CN110068332A - Substation inspection path planning apparatus and method based on wearable device - Google Patents
Substation inspection path planning apparatus and method based on wearable device Download PDFInfo
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Abstract
The invention discloses a kind of substation inspection path planning apparatus and method based on wearable device, device includes: wearable MR EM equipment module, scans the indoor information of inspection substation, obtains coarse surface data；Background server, including Unity image processing module and genetic algorithm module, the rough surface data that Unity image processing module obtains wearable MR EM equipment module are handled, background server transfers genetic algorithm module and generates indoor path planning according to the equipment listed on patrol task inventory and the processing result of Unity image processing module；Communication layers module, wearable MR EM equipment module carry out the transmitted in both directions of information by communication layers module and background server module.The present invention is navigated in real time for patrol officer using the Map building ability of wearable MR EM equipment module and the optimizing ability of genetic algorithm module, can be optimized the polling path of patrol officer according to patrol task inventory, be improved routing inspection efficiency, save monitoring time.
Description
Technical field
The present invention relates to polling path planning technology fields, are based especially on the substation inspection system of wearable MR equipment
System.
Background technique
Patrol officer personal experience is relied on using the polling path of the substation of papery operation routine inspection mode mostly at present, one
A little substations using handheld PDA device progress inspection are scanned the two-dimensional code by handheld device to identify equipment, but are not also
The paths planning method of system.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of, and the substation inspection path based on wearable device is advised
Device and method is drawn, the polling path of patrol officer can be optimized according to patrol task inventory, improve routing inspection efficiency.
In order to solve the above technical problems, the present invention adopts the following technical scheme: the substation inspection based on wearable device
Path planning apparatus, comprising:
Wearable MR EM equipment module scans the indoor information of inspection substation, obtains coarse surface data；
Background server, including Unity image processing module and genetic algorithm module, Unity image processing module pair
The rough surface data that wearable MR EM equipment module obtains are handled, and background server on patrol task inventory according to listing
The processing result of equipment and Unity image processing module transfers genetic algorithm module and generates indoor path planning；
Communication layers module, wearable MR EM equipment module carry out the double of information by communication layers module and background server module
To transmission.
Optionally, pass through following steps when carrying out map structuring using wearable MR EM equipment module:
1) scan inspection substation indoor information, obtained depth map is converted be for unit rice format；
2) position and angle of the video camera relative to original state are calculated by depth information, using the method for feature extraction
It detects the key point in image, the key point of two continuous frames is matched, so that anti-solution obtains the variation of camera position
Amount carries out location estimation compared with carrying out repeatedly with several frames of more front, reduces the accumulation of error；
3) according to the position of current camera, the information that will acquire in real time incorporates network model, and opening of device continually scans for,
Increment type map is improved, guarantees that model covers every nook and cranny, by incremental map and environment understanding when carrying out new positioning
Camera auxiliary.
Optionally, Unity image processing module processing method is the position by calculating the normal vector calculated pixel on vertex
It sets in ground, metope or ceiling, the upward point set of normal vector is ground, and the point set of normal vector level is metope, normal direction
Measuring downward point set is then ceiling, and image need to carry out smooth treatment.
Optionally, some road signs are arranged in Unity image processing module during processing, by doorway and each electrically set
Standby position, which all marks out, to be come.
Optionally, it is as follows to carry out Programming to polling path for genetic algorithm module:
Firstly, the road sign for identifying each electrical equipment in map is numbered, default doorway is No. 1；
Secondly, indicated ground determines the communication path of each electrical equipment according to the map, calculate each to be checked electrical
The minimum fold line distance of equipment between any two；
Then, using fold line distance as weight, the distance matrix of equipment to be checked is generated,
The element l of distance matrixijThe minimum fold line distance for representing equipment i to equipment j, to the distance l of itselfiiThen it is
Zero, n-1 equipment to be checked are shared in inventory；Because road sign 1 is always in planning sequence in inspection always since doorway
First element, to determine such a sequence 1 ..., si..., sn-1, siFor certain number in 2~n, the value range of i is
[1, n-1], and the element in entire sequence is different two-by-two, so that its inspection determined is smaller apart from value, it may be assumed that
Optionally, the step of being solved using genetic algorithm module to polling path is as follows:
1) coding is directly beginning with 1, and direct coding is carried out in a manner of sequence to the natural number of 1~n；
2) population at individual quantity is arranged in the generation of initial population, and M qualified random sequences are randomly generated；
3) target that fitness calculates is to keep L as small as possible, and L is smaller, and fitness J is bigger, and fitness is enabled to have following meter
Calculate formula:
4) Selecting operation calculates the relative adaptability degrees size of each individual
FiThe probability that some individual is genetic in next-generation group is represented, the sum of total probability is 1, M sequence probability
M probability interval is determined, it is therefore apparent that fitness size is directly proportional corresponding thereto for each interval width, generates between K 0~1
Random number, the number that sequence is selected is determined according to the probability interval belonging to it, to generate new group；
5) crossing operation carries out random pair to group, keeps first element constant, be randomly provided friendship in other positions
Crunode, the corresponding gene between exchange pairing, the exchange of chromosome segment may cause the certain elements of entire sequence
Repeat or missing, the characteristics of for this problem, in order to guarantee the integrality of sequential element and not repeated, to exchange area outside
Chromosomal section adjust accordingly, repeat element is seriatim replaced with absent element according to tandem, for identical
Two father's individuals can then generate two identical son individuals；
6) mutation operator is changed according to gene of the lesser probability to chromosome, is executed repeatedly 3), 4), 5), 6),
After recycling certain number, solves and meet the requirements and can stop.
Optionally, the method being changed to a sequence is in the case where keeping first element constant, to other
Two elements swap.
It optionally, further include expert's remote assisting system, wearable MR EM equipment module is long-range by communication layers module and family
Assistance system carries out the transmitted in both directions of information, can remotely see what wearable MR equipment was shown by expert's remote assisting system
Mixed reality information, and guidance is provided for patrol officer.
It optionally, further include SCADA system, the information of electrical equipment collected is stored to backstage and taken by SCADA system
It is engaged in device.
The present invention also provides a kind of substation inspection system paths planning method based on wearable device, including it is as follows
Step:
1) background server module is stored with history inspection data, while the reality of the primary equipment to SCADA system acquisition
When data saved in real time, to be transferred when inspection；
2) patrol officer logs in the wearable MR EM equipment module worn by work number, obtains patrol task inventory, Mei Daoyi
A inspection room, meeting automatic identification doorway information, background server module transfer Unity image processing module and genetic algorithm mould
Block generates indoor path planning；
3) inspection is carried out according to the path of systems organization, patrol officer passes through the mixed reality function of wearable MR EM equipment module
It can be it can be seen that the virtual arrow generated on ground, virtual information can indicate that patrol officer reaches correct inspection interval；
4) after reaching inspection interval, confirmation is scanned to electrical equipment, the project to be checked of equipment will appear prompt, use
Gesture or voice are interacted with equipment, each inspection item can intelligently show standard parameter and read actual parameter,
Intelligence judges, and patrol officer carries out check confirmation by gesture interaction；
5) patrol officer transfers historical data, historical photograph and SCADA data, after project confirmation, saves inspection number
According to and take pictures, upload data later, after projects inspection of this equipment is complete, can self-navigation subsequent work interval,
If there are also the projects of not completing, it may appear that corresponding prompt；
6) it when encountering problems during inspection, can be got help by expert's remote assisting system, expert can be long-range
See the mixed reality information that wearable MR equipment is shown, transfer related data, provides corresponding guidance for patrol officer；
7) after inspection, background server backup inspection data are simultaneously labeled.
The present invention by adopting the above technical scheme, utilizes the Map building ability and genetic algorithm mould of wearable MR EM equipment module
The optimizing ability of block navigates for patrol officer in real time, can optimize the polling path of patrol officer according to patrol task inventory,
Routing inspection efficiency is improved, monitoring time is saved.
The specific technical solution of the present invention and its advantages will in the following detailed description in conjunction with attached drawing into
Row detailed description.
Detailed description of the invention
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the structure of the substation inspection system of the invention that can carry out path planning based on wearable MR equipment
Schematic diagram；
Fig. 2 is the structural schematic diagram of wearable MR EM equipment module；
In figure: 1, wearable MR EM equipment module, 2, communication layers module, 3, background server module, 4, Unity image procossing
Module, 5, genetic algorithm module, 6, electrical equipment, 7, SCADA system, 8, expert's remote assisting system, 201, the helmet, 202, head
Helmet, 202, infrared equipment, 203, MR glasses, 204, gesture recognition module, 205, speech recognition module, 206, image recognition mould
Block.
Specific embodiment
Embodiment one
Refering to what is shown in Fig. 1, the substation inspection path planning apparatus based on wearable device, comprising:
Wearable MR EM equipment module 1 scans the indoor information of inspection substation, obtains coarse surface data；
Background server module 3, including Unity image processing module 4 and genetic algorithm module 5, Unity image procossing
The rough surface data that module obtains wearable MR EM equipment module are handled, and background server module is clear according to patrol task
The processing result of the equipment and Unity image processing module listed on list transfers genetic algorithm module and generates indoor path rule
It draws；
Communication layers module 2, wearable MR EM equipment module carry out information by communication layers module and background server module
Transmitted in both directions, the transmission of transmission and auxiliary inspection information including inspection information.
Refering to what is shown in Fig. 2, wearable MR EM equipment module 1 includes the helmet 201, infrared equipment 202, MR glasses 203, MR glasses
203 have gesture recognition module 204 and speech recognition module 205, picture recognition module 206, pass through MR glasses 203, Ke Yishi
The functions such as existing gesture identification, speech recognition, image recognition, so as to carry out information exchange with user.
Pass through following steps when carrying out map structuring using wearable MR EM equipment module:
1) scan inspection substation indoor information, obtained depth map is converted be for unit rice format；
2) position and angle of the video camera relative to original state are calculated by depth information, using the method for feature extraction
It detects the key point in image, the key point of two continuous frames is matched, so that anti-solution obtains the variation of camera position
Amount carries out location estimation compared with carrying out repeatedly with several frames of more front, reduces the accumulation of error；
3) according to the position of current camera, the information that will acquire in real time incorporates network model, and opening of device continually scans for,
Increment type map is improved, guarantees that model covers every nook and cranny, by incremental map and environment understanding when carrying out new positioning
Camera auxiliary.
It is on ground that Unity image processing module processing method, which is by the position for calculating the normal vector calculated pixel on vertex,
Face, metope or ceiling, the upward point set of normal vector are ground, the point set of normal vector level is metope, and normal vector is downwards
Point set is then ceiling, and image need to carry out smooth treatment.
Some road signs are arranged in Unity image processing module during processing, by doorway and the position of each electrical equipment
It sets all to mark out.
It is as follows that genetic algorithm module carries out Programming to polling path:
Firstly, the road sign for identifying each electrical equipment in map is numbered, default doorway is No. 1；
Secondly, indicated ground determines the communication path of each electrical equipment according to the map, calculate each to be checked electrical
The minimum fold line distance of equipment between any two；
Then, using fold line distance as weight, the distance matrix of equipment to be checked is generated.
The element l of distance matrixijThe minimum fold line distance for representing equipment i to equipment j, to the distance l of itselfiiThen it is
Zero, n-1 equipment to be checked are shared in inventory；Because road sign 1 is always in planning sequence in inspection always since doorway
First element, to determine such a sequence 1 ..., si..., sn-1, siFor certain number in 2~n, the value range of i is
[1, n-1], and the element in entire sequence is different two-by-two, so that its inspection determined is smaller apart from value, it may be assumed that
Genetic algorithm is a kind of optimal solution search method for simulating biological evolution, looks for a kind of preferably inspection sequence here
Column, need the fitness of the sequence of calculation, need to obtain phase from distance matrix according to adjacent inspection number when calculating fitness
It should be apart from element.The step of being solved using genetic algorithm module to polling path is as follows:
The step of being solved using genetic algorithm module to polling path is as follows:
1) coding is directly beginning with 1, and direct coding is carried out in a manner of sequence to the natural number of 1~n；
2) population at individual quantity is arranged in the generation of initial population, and M qualified random sequences are randomly generated；
3) target that fitness calculates is to keep L as small as possible, and L is smaller, and fitness J is bigger, and fitness is enabled to have following meter
Calculate formula:
4) Selecting operation calculates the relative adaptability degrees size of each individual
FiThe probability that some individual is genetic in next-generation group is represented, the sum of total probability is 1, M sequence probability
M probability interval is determined, it is therefore apparent that fitness size is directly proportional corresponding thereto for each interval width, generates between K 0~1
Random number, the number that sequence is selected is determined according to the probability interval belonging to it, to generate new group；
5) crossing operation carries out random pair to group, keeps first element constant, be randomly provided friendship in other positions
Crunode, the corresponding gene between exchange pairing, the exchange of chromosome segment may cause the certain elements of entire sequence
Repeat or missing, the characteristics of for this problem, in order to guarantee the integrality of sequential element and not repeated, to exchange area outside
Chromosomal section adjust accordingly, repeat element is seriatim replaced with absent element according to tandem, for identical
Two father's individuals can then generate two identical son individuals；
6) mutation operator is changed according to gene of the lesser probability to chromosome, is executed repeatedly 3), 4), 5), 6),
After recycling certain number, solves and meet the requirements and can stop.
It is in the case where keeping first element constant, to other two elements to the method that a sequence is changed
It swaps.
It further include expert's remote assisting system 8, wearable MR EM equipment module passes through communication layers module and family's remote assistance system
System carries out the transmitted in both directions of information, and the transmission of transmission and expert diagnostics information including live inspection information is long-range by expert
Assistance system can remotely see the mixed reality information that wearable MR equipment is shown, and provide guidance for patrol officer.
It further include SCADA system 7, SCADA system stores the information of electrical equipment 6 collected to background server
In.
Embodiment two
Substation inspection system paths planning method based on wearable device, includes the following steps:
1) background server module is stored with history inspection data, while the reality of the primary equipment to SCADA system acquisition
When data saved in real time, to be transferred when inspection；
2) patrol officer logs in the wearable MR EM equipment module worn by work number, obtains patrol task inventory, Mei Daoyi
A inspection room, MR equipment, which is scanned the special identifier on doorway and transfers Unity image processing module, carries out image recognition,
System is set to confirm room to be checked by comparing with storage image, according to task list by the device numbering shape to be checked in this room to be checked
At sequence, background server module transfers genetic algorithm module and finds optimization, generates indoor path planning；
3) inspection is carried out according to the path of systems organization, patrol officer passes through the mixed reality function of wearable MR EM equipment module
It can be it can be seen that the virtual arrow generated on ground, virtual information can indicate that patrol officer reaches correct inspection interval；
4) after reaching inspection interval, MR equipment is scanned electrical equipment identifier number, transfers Unity image procossing mould
Block carries out image recognition to confirm specific equipment, and the project to be checked of equipment will appear prompt, using gesture or voice and equipment
It interacts, each inspection item can intelligently show the standard parameter being arranged in advance and read actual parameter, for number
Formula instrument is read with pointer instrument by image recognition, for needing artificial cognition situation, as equipment damaged degree,
The grade of actual conditions is inputted electrical form using the dummy keyboard of MR equipment by sanitary conditions etc., staff, and system passes through
Identification data and artificial input data are read, is compared with standard parameter, checks whether to be more than its threshold value, intelligently makes and sentencing
Disconnected, patrol officer carries out check confirmation by gesture interaction；
5) system projects all projects to be checked of an equipment to be checked in the form of virtual graph target, and icon is in the visual field
In be located proximate to corresponding instrument, such as temperature identification icon, voltage read icon, do not examine project icon and constantly flash, pass through
Gesture interaction clicks respective icon and carries out this purpose detection, and patrol officer transfers historical data, historical photograph and SCADA number
According to obtaining auxiliary information, inspection data are saved after the completion of item detection and taking pictures, upload data simultaneously submit inspection as a result, phase
Icon stopping is answered to flash, if icon flashes the corresponding prompt of appearance there are also the project of not completing.When projects inspection of this equipment it is complete it
It afterwards, can self-navigation subsequent work interval；
6) it when encountering problems during inspection, can be got help by expert's remote assisting system, expert can be long-range
See the mixed reality information that wearable MR equipment is shown, transfer related data, provides corresponding guidance for patrol officer；
7) after inspection, background server backup inspection data are simultaneously labeled.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, is familiar with
The those skilled in the art should be understood that the present invention includes but is not limited to content described in specific embodiment above.It is any
Modification without departing from function and structure principle of the invention is intended to be included in the range of claims.
Claims (10)
1. the substation inspection path planning apparatus based on wearable device, characterized by comprising:
Wearable MR EM equipment module scans the indoor information of inspection substation, obtains coarse surface data；
Background server module, including Unity image processing module and genetic algorithm module, Unity image processing module pair
The rough surface data that wearable MR EM equipment module obtains are handled, and background server on patrol task inventory according to listing
The processing result of equipment and Unity image processing module transfers genetic algorithm module and generates indoor path planning；
Communication layers module, wearable MR EM equipment module carry out the two-way biography of information by communication layers module and background server module
It is defeated.
2. the substation inspection path planning apparatus according to claim 1 based on wearable device, it is characterised in that: adopt
Pass through following steps when carrying out map structuring with wearable MR EM equipment module:
1) scan inspection substation indoor information, obtained depth map is converted be for unit rice format；
2) position and angle of the video camera relative to original state are calculated by depth information, is detected using the method for feature extraction
Key point in image out matches the key point of two continuous frames, so that anti-solution obtains the variable quantity of camera position, with
More several frames of front carry out repeatedly relatively carrying out location estimation, reduce the accumulation of error；
3) according to the position of current camera, the information that will acquire in real time incorporates network model, and opening of device continually scans for, perfect
Increment type map guarantees that model covers every nook and cranny, image when new positioning by incremental map and environment understanding
Head auxiliary.
3. the substation inspection path planning apparatus according to claim 1 based on wearable device, it is characterised in that:
It is on ground, metope that Unity image processing module processing method, which is by the position for calculating the normal vector calculated pixel on vertex,
Or ceiling, the upward point set of normal vector are ground, and the point set of normal vector level is metope, and the downward point set of normal vector is then
Ceiling, and image need to carry out smooth treatment.
4. the substation inspection path planning apparatus according to claim 3 based on wearable device, it is characterised in that:
Some road signs are arranged in Unity image processing module during processing, and the position on doorway and each electrical equipment is marked
Out.
5. the substation inspection path planning apparatus according to claim 4 based on wearable device, it is characterised in that: lose
It is as follows that propagation algorithm module carries out Programming to polling path:
Firstly, the road sign for identifying each electrical equipment in map is numbered, default doorway is No. 1；
Secondly, indicated ground determines the communication path of each electrical equipment according to the map, each electrical equipment to be checked is calculated
Minimum fold line distance between any two；
Then, using fold line distance as weight, the distance matrix of equipment to be checked is generated,
The element l of distance matrixijThe minimum fold line distance for representing equipment i to equipment j, to the distance l of itselfiiIt is then zero, clearly
N-1 equipment to be checked are shared in list；Because in inspection always since doorway, road sign 1 is always the of planning sequence
One element will determine such a sequence 1 ..., si..., sn-1, siFor certain number in 2~n, the value range of i be [1,
N-1], and the element in entire sequence is different two-by-two, so that its inspection determined is smaller apart from value, it may be assumed that
6. the substation inspection path planning apparatus according to claim 5 based on wearable device, it is characterised in that: adopt
The step of being solved with genetic algorithm module to polling path is as follows:
1) coding is directly beginning with 1, and direct coding is carried out in a manner of sequence to the natural number of 1~n；
2) population at individual quantity is arranged in the generation of initial population, and M qualified random sequences are randomly generated；
3) target that fitness calculates is to keep L as small as possible, and L is smaller, and fitness J is bigger, and fitness is enabled to have following calculating public
Formula:
4) Selecting operation calculates the relative adaptability degrees size of each individual
FiThe probability that some individual is genetic in next-generation group is represented, the sum of total probability is that 1, M sequence probability has determined
M probability interval, it is therefore apparent that fitness size is directly proportional corresponding thereto for each interval width, generates random between K 0~1
Number determines the number that sequence is selected according to the probability interval belonging to it, to generate new group；
5) crossing operation carries out random pair to group, keeps first element constant, be randomly provided intersection in other positions
Point, the corresponding gene between exchange pairing, in order to guarantee the integrality of sequential element and not repeated, to exchange area
Outer chromosomal section adjusts accordingly, and repeat element is seriatim replaced with absent element according to tandem, for identical
Two father's individuals can then generate two it is identical son individual；
6) mutation operator is changed according to gene of the lesser probability to chromosome, is executed 3), 4), 5), 6), is being followed repeatedly
After the certain number of ring, solves and meet the requirements and can stop.
7. the substation inspection path planning apparatus according to claim 6 based on wearable device, it is characterised in that: right
The method that one sequence is changed is to swap in the case where keeping first element constant to other two elements.
8. the substation inspection path planning apparatus according to claim 1 based on wearable device, it is characterised in that: also
Including expert's remote assisting system, wearable MR EM equipment module carries out information by communication layers module and family's remote assisting system
Transmitted in both directions can remotely see the mixed reality information that wearable MR equipment is shown by expert's remote assisting system, and
Guidance is provided for patrol officer.
9. the substation inspection path planning apparatus according to claim 1 based on wearable device, it is characterised in that: also
Including SCADA system, SCADA system stores the information of electrical equipment collected into background server.
10. the substation inspection system paths planning method based on wearable device, it is characterised in that include the following steps:
1) background server module is stored with history inspection data, while the real-time number of the primary equipment to SCADA system acquisition
According to being saved in real time, to be transferred when inspection；
2) patrol officer logs in the wearable MR EM equipment module worn by work number, obtains patrol task inventory, every one is patrolled
Room is examined, meeting automatic identification doorway information, background server module transfers Unity image processing module and genetic algorithm module is raw
At indoor path planning；
3) inspection is carried out according to the path of systems organization, patrol officer can by the mixed reality function of wearable MR EM equipment module
To see that the virtual arrow generated on ground, virtual information can indicate that patrol officer reaches correct inspection interval；
4) after reaching inspection interval, confirmation is scanned to electrical equipment, the project to be checked of equipment will appear prompt, using gesture
Or voice is interacted with equipment, each inspection item can intelligently show standard parameter and read actual parameter, intelligence
It judges, patrol officer carries out check confirmation by gesture interaction；
5) patrol officer transfers historical data, historical photograph and SCADA data, after project confirmation, saves inspection data simultaneously
It takes pictures, uploads data later, after projects inspection of this equipment is complete, meeting self-navigation subsequent work interval, if also
There is unfinished project, it may appear that corresponding prompt；
6) it when encountering problems during inspection, can be got help by expert's remote assisting system, expert can remotely see
The mixed reality information that wearable MR equipment is shown, transfers related data, provides corresponding guidance for patrol officer；
7) after inspection, background server backup inspection data are simultaneously labeled.
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| CN202210216004.8A CN114636424B (en) | 2019-02-21 | 2019-02-21 | Substation inspection path planning method based on wearable equipment |
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| CN110068332B (en) | 2022-06-24 |
| CN114636424A (en) | 2022-06-17 |
| CN114636424B (en) | 2024-04-19 |
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