CN106406249B - Intelligent Mobile Robot control system and method based on Android platform - Google Patents
Intelligent Mobile Robot control system and method based on Android platform Download PDFInfo
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- CN106406249B CN106406249B CN201510662077.XA CN201510662077A CN106406249B CN 106406249 B CN106406249 B CN 106406249B CN 201510662077 A CN201510662077 A CN 201510662077A CN 106406249 B CN106406249 B CN 106406249B
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Abstract
The invention discloses a kind of Intelligent Mobile Robot control system and method based on Android platform, comprising: Android platform client, substation's PC server-side, Intelligent Mobile Robot, the first wireless communication module and the second wireless communication module；Android platform client is installed on mobile terminals, mobile terminal is communicated by the first wireless communication module and Intelligent Mobile Robot, substation's PC server-side is deployed on supervisory control of substation server, and supervisory control of substation server is communicated by the second wireless communication module with Intelligent Mobile Robot.The invention has the advantages that: the present invention, and tablet computer or mobile phone can be used as Intelligent Mobile Robot controlling terminal, also the other equipment based on Android platform can be used, long-range control relative to traditional computer, it is more convenient, to improve the intelligence and portability level of Intelligent Mobile Robot control.
Description
Technical field
The present invention relates to the operating maintenance technical field of electric system more particularly to a kind of changes based on Android platform
Power station crusing robot control system and method.
Background technique
Intelligent Mobile Robot has been widely used in the equipment routing inspection work of domestic substation at present, with power transformation
Stand crusing robot the relevant technologies continuous development, Portable transformer substation crusing robot remote control equipment also constantly into
Step, is more conducive to the control of robot.The patent of Patent No. CN201210083408 discloses a kind of magnetic navigation survey monitor
Device intelligent control system is combined by database storage system, man-machine interactive system and robot movement-control system and constitutes control
Center processed, control centre control robot by wireless telecommunication system and carry out inspection and detection, and final intelligent acquisition system will be examined
The data information of survey returns to control centre using wireless telecommunication system, which provides a kind of control for manually controlling machine people
Handle processed manually controls the forward-reverse turning etc. of machine people for Field Force, but without providing the holder control of robot
System, and do not have the interactive function with control centre, patrol task and control can not be issued to robot by control handle
Patrol task.
The portable control of existing Intelligent Mobile Robot and existing substation inspection system there is also it is following not
Foot:
(1) existing Portable transformer substation crusing robot control equipment is that hardware and software bundles, and scalability is poor,
Control function is simple, and the portability of software is poor.
(2) when single Intelligent Mobile Robot executes patrol task for multiple substations, substation PC is needed
Issuing and executing for patrol task is carried out in the monitoring center office that server-side is disposed, and is not so good as Intelligent Mobile Robot control
Control equipment is convenient, but provides corresponding system and method currently without corresponding Intelligent Mobile Robot control equipment.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, proposes a kind of substation based on Android platform and patrols
Examine robot control system and method, the system and method
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of Intelligent Mobile Robot control system based on Android platform, comprising: Android platform client,
Substation's PC server-side, Intelligent Mobile Robot, the first wireless communication module and the second wireless communication module；
Android platform client installation on mobile terminals, mobile terminal by the first wireless communication module with
Intelligent Mobile Robot communication, substation's PC server-side are deployed on supervisory control of substation server, supervisory control of substation server
It is communicated by the second wireless communication module with Intelligent Mobile Robot.
The Android platform client includes:
Login authentication module: the access right for Android platform client controls；
Parameter setting module: the driving type of IP address and port numbers and robot for being arranged in network connection；
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
State display module: for showing task control result, the substation inspection machine of the return of substation's PC server-side
Drive control result, cradle head control result and the robotary information that people returns；
BCM Body Control Module: for controlling the body movement of Intelligent Mobile Robot；
Cradle head control module: the holder for controlling Intelligent Mobile Robot moves.
The substation PC server-side includes:
Data management module: for storing substation equipment model, robot model, patrol task model, inspection data,
Addition, deletion, modification and the inquiry of data are provided；
Model configuration module: for providing the configuration of substation equipment model, robot model, patrol task model；
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
Web service module: for providing Web Service interface and managing the publication of Web Service；
FTP management module: for managing robot model's configuration file and patrol task in Intelligent Mobile Robot 3
Model configuration file.
Intelligent Mobile Robot includes:
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
Message processing module (MPM): the control sent for parsing and returning Android platform client and substation's PC server-side
Message processed；
Drive module: for controlling the body movement of Intelligent Mobile Robot；
Holder module: the holder for controlling Intelligent Mobile Robot moves；
Task execution module: for controlling Intelligent Mobile Robot starting, executing and stop patrol task.
A method of the Intelligent Mobile Robot control system based on Android platform, comprising:
Step 1, system initialization: at the beginning of initialization and Intelligent Mobile Robot including Android platform client
Beginningization；
Step 2, login authentication: the information that user inputs is matched with the information of storage inside, and successful match enters
Otherwise Android platform client does not allow access into；
Step 3, parameter setting: IP address, port, driving type and the substation of Intelligent Mobile Robot are set
The URL of the Web service of PC server-side publication；
Step 4, it is connected to the network, Android platform client sends message realization pair to Intelligent Mobile Robot
The control of Intelligent Mobile Robot car body and holder simultaneously shows control result；
Or local task list is shown and updates, task is controlled.
In the step 1, Android platform client initialization includes reading local parameter, loaded and displayed user interface；
Intelligent Mobile Robot initialization powers on including startup power supply, each operational module, loads local model parameter, each work of starting
Resume module thread and starting timing services.
In the step 4, the method that is connected to the network specifically:
The IP address and port, initiation TCP connection that Android platform client is inputted according to user are requested, and substation patrols
Inspection robot returns to permission TCP connection after receiving TCP connection request, and gives Android platform client distribution of machine people's state
Data, Android platform client are handled and are shown after receiving robotary data；
Android platform client judgement network connection situation re-initiates TCP connection if network connection is abnormal
Request；If network connection is normal, operated into waiting.
In the step 4, to the control of Intelligent Mobile Robot car body and holder method particularly includes:
Android platform client sends car body and cradle head control message, substation inspection to Intelligent Mobile Robot
After robot receives control message, packet parsing is carried out；
Intelligent Mobile Robot carries out control driving according to message commands type and controls holder operation；
After Intelligent Mobile Robot receives drive module and the control result of holder module feedback, Android platform is given
Client sends driving condition data and holder status data.
In the step 4, method that task is controlled specifically:
(1) obtain task list: Android platform client becomes to substation PC server-side request task list
Power station PC server-side returns to task list, and Android platform client task list and is shown according to update local is returned the result；
(2) issue task list: Android platform client issues task list to the request of substation's PC server-side, becomes
Power station PC server-side sends patrol task configuration file to Intelligent Mobile Robot by FTP；
Intelligent Mobile Robot return issue as a result, substation's PC server-side according to return the result judgement issue whether at
Function issues success to the return of Android platform client if issuing success；If issuing failure, issued again through FTP
Task configuration file retries after unsuccessfully setting number, issues failure to the return of Android platform client；
(3) start task: Android platform client requests starting task (id=x) to substation's PC server-side, power transformation
PC server-side of standing requests starting task (id=x) to Intelligent Mobile Robot, and Intelligent Mobile Robot is by task (id=x)
Starting result return to substation's PC server-side, substation's PC server-side returns to the starting result of task (id=x)
Android platform client；
(4) stop task: Android platform client requests stopping task, substation PC clothes to substation's PC server-side
Stopping task being requested to Intelligent Mobile Robot in business end；Intelligent Mobile Robot returns to task to substation's PC server-side and stops
Only as a result, substation's PC server-side, which returns to task to Android platform client, stops result.
The step (3) method particularly includes:
Android platform client requests starting task (id=x) to substation's PC server-side, and substation's PC server-side is logical
The version number of the task (id=x) on FTP inquiry Intelligent Mobile Robot is crossed, Intelligent Mobile Robot takes to substation PC
Business end returns to the version number of task (id=x)；
Substation's PC server-side judges whether version number is consistent, if inconsistent, return and appoints to Android platform client
Business starting failure；If version is consistent, substation's PC server-side requests starting task (id=x) to Intelligent Mobile Robot；
Intelligent Mobile Robot judges whether task (id=x) has loaded, if having loaded starting task execution,
If do not loaded, starting task execution is loaded, the starting result of task (id=x) is returned into substation's PC server-side,
The starting result of task (id=x) is returned to Android platform client by substation's PC server-side；
Finally, Android platform client shows task start result according to the feedback of substation's PC server-side.
The beneficial effects of the present invention are:
Tablet computer or mobile phone can be used as Intelligent Mobile Robot controlling terminal in 1 present invention, can also make
It is more convenient relative to the long-range control of traditional computer with the other equipment based on Android platform, to improve power transformation
The intelligence of crusing robot of standing control and portability are horizontal.
Android platform client in 2 present invention can by wireless aps directly with Intelligent Mobile Robot low coverage
From communication, so that it is higher with cradle head control real-time to control the car body of Intelligent Mobile Robot, facilitate user to substation
Crusing robot carries out short distance control.
3 when Intelligent Mobile Robot executes patrol task for multiple substations, and robot is transported from a substation
Defeated to arrive another substation, task control method provided by the invention can be convenient user directly by Android platform visitor
Family end directly carries out issuing and executing for patrol task, to not use the monitoring center office that substation's PC server-side is disposed
Issuing and executing for patrol task is carried out in room.
Detailed description of the invention
Fig. 1 is the Intelligent Mobile Robot control system architecture figure of the invention based on Android platform；
Fig. 2 is car body of the invention and cloud platform control method flow chart；
Fig. 3 is task control method flow chart of the invention；
Wherein, 1.Android platform client, 2. substation's PC server-sides, 3. Intelligent Mobile Robots, 4. channel radios
Letter module, 5. wireless communication modules, 101. login authentication modules, 102. parameter setting modules, 103. communication management modules, 104.
State display module, 105. BCM Body Control Modules, 106. cradle head control modules, 107. task control modules, 201. data managements
Module, 202. model configuration modules, 203. communication management modules, 204.Web service module, 205.FTP management module, 301. is logical
Believe management module, 302. message processing module (MPM)s, 303. drive modules, 304. holder modules, 305. task execution modules.
Specific embodiment:
The present invention will be further described with embodiment with reference to the accompanying drawing:
It should be appreciated that the Intelligent Mobile Robot in this patent is typical electronic product, including mechanical part and
Control section focuses on the improvement carried out to Intelligent Mobile Robot control system involved by this patent, to being directed to
The drive module and holder module arrived, does control object, in the case where meeting system reliability connection, those skilled in the art
It should know its connection type and specific working mode, therefore, the brief description that the application does it, those skilled in the art's foundation
Ability domain-dependent knowledge is easy to know.
The embodiment of the present invention provides a kind of Intelligent Mobile Robot control system based on Android platform, such as Fig. 1 institute
Show, including Android platform client 1, substation's PC server-side 2, Intelligent Mobile Robot 3, wireless communication module 4, nothing
Line communication module 5.
Android platform client 1 is mounted on Android tablet computer or mobile phone, by wireless communication module 4 with
Intelligent Mobile Robot 3 communicates.Android platform client 1 include login authentication module 101, parameter setting module 102,
Communication management module 103, state display module 104, BCM Body Control Module 105, cradle head control module 106, task control module
107。
Further, login authentication module 101 is controlled for the access right of Android platform client 1, passes through login
Verify user identity.
Further, parameter setting module 102 is used for the IP address and port numbers being arranged in network connection, for machine to be arranged
The driving type of device people, such as: double drives, 4 wheel driven.
Further, communication management module 103 is used to manage the connection, disconnection, status monitoring of TCP communication, and Android is flat
Platform client 1 is used as TCP Client；For managing the request and return of Web Service, 1 conduct of Android platform client
Web Service client.
Further, state display module 104 be used for show substation's PC server-side 2 return task control as a result, with
In drive control result, cradle head control result and robotary information that display Intelligent Mobile Robot 3 returns.
Further, BCM Body Control Module 105 is used to control the drive module of Intelligent Mobile Robot 3, realizes control
The function of robot car body movement.
Further, cradle head control module 106 is used to control the holder module of Intelligent Mobile Robot 3, realizes control
The function of machine user tripod head movement.
Further, task control module 107 includes following functions: obtaining patrol task list, issues patrol task column
Table, stops patrol task at starting patrol task.
Substation's PC server-side 2 is deployed on supervisory control of substation server, by wireless communication module 5 and substation inspection
Robot 3 communicates.Substation's PC server-side 2 includes data management module 201, model configuration module 202, communication management module
203, Web service module 204, FTP management module 205.
Further, data management module 201 is for storing substation equipment model, robot model, patrol task mould
Type, inspection data provide addition, deletion, modification and the inquiry of data.
Further, model configuration module 202 provides substation equipment model, robot model, patrol task model
Configuration, provides robot model and patrol task model is handed down to the function of Intelligent Mobile Robot 3.
Further, communication management module 203 is used to manage the connection, disconnection, status monitoring of TCP communication, substation PC
Server-side 2 is used as TCP Client；For managing the request and return of Web Service, substation's server-side 2 is used as Web
The server-side of Service.
Further, Web service module 204 is used to manage the publication of Web Service, for providing Web Service
Interface.
Further, FTP management module 205 is used to manage the robot in Intelligent Mobile Robot 3 by File Transfer Protocol
Model configuration file and patrol task model configuration file.Substation's PC server-side 2 is used as ftp client, substation inspection machine
Device people 3 is used as FTP service end.
Intelligent Mobile Robot 3 includes communication management module 301, message processing module (MPM) 302, drive module 303, holder
Module 304, task execution module 305.
Further, communication management module 301 is used to manage the connection, disconnection, status monitoring of TCP communication, and substation patrols
It examines robot 3 and is used as TCP server-side, the list and management of TCP Client are provided.
Further, message processing module (MPM) 302 is sent out for parsing Android platform client 1 and substation's PC server-side 2
Control message is sent, for setting up and being sent to the returned packet of Android platform client 1 and substation's PC server-side 2.
Further, drive module 303 includes drive control device and servo motor, wherein double drive uses 2 servo motors,
4 wheel driven uses 4 servo motors.For controlling the body movement of Intelligent Mobile Robot 3
Further, holder module 304 includes cradle head control module and tripod head equipment, during the cradle head control module uses
Structure described in state granted patent number ZL200920029359.6.Holder for controlling Intelligent Mobile Robot 3 moves.
Further, the inspection that starts and stops that task execution module 305 is used to control Intelligent Mobile Robot 3 is appointed
Business executes patrol task for issuing patrol task model according to substation's PC server-side.
Further, wireless communication module 4 is the wireless aps based on 802.11N, is mounted on Intelligent Mobile Robot 3,
It is accessed for providing Android platform client 1.
Further, wireless communication module 5 is 2 wireless bridges based on 802.11N, and 1 is mounted on substation PC clothes
Business end 2 is used as ap mode, and 1 is mounted on Intelligent Mobile Robot 3 and uses as station mode.
According to the Intelligent Mobile Robot control system of preferred embodiment shown in FIG. 1, the present invention provides a kind of car body
And cloud platform control method, as shown in Fig. 2, including the following steps:
Step 1, system initialization.At the beginning of initialization and Intelligent Mobile Robot including Android platform client
Beginningization.Android platform client initialization includes reading local parameter, loaded and displayed user interface.Substation inspection machine
People's initialization powers on including startup power supply, each operational module, loads local model parameter, each operational module of starting handles thread,
Start timing services.
Step 2, login authentication.User needs to input username and password, then with the username and password that is locally stored
It is matched, successful match can be logged in using Android platform client, otherwise not allow to log in use.
Step 3, parameter setting.User inputs the IP address for needing the Intelligent Mobile Robot controlled, port, driving class
Type.
Step 4, it is connected to the network.The IP address and port, initiation TCP that Android platform client is inputted according to user connect
Request is connect, Intelligent Mobile Robot returns to permission TCP connection after receiving TCP connection request, and gives Android platform client
Distribution of machine people's status data, Android platform client are handled and are shown after receiving robotary data.
Android platform client judgement network connection situation re-initiates TCP connection request if network connection is abnormal；If
Network connection is normal, operates into waiting.
Step 5, car body control and cradle head control.Android platform client sends car body to Intelligent Mobile Robot
Packet parsing is carried out after Intelligent Mobile Robot receives control message with cradle head control message.Then substation inspection machine
People carries out control driving according to message commands type and controls holder operation.
Step 6, display control result.Intelligent Mobile Robot receives the control knot of drive module and holder module feedback
After fruit, driving condition data and holder status data are sent to Android platform client.
According to the Intelligent Mobile Robot control system of preferred embodiment shown in FIG. 1, the present invention provides a kind of task
Control method, as shown in figure 3, including the following steps:
Step 1, system initialization.Initialization, substation's PC server-side, substation including Android platform client
The initialization of crusing robot.Android platform client initialization includes reading local parameter, loaded and displayed user interface.
The initialization of substation's PC server-side includes loading of databases, stress model configuration, Web Services Publishing.Substation inspection machine
People's initialization powers on including startup power supply, each operational module, loads local model parameter, each operational module of starting handles thread,
Start timing services.
Step 2, login authentication.User needs to input username and password, then with the username and password that is locally stored
It is matched, successful match can be logged in using Android platform client, otherwise not allow to log in use.
Step 3, parameter setting.User needs to input the URL of the Web service of substation's PC server-side publication, for accessing
The Web Service interface of substation's PC server-side publication.
Step 4, local task list is shown.After user clicks task control interface, after user interface element is completed in load,
Show the task list in local cache.
Step 5, task control.
Wherein, following process can be subdivided into again for task control:
(1) task list is obtained.Android platform client becomes to substation PC server-side request task list
Power station PC server-side returns to task list, and Android platform client task list and is shown according to update local is returned the result.
(2) task list is issued.Android platform client issues task list to the request of substation's PC server-side, becomes
Power station PC server-side sends patrol task configuration file to Intelligent Mobile Robot by FTP.Intelligent Mobile Robot returns
It returns and issues as a result, whether substation's PC server-side succeeds according to returning the result judgement and issue, if issuing success, to Android
Platform client return issues success；If issuing failure, task configuration file is issued again through FTP, is retried failure 3 times
Afterwards, failure is issued to the return of Android platform client.
(3) start task.Android platform client requests starting task (id=x) to substation's PC server-side, power transformation
PC server-side of standing inquires the version number of the task (id=x) on Intelligent Mobile Robot, Intelligent Mobile Robot by FTP
The version number of task (id=x) is returned to substation's PC server-side.Substation's PC server-side judges whether version number is consistent, if
It is inconsistent, task start failure is returned to Android platform client；If version is consistent, substation's PC server-side is to power transformation
Crusing robot of standing requests starting task (id=x), and Intelligent Mobile Robot judges whether task (id=x) has loaded,
If having loaded starting task execution, executed if not loading then loading tasks, by the starting result of task (id=x)
Substation's PC server-side is returned to, the starting result of task (id=x) is returned to Android platform visitor by substation's PC server-side
Family end.Finally, Android platform client shows task start result according to the feedback of substation's PC server-side.
(4) stop task.Android platform client requests stopping task, substation PC clothes to substation's PC server-side
Stopping task being requested to Intelligent Mobile Robot in business end.Intelligent Mobile Robot returns to task to substation's PC server-side and stops
Only as a result, substation's PC server-side, which returns to task to Android platform client, stops result.
Step 6, follow-up work control is waited.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of Intelligent Mobile Robot control system based on Android platform, characterized in that include: Android platform
Client, substation's PC server-side, Intelligent Mobile Robot, the first wireless communication module and the second wireless communication module；
On mobile terminals, mobile terminal passes through the first wireless communication module and power transformation for the Android platform client installation
Crusing robot of standing communication, substation's PC server-side are deployed on supervisory control of substation server, and supervisory control of substation server passes through
Second wireless communication module is communicated with Intelligent Mobile Robot；
Android platform client returns to task to substation PC server-side request task list, substation's PC server-side
List, Android platform client update local task list and show according to returning the result；
Android platform client issues task list to the request of substation's PC server-side, substation's PC server-side by FTP to
Intelligent Mobile Robot sends patrol task configuration file；
The Android platform client includes:
Login authentication module: the access right for Android platform client controls；
Parameter setting module: the driving type of IP address and port numbers and robot for being arranged in network connection；
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
State display module: for showing that the task control result of substation's PC server-side return, Intelligent Mobile Robot are returned
Drive control result, cradle head control result and the robotary information returned；
BCM Body Control Module: for controlling the body movement of Intelligent Mobile Robot；
Cradle head control module: the holder for controlling Intelligent Mobile Robot moves；
Task control module: it is patrolled for obtaining patrol task list, issuing patrol task list, starting patrol task and stopping
Inspection task；
The substation PC server-side includes:
Data management module: it for storing substation equipment model, robot model, patrol task model, inspection data, provides
Addition, deletion, modification and the inquiry of data；
Model configuration module: for providing the configuration of substation equipment model, robot model, patrol task model；
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
Web service module: for providing Web Service interface and managing the publication of Web Service；
FTP management module: for managing robot model's configuration file and patrol task model in Intelligent Mobile Robot
Configuration file；
The Intelligent Mobile Robot includes:
Communication management module: for the state of communication and the request and return of Web Service to be arranged；
Message processing module (MPM): the control report sent for parsing and returning Android platform client and substation's PC server-side
Text；
Drive module: for controlling the body movement of Intelligent Mobile Robot；
Holder module: the holder for controlling Intelligent Mobile Robot moves；
Task execution module: for controlling Intelligent Mobile Robot starting, executing and stop patrol task.
2. a kind of method of the Intelligent Mobile Robot control system based on Android platform as described in claim 1,
It is characterized in, comprising:
Step 1, system initialization: the initialization of initialization and Intelligent Mobile Robot including Android platform client；
Step 2, login authentication: the information that user inputs is matched with the information of storage inside, and successful match enters
Otherwise Android platform client does not allow access into；
Step 3, parameter setting: IP address, port, driving type and the substation PC clothes of Intelligent Mobile Robot are set
The URL of the Web service of business end publication；
Step 4, it is connected to the network, Android platform client sends message to Intelligent Mobile Robot and realizes to power transformation
Stand crusing robot car body and holder control and control result is shown；
Or local task list is shown and updates, task is controlled.
3. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 2,
It is characterized in, in the step 1, Android platform client initialization includes reading local parameter, loaded and displayed user interface；
Intelligent Mobile Robot initialization powers on including startup power supply, each operational module, loads local model parameter, each work of starting
Resume module thread and starting timing services.
4. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 2,
It is characterized in, in the step 4, the method that is connected to the network specifically:
The IP address and port, initiation TCP connection that Android platform client is inputted according to user are requested, substation inspection machine
Device people returns to permission TCP connection after receiving TCP connection request, and gives Android platform client distribution of machine people's status data,
Android platform client is handled and is shown after receiving robotary data；
Android platform client judgement network connection situation re-initiates TCP connection request if network connection is abnormal；
If network connection is normal, operated into waiting.
5. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 2,
It is characterized in, in the step 4, to the control of Intelligent Mobile Robot car body and holder method particularly includes:
Android platform client sends car body and cradle head control message, substation inspection machine to Intelligent Mobile Robot
After people receives control message, packet parsing is carried out；
Intelligent Mobile Robot carries out control driving according to message commands type and controls holder operation；
After Intelligent Mobile Robot receives drive module and the control result of holder module feedback, Android platform client is given
End sends driving condition data and holder status data.
6. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 2,
It is characterized in, in the step 4, method that task is controlled specifically:
(1) obtain task list: Android platform client is to substation PC server-side request task list, substation
PC server-side returns to task list, and Android platform client task list and is shown according to update local is returned the result；
(2) issue task list: Android platform client issues task list, substation to the request of substation's PC server-side
PC server-side sends patrol task configuration file to Intelligent Mobile Robot by FTP；
Intelligent Mobile Robot return issues as a result, whether substation's PC server-side succeeds according to returning the result judgement and issue,
If issuing success, success is issued to the return of Android platform client；If issuing failure, task is issued again through FTP
Configuration file retries after unsuccessfully setting number, issues failure to the return of Android platform client；
(3) start task: Android platform client requests starting task id=x, substation PC clothes to substation's PC server-side
Starting task id=x to Intelligent Mobile Robot is requested in end of being engaged in, and Intelligent Mobile Robot is by the starting result of task id=x
Substation's PC server-side is returned to, the starting result of task id=x is returned to Android platform client by substation's PC server-side
End；
(4) stop task: Android platform client requests stopping task, substation's PC server-side to substation's PC server-side
Stopping task being requested to Intelligent Mobile Robot；Intelligent Mobile Robot returns to task to substation's PC server-side and stops knot
Fruit, substation's PC server-side return to task to Android platform client and stop result.
7. a kind of method of the Intelligent Mobile Robot control system based on Android platform as claimed in claim 6,
It is characterized in, the step (3) method particularly includes:
Android platform client requests starting task id=x to substation's PC server-side, and substation's PC server-side passes through FTP
The version number of the task id=x on Intelligent Mobile Robot is inquired, Intelligent Mobile Robot is returned to substation's PC server-side
Go back to the version number of task id=x；
Substation's PC server-side judges whether version number is consistent, if inconsistent, return to task to Android platform client and opens
Dynamic failure；If version is consistent, substation's PC server-side requests starting task id=x to Intelligent Mobile Robot；
Intelligent Mobile Robot judges whether task id=x has loaded, if having loaded starting task execution, if do not had
There is load, then load starting task execution, the starting result of task id=x is returned into substation's PC server-side, substation PC
The starting result of task id=x is returned to Android platform client by server-side；
Finally, Android platform client shows task start result according to the feedback of substation's PC server-side.
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| CN109921517B (en) * | 2019-03-29 | 2021-01-29 | 深圳供电局有限公司 | Transformer substation inspection system |
| CN110640751B (en) * | 2019-08-20 | 2021-03-23 | 广西诚新慧创科技有限公司 | Inspection robot interaction method based on transformer substation remote inspection platform |
| CN111673737A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | Robot information sending method, receiving method, equipment and storage medium |
| CN113894812A (en) * | 2021-10-27 | 2022-01-07 | 广西电网有限责任公司贺州供电局 | Intelligent inspection robot system |
| CN114723077A (en) * | 2022-03-04 | 2022-07-08 | 贵州电网有限责任公司 | Intelligent inspection method and system for transformer substation |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |