CN109382831A - A kind of Intelligent Mobile Robot monitoring system and its data remote method - Google Patents
A kind of Intelligent Mobile Robot monitoring system and its data remote method Download PDFInfo
- Publication number
- CN109382831A CN109382831A CN201811180371.7A CN201811180371A CN109382831A CN 109382831 A CN109382831 A CN 109382831A CN 201811180371 A CN201811180371 A CN 201811180371A CN 109382831 A CN109382831 A CN 109382831A
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- data
- intelligent mobile
- mobile robot
- monitoring system
- substation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention relates to a kind of Intelligent Mobile Robot monitoring system and its data remote methods, data in substation are carried out Type division, type includes at least: monitoring data, operation data, control data, video data and image data；Monitoring data are mapped as telemetry, operation data is mapped as remote signalling data, control data are mapped as remote-control data；Communication between Intelligent Mobile Robot monitoring system and collection control main station system is carried out customized, data in substation after mapping are subjected to the definition of IEC104 forwarding table, and by giving collection control main station system in IEC104 data transport service, and, video data is uploaded to collection control main station system by video flowing B interface, image data is uploaded to collection control main station system in a manner of FTP.The present invention can largely improve the working efficiency of data processing in substation, meet the needs of collected Various types of data is transferred to collection control main station system by optical fiber by Intelligent Mobile Robot monitoring system.
Description
Technical field
The invention belongs to Intelligent Mobile Robot technical fields, and in particular to a kind of Intelligent Mobile Robot monitoring system
System and its data remote method.
Background technique
With scientific and technological progress, the application of Intelligent Mobile Robot continues deeply, but also exposes some urgently to be resolved
Problem.Wherein, the data transmission problems urgent need to resolve between Intelligent Mobile Robot monitoring system and collection control main station system.
The data acquisition and procession method of current Intelligent Mobile Robot monitoring system and collection control main station system, does not have
Unified Intelligent Mobile Robot interface standard, each producer, robot interface is different, causes and long-range collection control main station system
Between communicate not flexible, so that the working time of development be caused to increase, influence machine task efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of Intelligent Mobile Robot monitoring system and its data remote method, to
It solves that Intelligent Mobile Robot monitoring system and collection is caused to be controlled due to ununified Intelligent Mobile Robot interface standard
Inflexible problem is communicated between main station system.
In order to solve the above technical problems, the technical solution of the present invention is as follows:
The present invention provides a kind of data remote methods of Intelligent Mobile Robot monitoring system, include the following steps:
Data in substation are subjected to Type division, the type includes at least: monitoring data, operation data and control number
According to；Monitoring data are mapped as telemetry, operation data is mapped as remote signalling data, control data are mapped as remote control number
According to；Data in substation after mapping send.
Beneficial effects of the present invention:
The present invention is customized by the communication progress between Intelligent Mobile Robot monitoring system and collection control main station system, will
Monitoring data are mapped as telemetry, and operation data is mapped as remote signalling data, control data are mapped as remote-control data, and will
Collection control main station system is given in substation after mapping in data.The present invention can largely improve in substation at data
The working efficiency of reason meets Intelligent Mobile Robot monitoring system for collected Various types of data and is transferred to collection control by optical fiber
The demand of main station system.
Further, the type further include: video data and image data.Data classified types in substation are increased
Video data and image data, so that video data and image data in respective mode according to sending.
Further, it includes: to want according to sending in IEC104 specification that data, which send, in the substation by after mapping
It asks, public address and information body address is distributed for data in the substation after mapping, after then mapping using IEC104 specification
Substation in data give；Wherein, the public address is the address of power transformation station equipment, and the information body address is
The position of data point in equipment.Using data are sent in most common IEC104 specification between substation boss station, so that in data
It is simpler, reliable to pass through journey.
Further, the monitoring data include at least one of following data: environmental data, instrumented data, equipment
Appearance data, device status information data.Environmental data, instrumented data, equipment appearance data, device status information data are returned
Class is convenient for data processing in monitoring data, improves working efficiency.
Further, the operation data includes at least one of following data: robot electric quantity data, inspection result
Signal data, robot body status data, communications state data.By robot electric quantity data, inspection consequential signal data, machine
Device human body status data, communications state data range operation data, are convenient for data processing, improve working efficiency.
Further, the control data bag includes at least one of following data: robot body controls data, inspection
Mission bit stream data.Robot body control data, patrol task information data range control data, are convenient for data processing,
Improve working efficiency.
The present invention also provides a kind of Intelligent Mobile Robot monitoring systems, including for being led to crusing robot
The wireless interface of news and for the wireline interface that is communicated of collection control main station system, further include processor and memory, it is described
Processor is used to execute method of the instruction stored in memory to realize above-mentioned introduction.The system is by substation inspection machine
Communication progress between people's monitoring system and collection control main station system is customized, and monitoring data are mapped as telemetry, will be run
Data are mapped as remote signalling data, control data are mapped as remote-control data, and will give collection in data in the substation after mapping
Control main station system.The system can largely improve the working efficiency of data processing in substation, meet substation inspection
Collected Various types of data is transferred to the demand of collection control main station system by robot monitoring system by optical fiber.
Detailed description of the invention
Fig. 1 is Intelligent Mobile Robot monitoring system data remote transmission system frame diagram of the invention.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, to the present invention
It is described in further detail.
The data remote embodiment of the method for Intelligent Mobile Robot monitoring system
Fig. 1 is Intelligent Mobile Robot monitoring system data remote transmission system frame diagram of the invention, can be with from the figure
Find out, crusing robot carries out data interaction, substation inspection by wireless network and Intelligent Mobile Robot monitoring system
Robot monitoring system carries out data interaction by optical fiber and collection control main station system, moreover, Intelligent Mobile Robot monitoring system
Data interaction is carried out using IEC104 specification between system and collection control main station system.In Intelligent Mobile Robot monitoring system active
Data in all kinds of substations are sent, collection control main station system is by Intelligent Mobile Robot monitoring system transmitting order to lower levels to inspection machine
People to control robot body, and controls it and patrol task mode is altered or modified.
When sending data in all kinds of substations in Intelligent Mobile Robot monitoring system active, carry out in accordance with the following methods
It is sent in data.
Firstly, according to the type of data in substation, data in substation are divided into following five major class: monitoring data,
Operation data, control data, video data and image data.
Wherein, monitoring data include environmental data (temperature, humidity, wind speed etc.), instrumented data, equipment appearance data, set
Standby status data etc.；Operation data includes robot electric quantity data, inspection consequential signal data, robot body status data
(the low alarm of electricity, communications status, robot abnormal alarm, robotary etc.), communications state data etc.；Control data bag includes
It is (mission mode, urgent that robot body controls data (advance, retreat, turning left, turning right, parking etc.), patrol task information data
Station-keeping mode, backstage remote control mode, hand-held remote control mode, comprehensive inspection, customary inspection, task start, suspension of task, a key return
Boat, cradle head control etc.) etc.；Video data includes visible light video data and IR video stream；Image data includes visible light
Image data and infrared image data.
Then, monitoring data, operation data and control these three data of data are subjected to the mapping of IEC104 data forwarding, it will
Monitoring data are mapped as telemetry, and operation data is mapped as remote signalling data, and control data are mapped as remote-control data.To reflect
These three data after penetrating distribute address, and send using IEC104 specification.Here mapping, as respectively according to telemetering
Data, remote signalling data, remote-control data processing mode come alignment processing monitoring data, operation data, control data, according to telemetering
The sending method of data send monitoring data come on, according to operation data is sent in the sending method of remote signalling data, according to remote-control data
Sending method on send control data.
Wherein, the type identification different for data configuration in each type of substation, to distinguish.Monitoring data are reflected
It penetrates as telemetry, selection type identification is 0DH, is produced using floating system；Operation data is mapped as remote signalling data, is selected
Type identification is 01H or 03H, is produced using single (double) point mode；Control data are mapped as remote-control data, select type identification
For 2EH or 2FH, the operation of single (double) point control mode response collection control main station systems is used.
In addition, video data in a manner of video flowing B interface (Session Initiation Protocol) on send to collection control main station system, image data
It is sent in a manner of FTP to collection and controls main station system.
Then, it is monitoring data, operation data, controls the different information body address domain of data configuration, in corresponding information
To need the monitoring data sent, operation data, control data to distribute information body address in body address field, moreover, imformosome
Location domain can configure larger, to be reserved with address, facilitate expansion.
By data classification, first three data are mapped one by one with information body address.For example, in configuration monitoring data
The information body address domain of environmental data be 4001H~4100H, totally 256 addresses, information body address is since 4001H, address
Be assigned as 4001H, 4002H ...；The information body address domain of robot body status data in configuration operation data is
0001H~0100H, totally 256 addresses, information body address since 0001H, address be assigned as 0001H, 0002H ...；Match
The information body address domain for setting the patrol task information data in control data is 6001H~6100H, totally 256 addresses, imformosome
Address since 6001H, address be assigned as 6001H, 6002H ...；Robot body of the configuration control number in controls data
Information body address domain be 6100H~6200H, totally 256 addresses, since 6100H, address is assigned as information body address
6101H,6102H,…….If information content is larger, can be expanded in reserved address.
In addition, also needing to distribute public address for data in the substation after mapping, to know data in substation
The data of which equipment.
Public address is made of that (2 bytes, high byte correspond to power transformation station address, low word power transformation station address and device numbering
Save corresponding device numbering), for the same substation, power transformation station address is unique, and by collection control main station system distribution, equipment is compiled
It number is configured according to substation's station equipment.For example, the device numbering of #1 main transformer can be set as to the device numbering of 1, #2 main transformer
2, etc. are set as, some data point of some equipment in substation is determined by the combination of public address and information body address.
Intelligent Mobile Robot monitoring system embodiment
Intelligent Mobile Robot monitoring system of the invention, including for wirelessly being connect with what crusing robot was communicated
Mouthful and for the wireline interface that is communicated of collection control main station system, further include processor and memory, which can be
General processor can also be digital signal processor, specific integrated circuit etc., which is stored in memory for executing
In instruction realize Intelligent Mobile Robot monitoring system data remote method of the invention, specific method is shown in above-mentioned introduction
Embodiment of the method, which is not described herein again.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. a kind of data remote method of Intelligent Mobile Robot monitoring system, which comprises the steps of:
Data in substation are subjected to Type division, the type includes at least: monitoring data, operation data and control data；
Monitoring data are mapped as telemetry, operation data is mapped as remote signalling data, control data are mapped as remote control number
According to；
Data in substation after mapping send.
2. the data remote method of Intelligent Mobile Robot monitoring system according to claim 1, which is characterized in that institute
State type further include: video data and image data.
3. the data remote method of Intelligent Mobile Robot monitoring system according to claim 1, which is characterized in that institute
State that send by data in the substation after mapping include: according to sending requirement in IEC104 specification, for the substation after mapping
Interior data distribution public address and information body address, are then carried out data in the substation after mapping using IEC104 specification
It send；Wherein, the public address is the address of power transformation station equipment, and the information body address is the position of data point in equipment.
4. the data remote method of Intelligent Mobile Robot monitoring system according to claim 1, which is characterized in that institute
Stating monitoring data includes at least one of following data: environmental data, instrumented data, equipment appearance data, equipment state letter
Cease data.
5. the data remote method of Intelligent Mobile Robot monitoring system according to claim 1, which is characterized in that institute
Stating operation data includes at least one of following data: robot electric quantity data, inspection consequential signal data, robot body
Status data, communications state data.
6. the data remote method of Intelligent Mobile Robot monitoring system according to claim 1, which is characterized in that institute
State control data bag and include at least one of following data: robot body controls data, patrol task information data.
7. a kind of Intelligent Mobile Robot monitoring system, which is characterized in that including for being communicated with crusing robot
Wireless interface and for the wireline interface that is communicated of collection control main station system, further include processor and memory, the processing
Device is for executing instruction stored in memory to realize method as described in any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811180371.7A CN109382831A (en) | 2018-10-10 | 2018-10-10 | A kind of Intelligent Mobile Robot monitoring system and its data remote method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811180371.7A CN109382831A (en) | 2018-10-10 | 2018-10-10 | A kind of Intelligent Mobile Robot monitoring system and its data remote method |
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| CN109382831A true CN109382831A (en) | 2019-02-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112446976A (en) * | 2019-09-05 | 2021-03-05 | 京东数科海益信息科技有限公司 | Inspection robot, inspection system and inspection method |
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Application publication date: 20190226 |
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