifting, without manually crusing robot is transported on mobile unit, reduces human cost, facilitates transport of the crusing robot between multiple transformer stations.
Description
Technical field
The present invention relates to electric inspection process field, more particularly to a kind of robot patrolled and examined for multi-Substation
Control system and method.
Background technology
The work of patrolling and examining of the domestic transformer station in part at present patrols and examines replacement manual inspection by robot.Due to crusing robot
Introduction and maintenance cost it is higher, thus in order to cost-effective, multi-Substation is patrolled using a crusing robot generally
Inspection.
Because the volume of crusing robot itself is larger, more manpower is needed when being transported between multiple transformer stations, transported
Defeated inconvenience.
The content of the invention
In view of this, the present invention is disclosed and provides a kind of control method and system of the robot patrolled and examined for multi-Substation,
Enter mobile unit to automatically control crusing robot, facilitate the transport of crusing robot.
To achieve the above object, the present invention provides following technical scheme：
A kind of control method of the crusing robot for multi-Substation, including：
Obtain the positional information of the crusing robot and the position location information of mobile unit, the mobile unit configuration
There is apparatus for automatically lifting；
The positional information of positional information and the mobile unit according to the crusing robot, controls the automatic lifting
Device lands；
Control the crusing robot to enter the apparatus for automatically lifting, and control the apparatus for automatically lifting to rise；
After the apparatus for automatically lifting rises completely, the crusing robot is controlled to enter the mobile unit.
Preferably, the positional information and the positional information of the mobile unit according to the crusing robot, control
The apparatus for automatically lifting landing, including：
When it is determined that the distance of the crusing robot and the mobile unit within a preset range when, control the automatic liter
Falling unit lands.
Preferably, the control crusing robot enters the apparatus for automatically lifting, and controls the automatic lifting
Device rises, including：
Decline instruction to apparatus for automatically lifting output, and obtain the running status of the apparatus for automatically lifting；
When the running status of the apparatus for automatically lifting shows that the apparatus for automatically lifting stops declining, patrolled and examined to described
Robot issues operating instruction；
When the crusing robot moves to the specified location of the apparatus for automatically lifting, the crusing robot is controlled
It is out of service, and issue climb command to the automatic lifting.
Preferably, it is described after the apparatus for automatically lifting rises completely, control the crusing robot to enter the car
Load equipment, including：
Obtain the running status of the apparatus for automatically lifting；
After the running status of the apparatus for automatically lifting shows that the apparatus for automatically lifting rises completely, patrolled and examined to described
Robot issues operating instruction, controls the crusing robot to move to the location of instruction of the mobile unit.
A kind of control system of the crusing robot for multi-Substation, including：It is configured with patrolling and examining for the first positioner
Robot, the mobile unit and server that are configured with the second positioner, wherein the mobile unit is provided with automatic lifting
Device；
The crusing robot is used to send the crusing robot to the server by first positioner
Positional information；
The mobile unit is used to be sent to the server by second positioner position of the mobile unit
Confidence ceases；
The server is used for：
Obtain the positional information of the crusing robot and the positional information of mobile unit；
The positional information of positional information and the mobile unit according to the crusing robot, controls the automatic lifting
Device lands；
Control the crusing robot to enter the apparatus for automatically lifting, and control the apparatus for automatically lifting to rise；
After the apparatus for automatically lifting rises completely, the crusing robot is controlled to enter the mobile unit.It is preferred that
, the crusing robot includes the first signal receiving-transmitting device being connected with first positioner；
The first information receiving-transmitting device is used to be sent to the server positional information of the crusing robot, Yi Jijie
Receive the control instruction that the server is issued.
Preferably, the mobile unit includes：The secondary signal receiving-transmitting device being connected with second positioner；
The secondary signal receiving-transmitting device is used to be sent to the server positional information of the mobile unit, and receives
The control instruction that the server is issued.
Preferably, the mobile unit includes：To the power supply that the crusing robot charges.
Preferably, the mobile unit includes：The fixing device of the fixation crusing robot.
Preferably, the apparatus for automatically lifting includes：Motor and be arranged at that crane, the driving crane run
Platform on the crane.
Through as shown from the above technical solution, the invention discloses a kind of controlling party of the crusing robot for multi-Substation
Method and system.The method controls mobile unit by the positional information and the positional information of mobile unit according to crusing robot
Apparatus for automatically lifting decline.And then, control crusing robot moves to the specific bit of mobile unit by apparatus for automatically lifting
Put, without manually crusing robot is transported on mobile unit, reduce human cost, facilitate crusing robot in multiple
Transport between transformer station.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 shows a kind of stream of one embodiment of the control method of crusing robot for multi-Substation of the invention
Journey schematic diagram；
Fig. 2 shows a kind of knot of one embodiment of the control system of crusing robot for multi-Substation of the invention
Structure schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Because the weight and volume of crusing robot is larger, thus in crusing robot to the transportation of multiple transformer stations
The middle manpower for needing consumption more is this invention discloses a kind of controlling party of the crusing robot patrolled and examined for multi-Substation
Method and system, mobile unit is entered to automatically control crusing robot, facilitates the transport of crusing robot.
Above is core concept of the invention, to enable the above objects, features and advantages of the present invention more obvious easily
Understand, specific embodiment of the invention is described in detail below in conjunction with the accompanying drawings.
Many details are elaborated in the following description in order to fully understand the present invention, but the present invention can be with
Other manner described here is different from using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Embodiment one
The flow for showing a kind of one embodiment for the control method of robot patrolled and examined of the present invention referring to Fig. 1 is shown
It is intended to.
As shown in Figure 1, the method includes：
101：Obtain the positional information of the crusing robot and the positional information of mobile unit.
The positional information of the crusing robot and the positional information of mobile unit can be by being arranged on crusing robot and car
Positioner in load equipment is obtained, such as：GPS positioning device.
102：The positional information of positional information and the mobile unit according to the crusing robot, controls described automatic
Lowering or hoisting gear lands.
When the positional information of crusing robot and the positional information of mobile unit reach it is default when requiring, such as when patrolling and examining
The positional information of robot and the positional information of mobile unit show the distance of crusing robot and mobile unit in preset range
When interior, control apparatus for automatically lifting landing.
103：Control the crusing robot to enter the apparatus for automatically lifting, and control the apparatus for automatically lifting liter
Rise.
When it is determined that apparatus for automatically lifting has been completely in landing, operating instruction can be exported to crusing robot, control is patrolled
Inspection robot enters apparatus for automatically lifting.At the same time, the positional information of crusing robot can be in real time obtained, works as crusing robot
When reaching the specified location of apparatus for automatically lifting, instruction out of service can be issued to crusing robot, crusing robot is stopped
It is placed on the specified location of apparatus for automatically lifting.
104：After the apparatus for automatically lifting rises completely, the crusing robot is controlled to enter the mobile unit.
After it is determined that crusing robot reaches the specified location of apparatus for automatically lifting, issue rising to apparatus for automatically lifting and refer to
Order, and implementing monitoring apparatus for automatically lifting running status.
After the running status surface apparatus for automatically lifting of apparatus for automatically lifting completes uphill process, under crusing robot
Hair operating instruction, control crusing robot runs to the specified location of mobile unit.
The structure for showing a kind of one embodiment for the control system of robot patrolled and examined of the present invention referring to Fig. 2 is shown
It is intended to.
The system mainly includes：
The crusing robot 1 that is configured with the first positioner, the mobile unit 2 for being configured with the second positioner and service
Device 3, wherein the mobile unit is provided with apparatus for automatically lifting.
The crusing robot is used to send the crusing robot to the server by first positioner
Positional information；
The mobile unit is used to be sent to the server by second positioner position of the mobile unit
Confidence ceases；
The server is used for the positional information control of the positional information and the mobile unit according to the crusing robot
The apparatus for automatically lifting lifting is made, and controls the crusing robot to enter the mobile unit.
It should be noted that in order to realize between crusing robot and server, and between mobile unit and server
Information exchange 6.The crusing robot includes the first signal receiving-transmitting device being connected with first positioner.It is described vehicle-mounted
Equipment includes：The secondary signal receiving-transmitting device being connected with second positioner.
Wherein, the first information receiving-transmitting device is used to be sent to the server positional information of the crusing robot,
And receive the control instruction that the server is issued.
The secondary signal receiving-transmitting device is used to be sent to the server positional information of the mobile unit, and receives
The control instruction that the server is issued.
In addition, being that this can be in car to ensure the normal operation of crusing robot in the transportation of crusing robot
Load equipment sets the power supply charged to the crusing robot, and the fixing device for fixing the crusing robot.
It should be noted that apparatus for automatically lifting includes in the present embodiment：Crane, the driving crane run
Motor and the platform being arranged on the crane.In addition, in other embodiments, can also be replaced using automatic up and down ramp
Apparatus for automatically lifting.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include for this process, article or equipment institute are intrinsic
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including institute
Also there is other identical element in process, article or the equipment of stating key element.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the application.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where spirit herein or scope is not departed from.Therefore, the application
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. the control method of a kind of crusing robot for multi-Substation, it is characterised in that including：
The positional information of the crusing robot and the positional information of mobile unit are obtained, the mobile unit is configured with automatic liter
Falling unit；
The positional information of positional information and the mobile unit according to the crusing robot, controls the apparatus for automatically lifting
Landing；
Control the crusing robot to enter the apparatus for automatically lifting, and control the apparatus for automatically lifting to rise；
After the apparatus for automatically lifting rises completely, the crusing robot is controlled to enter the mobile unit.
2. method according to claim 1, it is characterised in that the positional information and institute according to the crusing robot
The positional information of mobile unit is stated, the apparatus for automatically lifting landing is controlled, including：
When it is determined that the distance of the crusing robot and the mobile unit within a preset range when, control automatic lifting dress
Put landing.
3. method according to claim 1, it is characterised in that the control crusing robot enters the automatic liter
Falling unit, and control the apparatus for automatically lifting to rise, including：
Decline instruction to apparatus for automatically lifting output, and obtain the running status of the apparatus for automatically lifting；
When the running status of the apparatus for automatically lifting shows that the apparatus for automatically lifting stops declining, to the inspection machine
People issues operating instruction；
When the crusing robot moves to the specified location of the apparatus for automatically lifting, the crusing robot is controlled to stop
Operation, and issue climb command to the automatic lifting.
4. method according to claim 1, it is characterised in that described after the apparatus for automatically lifting rises completely, control
The crusing robot into the mobile unit is made, including：
Obtain the running status of the apparatus for automatically lifting；
After the running status of the apparatus for automatically lifting shows that the apparatus for automatically lifting rises completely, to the inspection machine
People issues operating instruction, controls the crusing robot to move to the location of instruction of the mobile unit.
5. the control system of a kind of crusing robot for multi-Substation, it is characterised in that including：It is configured with the first positioning dress
The crusing robot put, the mobile unit and server for being configured with the second positioner, wherein the mobile unit is provided with
Apparatus for automatically lifting；
The crusing robot is used to be sent to the server by first positioner position of the crusing robot
Confidence ceases；
The mobile unit is used to believe to the position that the server sends the mobile unit by second positioner
Breath；
The server is used for：
Obtain the positional information of the crusing robot and the positional information of mobile unit；
The positional information of positional information and the mobile unit according to the crusing robot, controls the apparatus for automatically lifting
Landing；
Control the crusing robot to enter the apparatus for automatically lifting, and control the apparatus for automatically lifting to rise；
After the apparatus for automatically lifting rises completely, the crusing robot is controlled to enter the mobile unit.
6. control system according to claim 5, it is characterised in that the crusing robot includes and the described first positioning
The first connected signal receiving-transmitting device of device；
The first information receiving-transmitting device is used to be sent to the server positional information of the crusing robot, and receives institute
State the control instruction that server is issued.
7. control system according to claim 5, it is characterised in that the mobile unit includes：With the described second positioning
The connected secondary signal receiving-transmitting device of device；
The secondary signal receiving-transmitting device is used to be sent to the server positional information of the mobile unit, and receives described
The control instruction that server is issued.
8. control system according to claim 5, it is characterised in that the mobile unit includes：To the inspection machine
The power supply that people charges.
9. control system according to claim 5, it is characterised in that the mobile unit includes：The fixation survey monitor
The fixing device of device people.
10. control system according to claim 5, it is characterised in that the apparatus for automatically lifting includes：Crane, drive
The motor of the dynamic crane operation and the platform being arranged on the 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN104391510A CN104391510A (en) | 2015-03-04 |
| CN104391510B true CN104391510B (en) | 2017-05-31 |
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| CN104908627B (en) * | 2015-05-29 | 2017-07-18 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot conveying arrangement and method |
| CN104843509B (en) * | 2015-05-29 | 2017-04-05 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot automated transport system and method |
| CN104842338B (en) * | 2015-05-29 | 2017-04-05 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot automatic transportation dispatches system and method |
| CN105128031B (en) * | 2015-05-29 | 2017-03-08 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot centralized dispatching system and method |
| CN105894603B (en) * | 2016-03-31 | 2017-12-29 | 广东电网有限责任公司中山供电局 | An a kind of machine multistation cruising inspection 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 |
| CN110007620B (en) * | 2018-01-05 | 2022-04-05 | 菜鸟智能物流控股有限公司 | Equipment control method and device |
| CN110854725B (en) * | 2019-11-29 | 2021-08-20 | 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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