CN109579908A - Real-time data acquisition and storage system and file management method based on crusing robot - Google Patents
Real-time data acquisition and storage system and file management method based on crusing robot Download PDFInfo
- Publication number
- CN109579908A CN109579908A CN201811403101.8A CN201811403101A CN109579908A CN 109579908 A CN109579908 A CN 109579908A CN 201811403101 A CN201811403101 A CN 201811403101A CN 109579908 A CN109579908 A CN 109579908A
- Authority
- CN
- China
- Prior art keywords
- module
- data
- index
- acquisition
- crusing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0638—Organizing or formatting or addressing of data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0655—Vertical data movement, i.e. input-output transfer; data movement between one or more hosts and one or more storage devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0668—Interfaces specially adapted for storage systems adopting a particular infrastructure
- G06F3/0671—In-line storage system
- G06F3/0673—Single storage device
- G06F3/0679—Non-volatile semiconductor memory device, e.g. flash memory, one time programmable memory [OTP]
Abstract
The present invention relates to underground power grid tunnel safety crusing robot technical fields, it discloses including the single-chip microcontroller main control module using FPGA as main control chip, memory module, display module, wireless transport module, power module, motor module, environment information acquisition module and fault detection and mark module, the power module is connected to single-chip microcontroller main control module and motor module, single-chip microcontroller main control module is connected to memory module, display module, wireless transport module, motor module, environment information acquisition module and fault detection and mark module, the process being managed to the data that acquisition comes mainly has foundation to index, storing data, obtain index information, obtain historical data, obtain real time data.The present invention can real-time monitoring environmental information, real-time trolley and fault location and simple fault exclude, while data can guarantee the storage of the data of acquisition when obtaining index information or historical data.
Description
Technical field
The present invention relates to underground power grid tunnel safety crusing robot technical fields, in particular to based on crusing robot
Real-time data acquisition and storage system and file management method.
Background technique
With the high speed development in national city, the requirement to corresponding city auxiliary facility is also higher and higher.Power grid conduct
The main artery for supplying urban energy has very important status during urban development.Current city centering low-voltage distribution
The construction and requirement of net are transitioned into the demands such as safety, beauty from guarantee power supply, and therefore, electric power facility is opened in city
Beginning is changed with gradually entering, and underground substation, overhead transmission line cable have become the mainstream of Construction of Intercity Network with dissolving into.
However the environment of underground is intricate, subsurface temperature is high and has underground water, be easy to cause moist environment, can make
Cable insulation accelerated ageing.Also it because it is imbedded in underground, is not easy to find in time when being damaged, such as the urgent feelings such as fire
Condition not only will cause huge economic loss, it is also possible to cause irremediable human loss.To ensure buried cable
The work of normal table safety, walkaround inspection are essential preventive means.
There is the method for traditional method and intelligence at present.Traditional method is to rely on electrical power line inspector and some monitoring
Device carries out, but underground has certain risk, narrow space closing, and pernicious gas is assembled, and manual inspection can not be protected effectively
Hinder personal safety, while with the increase of cable depth, the mode manually checked gradually becomes difficult, and danger coefficient is even more to increase.?
Under such situation, using automatic technology, automating crusing robot, to go to replace manual inspection person to have incomparable excellent
Gesture.
Summary of the invention
The real-time data acquisition and storage system being designed to provide based on crusing robot and file management method of invention,
The present invention can real-time monitoring environmental information (toxic gas, moist degree, temperature are infrared), real-time trolley and fault location and
Simple fault excludes, while data can guarantee the storage of the data of acquisition when obtaining index information or historical data, with solution
Certainly the problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme:
Real-time data acquisition and storage system based on crusing robot, including the monolithic owner using FPGA as main control chip
Control module, memory module, display module, wireless transport module, power module, motor module, environment information acquisition module and event
Barrier detection and mark module, the power module are connected to single-chip microcontroller main control module and motor module, single-chip microcontroller master control mould
Block is connected to memory module, display module, wireless transport module, motor module, environment information acquisition module and failure inspection
Survey and mark module, wherein
Single-chip microcontroller main control module is the core component of crusing robot, and the control for whole system is run；
The data of memory module real-time storage acquisition are simultaneously backed up；
Display module is used to show the relevant parameter of crusing robot by the display screen on crusing robot；
Wireless transport module can be used for crusing robot and host computer carries out wireless data transmission；
Power module is that single-chip microcontroller main control module and motor module are powered, and carry out automatic storing electricity, battery capacity detection；
Motor module controls crusing robot crawler travel and mechanical arm activity；
Environment information acquisition module is for the environmental data around crusing robot acquisition, including temperature and humidity, methane, dioxy
Change carbon, infrared and VOC；
Fault detection and mark module are used for positioning and label of the crusing robot to failure.
Further, the voltage of the single-chip microcontroller main control module is 5V.
Further, it is established inside FPGA and reads FIFO and write FIFO.
Further, the memory module is made of the storage card of multiple 64G, and a storage card is again by multi-disc NAND
Flash composition.
Further, motor module includes 2 direct current generators and 24 steering engines, and 2 direct current generators drive crawler travel,
In the every tetrad of 16 steering engines constitute a mechanical arm.
Further, mechanical arm, which is equipped with capture card, can be used for positioning and the label of failure.
The present invention provides another technical solution: the file management method based on crusing robot includes the following steps:
S1: index is established
It first has to establish index before the data of storage acquisition, can stored by index with data needed for quick search
Position in card, quick obtaining and final-period management convenient for data；
S2: the storage of data
Index is established after completion, and the first ground of the data of this secondary storage has just been obtained according to the frame format of index file
Location can store the various data of acquisition；
S3: the acquisition of data
(1) index file is obtained
There are two types of the modes for obtaining index file: one, obtaining index file according to call number；Two, by the period or
Person's date obtains index file, and fault diagnosis computer issues reading index instruction, provides the call number for the index to be read
Some period on the either a certain date；
(2) historical data is obtained
Historical data is read there are two types of mode, for one kind only to read a file, another kind continuously reads several data files, history
The acquisition of data is that selection is carried out according to the index for being uploaded to host computer, after host computer (9) obtains index information list, only
It need to select corresponding index information, so that it may upload corresponding historical data；
(3) real time data is read
It is not take up internal data bus when reading real time data, therefore does not influence the storage of data, the data of acquisition can be real
When return to computer；
Further, in S2 data storage, select first piece of FLASH of a piece of storage card as storage index letter
Breath, every page store an index information.
Further, when S3 obtains historical data, first address, the index of next data are obtained by the index of this data
Data file obtain last address by address decrement.
Compared with prior art, the beneficial effects of the present invention are:
1. the real-time data acquisition and storage system and file management method proposed by the present invention based on crusing robot, system
After carrying out wireless data transmission by wireless transport module and host computer, environment information acquisition module is acquired for crusing robot
The temperature and humidity of surrounding, methane, carbon dioxide, infrared and VOC, motor module controls crusing robot crawler travel and mechanical arm is living
Dynamic, fault detection and mark module are used for positioning and label of the crusing robot to failure, can real-time monitoring environmental information, it is complete
It is excluded at trolley and fault location and simple fault.
2. the real-time data acquisition and storage system and file management method proposed by the present invention based on crusing robot, file
Management be that the support of operating system is not needed based on non-OS, relative to there are the file management sides of operating system
The management of method, file of the invention is simple, and the hardware resource needed is few, convenient to realize in various non-OS simple platforms,
Such as single-chip microcontroller, DSP, FPGA platform, have wide range of applications.
3. the real-time data acquisition and storage system and file management method proposed by the present invention based on crusing robot, relatively
Fixed partition management method in the file management there is no operating system, the management of file is more flexible, while avoiding depositing
Store up the waste in space.
4. the real-time data acquisition and storage system and file management method proposed by the present invention based on crusing robot, relatively
Sequential access in the file management there is no operating system, provides significantly more efficient file management method, by establishing rope
Draw, facilitates the quick storage and reading of file.
5. the real-time data acquisition and storage system and file management method proposed by the present invention based on crusing robot, in reality
When data acquire field of storage, but not only realize the acquisition of real time data, while rope can be obtained when storing data
Fuse breath or historical data.
Detailed description of the invention
Fig. 1 is system the general frame of the invention；
Fig. 2 is data file indexed format figure of the invention；
Fig. 3 is the storage format figure of index of the invention in Flash；
Fig. 4 is index Establishing process figure of the invention；
Fig. 5 is that FPGA internal data of the invention flows to figure；
Fig. 6 is acquisition index file flow chart of the invention；
Fig. 7 is acquisition historical data flow chart of the invention.
In figure: 1, single-chip microcontroller main control module；2, memory module；3, display module；4, wireless transport module；5, power supply mould
Block；6, motor module；7, environment information acquisition module；8, fault detection and mark module；9, host computer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the real-time data acquisition and storage system based on crusing robot, including using FPGA as main control chip
Single-chip microcontroller main control module 1, memory module 2, display module 3, wireless transport module 4, power module 5, motor module 6, environment
Information acquisition module 7 and fault detection and mark module 8, power module 5 are connected to single-chip microcontroller main control module 1 and motor mould
Block 6, single-chip microcontroller main control module 1 are connected to memory module 2, display module 3, wireless transport module 4, motor module 6, environment
Information acquisition module 7 and fault detection and mark module 8, single-chip microcontroller main control module 1 is to memory module 2, display module 3, motor
Module 6, environment information acquisition module 7 and fault detection and the transmitting control information of mark module 8, wherein
Single-chip microcontroller main control module 1 is the core component of crusing robot, and the control for whole system is run；Made with FPGA
For main control chip, using Nand Flash as the storage chip of data.
The data of 2 real-time storage of memory module acquisition are simultaneously backed up；Memory module 2 is made of the storage card of multiple 64G,
One storage card is made of multi-disc NAND Flash again.It can be by increasing the quantity or the big Flash of selection capacity of storage card
The memory capacity that chip increases data is difficult to be eliminated with the development of chip.
Display module 3 is used to show the relevant parameter of crusing robot by the display screen on crusing robot；
Wireless transport module 4 can be used for crusing robot and host computer 9 carries out wireless data transmission；
The single-chip microcontroller main control module 1 and motor module 6 that power module 5 is 5V are powered, and carry out automatic storing electricity, battery capacity
Detection, automatic calculating electricity and alarm and return；
Motor module 6 controls crusing robot crawler travel and mechanical arm activity；Motor module 6 includes 2 direct current generators
With 24 steering engines, 2 direct current generators drive crawler travel, wherein the every tetrad of 16 steering engines constitutes a mechanical arm, it is mechanical
Arm, which is equipped with capture card, can be used for positioning and the label of failure；
Environment information acquisition module 7 is for the environmental data around crusing robot acquisition, including temperature and humidity, methane, two
Carbonoxide, infrared and VOC；If robot is fallen down, oneself it can get up.
Fault detection and mark module 8 are used for positioning and label of the crusing robot to failure.
File management method based on crusing robot, in real-time data acquisition and storage system, the management of file is main
It is to be managed in the environment of operating system is not present to file.The management of file is not need to grasp based on non-OS
The support for making system, the resource needed are less.Convenient for being realized in various non-OS letter platforms, such as single-chip microcontroller, DSP, FPGA
Equal platforms, have wide range of applications, in real-time data acquisition and storage system of the invention, each storage card has multi-disc Flash, FPGA
It is constituted with internal bus interface.Data stewardship program mainly establish index, storing data, obtain real time data, obtain index,
Historical data is obtained, is specifically comprised the following steps:
Step 1: establishing index
It first has to establish index before the data of storage acquisition, can stored by index with data needed for quick search
Position in card, quick obtaining and final-period management convenient for data；
In the present invention, the index of data file mainly include leader will, call number, filename mark, date and time and
Data file first address.Opening flag of the leader will as each index file indicates that index file starts to store, accounts for two altogether
A byte；Call number is the number of index file, can obtain index file by call number, accounts for 3 bytes altogether；File identifier
Know the mark for referring to the filename for indexing corresponding data, accounts for 1 byte；Date and time be used to record data storage when
Between, 7 bytes are occupied, index file or historical data can be obtained by providing exact date or period when obtaining data
File；The first address of data file is the start address of the corresponding data file to be stored of index, accounts for 4 bytes.Data
File index format is as shown in Figure 2.
In the present invention, first FLASH storage index information of first storage card is chosen.Every page only stores a rope
Quotation part.This is because FLASH is programmed by page, if storing multiple index informations on one page, this is being stored
Before index file, need all to copy index information already present on the page somewhither, then another rise carries out page programming.
It not only will increase the complexity of realization in this way, while the loss or error of the index information to be copied may also be caused, simplify
Program, the FLASH the piece number by increasing storage index can expand the memory space of index, realize simple.Assuming that using one page
The method for storing multiple index informations, K9K8G08U0A type Flash one page can store 2Kbyte data, and an index information accounts for
17 bytes, i.e. one page FLASH can store 2000 ÷ 17=117.6 index files, that is to say, that copy more than 110 ability
The page is filled with, while the page is also required to more than 110 times of erasing, the service life of chip can be shortened, program realizes complexity, error-prone
And it is also more complex to obtain index information.Therefore every page of the present invention only stores an index file.Such as K9K8G08U0A type Flash
8192 × 64=524288 pages is shared, a piece of Flash can store more than 50 ten thousand index files.It, can be with if space is not enough
Increase the piece number for putting the Flash of index file.
Storage format of the index file in Flash is as shown in Figure 3.The first page of Flash can store the basic letter of product
Breath, one file index of every page of storage since page 2.
The Establishing process indexed in storage chip is as shown in Figure 4.System electrification searches this in index Flash first
It is every first to look into Flash using the lookup method of " first pressing page again by block " for the storage address of secondary index, the speed to accelerate to search
Whether first and second byte of the first page of block is leader will, continues to judge if it is jumping to next piece, until not being leader
Will, whether first and second byte for returning again to one piece of lookup every page is leader will, until first and second byte of this page
It is not leader will, i.e. the storage address of this secondary index；In addition, the starting point of this data storage must be included in index information
Location, and pass through the first address of its available corresponding data file of last file index, equally using " first pressing page again by block "
Lookup method come find this data storage first address.
Step 2: the storage of data
Index is established after completion, and the first ground of the data of this secondary storage has just been obtained according to the frame format of index file
Location can store the various data of acquisition；Also it to be able to respond reading index during due to data storage and reads to go through
History data command, it is necessary to establish inside and write data buffer storage.FPGA internal data flow direction figure is as shown in Figure 5.In view of Flash is every
2Kbyte (namely one page) carries out one-time programming, so the every 2Kbyte of data that acquisition comes is written once into storage card.
The data of acquisition are initially stored in the writing in FIFO of FPGA, then judge whether the data in FIFO expire 2Kbyte, if reaching
2Kbyte and reading FIFO have completed the reading of integer page data, then one are written into storage card for the next 2Kbyte data of acquisition
It is secondary, any read instruction is not responding to during writing data, until storage card is all written in 2Kbyte data.Read index or
When historical data, the storage of data ensure that.
Step 3: the acquisition of data
(1) index file is obtained
There are two types of the modes for obtaining index file: one, obtaining index file according to call number；Two, by the period or
Person's date obtains index file, and fault diagnosis computer issues reading index instruction, provides the call number for the index to be read
Some period on the either a certain date；Because also to guarantee the storage of data during reading index, need
It is established inside recorder and reads data buffer storage, for storing index data or historical data (as shown in Figure 5).Therefore it first has to sentence
It is disconnected to write whether data buffer storage expires 2Kbyte, if data expire 2Kbyte, Flash first is written into 2Kbyte data, then reads one again
Page index, and judge to read whether index file is completed, if do not completed, continues judgement and write whether data buffer storage expires 2Kbyte, according to
Secondary circulation, until completing to read index task.If establishing 100,000 indexes, index is all read to host computer to need to spend
Time be about 3s.The flow chart for obtaining index file is as shown in Figure 6.
(2) historical data is obtained
Historical data is read there are two types of mode, for one kind only to read a file, another kind continuously reads several data files, history
The acquisition of data is that selection is carried out according to the index for being uploaded to host computer, after host computer 9 obtains index information list, is only needed
Select corresponding index information, so that it may upload corresponding historical data；In practical operation, host computer issues reading individually or connects
Continue the instruction of several historical datas, index file required for then obtaining can be obtained the corresponding first ground of historical data in this way
Location and last address, the information that then host computer is sent to logger include " file first address+last of file address ", the first and last of file
Address uses 4 bytes, and for file first address in corresponding index information, last of file address is the first ground of next adjacent file
Location subtracts 1.Battery power down protection is not needed, hardware cost has been saved, improves the reliability of data.Because reading history number
Also to guarantee the storage of data according to period, data buffer storage be read so needing to establish inside recorder, for storing index data
Or historical data (as shown in Figure 5).Therefore it first has to judgement and writes whether data buffer storage expires 2Kbyte, if data expire 2Kbyte,
Flash first is written into 2Kbyte data, then followed by page of data of resuming studies, and judges to read whether historical data is completed, if not
It completes, continues judgement and write whether data buffer storage expires 2Kbyte, circuit sequentially, until completing to read historical data task.Obtain history
The flow chart of data is as shown in Figure 7.
As shown in figure 5, logger is written in order to acquire the data come during guaranteeing reading, need to establish in FPGA internal slow
It deposits.Once system is powered down, the data in caching will lose.If the last address letter of data file is added in index information
Breath, once power-off will lead to the last address that index can only obtain the first address of file and cannot get file, the later period obtains data
It will malfunction when file.The drawbacks of data are lost in this power down can be solved by increasing battery, but virtually be increased again
Hardware cost.Therefore the index file in the present invention only has the first address of data file, and last address passes through next index text
The address of data file in part subtracts one and obtains.It not only ensure that the reliability of data in this way, but also saved cost.
(3) real time data is read
It is not take up internal data bus when reading real time data, therefore does not influence the storage of data, the data of acquisition can be real
When return to computer.Present invention is mainly used for the real time monitorings of relevant parameter, record in product development, use process, are convenient for
It checks the changing rule of parameters, provides effective data supporting for design, the improvement of product.
In conclusion the real-time data acquisition and storage system and file management proposed by the present invention based on crusing robot is done
Method, after system carries out wireless data transmission by wireless transport module 4 and host computer 9, environment information acquisition module 7 is used for inspection
Temperature and humidity, methane, carbon dioxide, infrared and VOC around robot acquisition, motor module 6 control crusing robot crawler belt row
It walks and is used for positioning and label of the crusing robot to failure with mechanical arm activity, fault detection and mark module 8, can supervise in real time
Environmental information is surveyed, trolley and fault location is completed and simple fault excludes, real-time data acquisition and storage system of the invention is main
For the real time monitoring of relevant parameter, record in product development, use process, convenient for checking the changing rule of parameters, it is
Design, the improvement of product provide effective data supporting, mainly there is foundation to index the process that the data that acquisition comes are managed,
Storing data obtains index information, obtains historical data, obtains real time data.Data are obtaining index information or history simultaneously
It can guarantee the storage of the data of acquisition when data.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. the real-time data acquisition and storage system based on crusing robot, which is characterized in that including using FPGA as main control chip
Single-chip microcontroller main control module (1), memory module (2), display module (3), wireless transport module (4), power module (5), motor
Module (6), environment information acquisition module (7) and fault detection and mark module (8), the power module (5) are connected to
Single-chip microcontroller main control module (1) and motor module (6), single-chip microcontroller main control module (1) are connected to memory module (2), display mould
Block (3), wireless transport module (4), motor module (6), environment information acquisition module (7) and fault detection and mark module (8),
Wherein,
Single-chip microcontroller main control module (1) is the core component of crusing robot, and the control for whole system is run；
The data of memory module (2) real-time storage acquisition are simultaneously backed up；
Display module (3) is used to show the relevant parameter of crusing robot by the display screen on crusing robot；
Wireless transport module (4) can be used for crusing robot and host computer (9) carry out wireless data transmission；
Power module (5) is single-chip microcontroller main control module (1) and motor module (6) is powered, and carries out automatic storing electricity, battery capacity inspection
It surveys；
Motor module (6) controls crusing robot crawler travel and mechanical arm activity；
Environment information acquisition module (7) is for the environmental data around crusing robot acquisition, including temperature and humidity, methane, dioxy
Change carbon, infrared and VOC；
Fault detection and mark module (8) are used for positioning and label of the crusing robot to failure.
2. the real-time data acquisition and storage system according to claim 1 based on crusing robot, which is characterized in that described
The voltage of single-chip microcontroller main control module (1) is 5V.
3. the real-time data acquisition and storage system according to claim 1 based on crusing robot, which is characterized in that FPGA
Inside, which is established, reads FIFO and writes FIFO.
4. the real-time data acquisition and storage system according to claim 1 based on crusing robot, which is characterized in that described
Memory module (2) is made of the storage card of multiple 64G, and a storage card is made of multi-disc NAND Flash again.
5. the real-time data acquisition and storage system according to claim 1 based on crusing robot, which is characterized in that motor
Module (6) includes 2 direct current generators and 24 steering engines, and 2 direct current generators drive crawler travel, wherein 16 steering engines every four one
Group constitutes a mechanical arm.
6. according to claim 1 or 5 based on the real-time data acquisition and storage system of crusing robot, which is characterized in that
Mechanical arm is equipped with capture card, can be used for positioning and the label of failure.
7. the file management method based on crusing robot according to claim 1, which is characterized in that including walking as follows
It is rapid:
S1: index is established
It first has to establish index before the data of storage acquisition, it can be with data needed for quick search in storage card by index
Position, quick obtaining and final-period management convenient for data；
S2: the storage of data
Index is established after completion, the first address of the data of this secondary storage has just been obtained according to the frame format of index file, i.e.,
The various data of acquisition can be stored；
S3: the acquisition of data
(1) index file is obtained
There are two types of the modes for obtaining index file: one, obtaining index file according to call number；Two, pass through period or day
Phase obtains index file, and fault diagnosis computer issues reading index instruction, provide the index to be read call number or
It is some period on the either a certain date；
(2) historical data is obtained
Historical data is read there are two types of mode, for one kind only to read a file, another kind continuously reads several data files, historical data
Acquisition be that selection is carried out according to the index for being uploaded to host computer, after host computer (9) obtains index information list, only need to select
Select corresponding index information, so that it may upload corresponding historical data；
(3) real time data is read
It is not take up internal data bus when reading real time data, therefore does not influence the storage of data, the data of acquisition can return in real time
It is transmitted to computer.
8. the file management method according to claim 7 based on crusing robot, which is characterized in that data deposits in S2
Storage, selects first piece of FLASH of a piece of storage card as storage index information, and every page stores an index information.
9. the file management method according to claim 7 based on crusing robot, which is characterized in that S3 obtains history number
According to when, first address is obtained by the index of this data, the data file of the index of next data obtains end ground by address decrement
Location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811403101.8A CN109579908A (en) | 2018-11-19 | 2018-11-19 | Real-time data acquisition and storage system and file management method based on crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811403101.8A CN109579908A (en) | 2018-11-19 | 2018-11-19 | Real-time data acquisition and storage system and file management method based on crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109579908A true CN109579908A (en) | 2019-04-05 |
Family
ID=65923954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811403101.8A Pending CN109579908A (en) | 2018-11-19 | 2018-11-19 | Real-time data acquisition and storage system and file management method based on crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109579908A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176310A (en) * | 2019-12-31 | 2020-05-19 | 北京星际荣耀空间科技有限公司 | Test method, device and system for carrier rocket attitude control system |
| CN112148671A (en) * | 2020-08-21 | 2020-12-29 | 格创东智(天津)科技有限公司 | Data management system for Robot |
| CN112720443A (en) * | 2020-12-23 | 2021-04-30 | 中国计量大学 | Inspection robot and control device and inspection method thereof |
| CN113616117A (en) * | 2021-08-13 | 2021-11-09 | 珠海格力电器股份有限公司 | Cleaning area determination method, cleaning area determination device, cleaning area determination equipment and storage medium |
| CN113722271A (en) * | 2021-07-20 | 2021-11-30 | 湖南艾科诺维科技有限公司 | File management method, system and medium for data acquisition and playback |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3842154B2 (en) * | 2002-03-18 | 2006-11-08 | 三菱電機株式会社 | Power system monitoring and control device |
| CN102637197A (en) * | 2012-02-28 | 2012-08-15 | 中北大学 | File management method of real-time data acquisition and storage system |
| CN105945895A (en) * | 2016-06-08 | 2016-09-21 | 徐洪军 | Intelligent patrol inspection robot for cable tunnel |
| CN108400653A (en) * | 2018-03-29 | 2018-08-14 | 哈尔滨理工大学 | A kind of intelligent substation inspection system |
| CN108494097A (en) * | 2018-05-09 | 2018-09-04 | 国网浙江省电力有限公司温州供电公司 | Robot inspection system for substation |
-
2018
- 2018-11-19 CN CN201811403101.8A patent/CN109579908A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3842154B2 (en) * | 2002-03-18 | 2006-11-08 | 三菱電機株式会社 | Power system monitoring and control device |
| CN102637197A (en) * | 2012-02-28 | 2012-08-15 | 中北大学 | File management method of real-time data acquisition and storage system |
| CN105945895A (en) * | 2016-06-08 | 2016-09-21 | 徐洪军 | Intelligent patrol inspection robot for cable tunnel |
| CN108400653A (en) * | 2018-03-29 | 2018-08-14 | 哈尔滨理工大学 | A kind of intelligent substation inspection system |
| CN108494097A (en) * | 2018-05-09 | 2018-09-04 | 国网浙江省电力有限公司温州供电公司 | Robot inspection system for substation |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176310A (en) * | 2019-12-31 | 2020-05-19 | 北京星际荣耀空间科技有限公司 | Test method, device and system for carrier rocket attitude control system |
| CN112148671A (en) * | 2020-08-21 | 2020-12-29 | 格创东智(天津)科技有限公司 | Data management system for Robot |
| CN112148671B (en) * | 2020-08-21 | 2023-08-22 | 格创东智(天津)科技有限公司 | Data management system for Robot |
| CN112720443A (en) * | 2020-12-23 | 2021-04-30 | 中国计量大学 | Inspection robot and control device and inspection method thereof |
| CN113722271A (en) * | 2021-07-20 | 2021-11-30 | 湖南艾科诺维科技有限公司 | File management method, system and medium for data acquisition and playback |
| CN113722271B (en) * | 2021-07-20 | 2023-11-21 | 湖南艾科诺维科技有限公司 | File management method, system and medium for data acquisition and playback |
| CN113616117A (en) * | 2021-08-13 | 2021-11-09 | 珠海格力电器股份有限公司 | Cleaning area determination method, cleaning area determination device, cleaning area determination equipment and storage medium |
| CN113616117B (en) * | 2021-08-13 | 2022-08-16 | 珠海格力电器股份有限公司 | Cleaning area determination method, cleaning area determination device, cleaning area determination equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109579908A (en) | Real-time data acquisition and storage system and file management method based on crusing robot | |
| CN1982863B (en) | Universal micro-satellite comprehensive testing platform based on PXI system | |
| CN105005658B (en) | Transformer station's integrated system apparatus logic emulation mode | |
| CN102403788B (en) | Test system applicable to southern power grid communication guaranteeing system | |
| CN107193375A (en) | A kind of electric power safety production scene interaction systems based on virtual reality | |
| CN101958536A (en) | Distribution network failure isolation and quick power service restoration decision support system | |
| CN103778230B (en) | Online automatic generation method for black-start scheme | |
| CN110597791B (en) | Knowledge database construction and management method for operation and maintenance of electric power metering equipment | |
| CN107065837A (en) | Simulation test platform, automatic simulation test system and method for testing | |
| CN107025344A (en) | A kind of power distribution automation analogue system and emulation mode for distribution DTS | |
| CN105491038A (en) | Intelligent device protocol analysis method | |
| CN109614527A (en) | Overhaul view generation method, apparatus, computer equipment and storage medium | |
| CN105958644A (en) | Pressing plate information management system for intelligent transformer station | |
| CN106292360A (en) | Telemetry system on a kind of aircraft based on number bus | |
| CN108921239A (en) | Duct size information monitoring system based on two dimensional code | |
| CN204465143U (en) | Distribution line detects and management system | |
| CN208432876U (en) | DC distribution net real-time emulation system | |
| CN111276929B (en) | Information recording method for fault expert diagnosis of power system | |
| CN109768625A (en) | A kind of electric system overhaul management terminal and method | |
| CN106843041A (en) | The anti-error logical formula automation generation system and method for electrical equipment | |
| CN105867336A (en) | Intelligent monitoring system and method for seismic station | |
| CN105134296B (en) | Digital mine safety monitoring system | |
| CN109410718A (en) | Phase modifier simulation training system and its method | |
| CN107967301B (en) | Method and device for storing and inquiring monitoring data of power cable tunnel | |
| CN104077454A (en) | Three-dimensional plant station simulation system and method based on power grid accident |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190405 |
|
| WD01 | Invention patent application deemed withdrawn after publication |