CN110111442A - Equipment routing inspection method and inspection device in a kind of region - Google Patents
Equipment routing inspection method and inspection device in a kind of region Download PDFInfo
- Publication number
- CN110111442A CN110111442A CN201910478157.8A CN201910478157A CN110111442A CN 110111442 A CN110111442 A CN 110111442A CN 201910478157 A CN201910478157 A CN 201910478157A CN 110111442 A CN110111442 A CN 110111442A
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- Prior art keywords
- inspection
- inspection device
- region
- target point
- polling path
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
A kind of equipment routing inspection method in region, comprises the following steps: S1, building inspection virtual map；S2, barrier is defined on inspection virtual map；S3, default polling path construct the polling path of inspection device evacuation barrier by the target point of required inspection；S4, in the polling path, master control system, in the posture information of current inspection target point and the coordinate information of next inspection target point, calculated according to inspection device by data analysis and processing unit, provides optimal polling path for inspection device.The invention has the following beneficial effects: conventional project inspections outside electricity substation room, it thoroughly solves the derailing of rail type inspection, angular error, walk the drawbacks such as fixed route, Double deference GPS positioning uses Intelligent tracing mode, base station adds movement station mode, the error that base station solves oneself is sent to movement station in radio frequencies, movement station oneself subtracts the error amount that base station is sent after solving GPS location again, obtains accurate location, error is within 10MM.
Description
Technical field
The present invention relates to substation inspection fields, and in particular to equipment routing inspection method and inspection device in a kind of region.
Background technique
Currently, greatly developing with smart grid and robot technology, more and more robots are applied to power transformation
It stands in inspection, realizes comprehensive complete autonomous inspection round-the-clock to substation equipment, substitute traditional manual inspection mode, improve
The automation and intelligence of substation inspection, crusing robot plays increasingly important role in substation inspection.
In crusing robot system, how to realize the positioning of crusing robot and navigation is one critically important and crucial
Technology.The method for mostly using laid rail road, laser positioning, image analysis in the technology used now greatly realizes positioning and navigation,
These methods all have the shortcomings that the complicated positioning accuracy of construction is not high and is influenced by objective factor.
Summary of the invention
For the deficiency in the presence of the prior art, the present invention provides a kind of equipment routing inspection methods in region and inspection to set
It is standby, its object is to solve electricity substation room, outer conventional project inspection, thoroughly solve the derailing of rail type inspection, angle is missed
Difference walks the problems such as fixed route.
To achieve the above object, present invention employs the following technical solutions:
A kind of equipment routing inspection method in region, comprises the following steps: S1, master control system are according to the reality of the wanted inspection of acquisition
The actual size data information of scene area constructs inspection virtual map；
S2, the target point to match with the quantity of the equipment in outdoor scene region and position is established on inspection virtual map
Position；And the target point is defined as barrier on inspection virtual map；
S3, default polling path construct the inspection road of inspection device evacuation barrier by the target point of required inspection
Diameter；
S4, in the polling path, master control system according to inspection device in the posture information of current inspection target point and
The coordinate information of next inspection target point, is calculated by data analysis and processing unit, provides optimal inspection road for inspection device
Diameter.
Compared with the prior art, the invention has the following beneficial effects: conventional project inspections outside electricity substation room, thoroughly
It solving the derailing of rail type inspection, angular error, walks the drawbacks such as fixed route, Double deference GPS positioning uses Intelligent tracing mode,
Base station adds movement station mode, and the error that base station solves oneself is sent to movement station, movement station oneself solution in radio frequencies
It subtracts the error amount that base station is sent after GPS location again out, obtains accurate location, error is within 10MM.
Detailed description of the invention
Fig. 1 is block diagram of the invention；
Fig. 2 is flow diagram of the invention.
Specific embodiment
The technical solution in the present invention is further illustrated with reference to the accompanying drawings and embodiments.
As shown in Figure 1, 2, a kind of equipment routing inspection method in region, which is characterized in that comprise the following steps:
S1, master control system are virtual according to the building inspection of the actual size data information in the outdoor scene region of the wanted inspection of acquisition
Map；
S2, the target point to match with the quantity of the equipment in outdoor scene region and position is established on inspection virtual map
Position；And the target point is defined as barrier on inspection virtual map, wherein barrier further include substation other set
It arranges standby；
S3, default polling path construct the inspection road of inspection device evacuation barrier by the target point of required inspection
Diameter；
S4, in the polling path, master control system according to inspection device in the posture information of current inspection target point and
The coordinate information of next inspection target point, is calculated by data analysis and processing unit, provides optimal inspection road for inspection device
Diameter.
Inspection virtual map establishes mode in the S1 step are as follows:
S11, the diameter latitude data for acquiring wanted region of patrolling and examining outermost quadrangle, establish map shape；
S12, interior zone addition obstacle article coordinate and inspection coordinate in map shape, form the inspection virtually
Figure.
Any point is taken from 4 coordinates, then this point uses the longitude and latitude of consecutive points first it as reference coordinate
Reference coordinate is subtracted, obtains difference, then calculates the due north misalignment angle of triangle with tangent value, there is the length of due north angle and it
Degree, the edge point for the map making that can be put then, consecutive points take a little to a direction.
The building mode of polling path in the S3 step are as follows:
S31, the map is subdivided into several regions, a region is selected to be put into as starting point, and by the starting point
It selects in list；
S32,8 adjacent regions of starting point are put into alternate list, calculated from starting point respectively via 8 adjacent areas
Expense needed for reaching next inspection target point is simultaneously compared, and the corresponding adjacent area of minimal-overhead is selected to rise as new
Point has selected the new starting point in list from alternate list immigration；Deleting cannot reach in alternate list or have been placed in
Select the region of list；Path is saved after reaching next inspection target point；All areas in list and alternate list have been selected in deletion；
It repeats the above steps, cooks up the polling path of all inspection target points.
Inspection device is oriented by Double deference GPS Differential positioning method, by two mobile differential GPS positioning inspection device warps
Latitude coordinate points are respectively X1, Y1 and X2, Y2, straight line and direct north the first angle of formation that two o'clock is constituted.
The straight line and direct north that current location locating for inspection device and next inspection coordinate are constituted form the second angle, root
Go out the inspection device angle to be turned to according to the first angle and the second angle calcu-lation；Above step is repeated, until inspection is completed.
Master control system receives the inspection device that measures of ultrasonic radar distance measuring sensor on inspection device and barrier
Distance, in looping to determine if measure trolley surrounding random moving obstacle be less than setting apart from when, trolley is according to surrounding
It moves after rotating the subdivision angle that one sets, if circulation slowly is gone down, will become further along in probe induction direction
One arc-shaped track, it must be tangent with barrier, after obtaining points of tangency, allows trolley in parallel forward, after cut-through object,
With current position, the new route in point list is recalculated, is brought into operation.
After inspection device is in current point coordinate transformation as the coordinate of grating map, calculated according to the track of A* pathfinding
Next target position coordinate calculates the linear equation of current location and next target point, it and inspection device posture straight line side
Journey goes out the trolley angle to be turned to according to the two equation calculations, so recycles, reaches target position.
The inspection device that inspection operation is carried out by the above method includes two differential GPS receivers, is separately mounted to patrol
Front end and the tail end for examining equipment, for positioning the direction of inspection device；Multiple ultrasonic radar distance measuring sensors, are separately mounted to
The surrounding of inspection device；Power module, the supply for electric power during inspection device inspection；Control module, the control mould
Block completes the comparison of video image frame, controls the automatic detecting of the robot for the data processing to entire robot；It is logical
Module is interrogated, control module is connected to, information exchange is realized by serial ports.
Inspection device is moveable trolley, can specifically include chassis, installs running wheel on four angles on chassis
Or traveling crawler is installed on chassis, power module uses battery pack, and battery pack is fixed in the battery case installed on chassis, can
Mobile kinetic energy is provided for trolley, power supply can also be provided for control module and communication module, device needed for inspection is mounted on bottom
Disk upper surface, battery pack are that motor is powered to drive trolley movement that can be realized using the prior art, such as electro-tricycle or electricity
The mobile technology of electrical automobile.Control module can use Taiwan MOXA server (5210 RS232 of NPort), in communication module
Using 300M wireless router (4 couples of gigabit port 5G double-frequency wireless WIFI high speed fibre through walls kings 3 through walls of millet router).This
Invention uses the computer as master control system, draws out grid obstacle map by the longitude and latitude of practical substation, in movement mesh
The grid coordinate to be walked is preset in punctuation bit, is tracked algorithm using A*, and shortest path is calculated, it is then poor by double GPS again
The direction of advance for dividing positioning to constitute the method orientation trolley of straight line.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (6)
1. a kind of equipment routing inspection method in region, which is characterized in that comprise the following steps:
S1, master control system construct inspection virtual map according to the actual size data information in the wanted inspection outdoor scene region of acquisition；
S2, the target point to match with the quantity of outdoor scene area device within the domain and position is established on inspection virtual map；And it will
The target point is defined as barrier on inspection virtual map；
S3, the target point by required inspection, the polling path of building inspection device evacuation barrier；
S4, in the polling path, master control system is according to inspection device in the posture information of current inspection target point and next
The coordinate information of inspection target point, is calculated by data analysis and processing unit, provides optimal polling path for inspection device.
2. equipment routing inspection method in a kind of region as described in claim 1, it is characterised in that: inspection is virtual in the S1 step
Map establishes mode are as follows:
S11, the diameter latitude data for acquiring wanted region of patrolling and examining outermost quadrangle, establish map shape；
S12, interior zone addition obstacle article coordinate and inspection coordinate in map shape, form the inspection virtual map.
3. equipment routing inspection method in a kind of region as described in claim 1, it is characterised in that: polling path in the S3 step
Building mode are as follows:
S31, the inspection virtual map is divided into several regions, a region is selected to be put into as starting point, and by the starting point
Master control system has been selected in list；
S32, the alternate list that 8 adjacent regions of starting point are put into master control system are calculated from starting point respectively via 8 phases
Expense needed for neighbouring region reaches next inspection target point is simultaneously compared, select the corresponding adjacent area of minimal-overhead as
New starting point has selected the new starting point in list from alternate list immigration；Deleting cannot reach or in alternate list
It is put into the region for having selected list；Path is saved after reaching next inspection target point；Institute in list and alternate list has been selected in deletion
There is region；It repeats the above steps, cooks up the polling path of all inspection target points.
4. equipment routing inspection method in a kind of region as claimed in claim 1,2 or 3, it is characterised in that: the inspection device is logical
Double deference GPS Differential positioning method orientation is crossed, is respectively X1 by two mobile differential GPS positioning inspection device latitude coordinates points,
Y1 and X2, Y2, the straight line and direct north that two o'clock is constituted form the first angle；
The straight line and direct north that current location locating for inspection device and next inspection coordinate are constituted form the second angle, according to the
One angle and the second angle calcu-lation go out the inspection device angle to be turned to.
5. equipment routing inspection method in a kind of region as claimed in claim 4, it is characterised in that: master control system receives inspection device
On ultrasonic radar distance measuring sensor measurement inspection device at a distance from barrier, set in looping to determine if measuring inspection
The random moving obstacle of standby surrounding be less than setting apart from when, inspection device incudes direction according to the probe of surrounding, and rotation one is set
It after fixed subdivision angle, moves further along, if circulation slowly is gone down, an arc-shaped track will be become, it must
Tangent with barrier, after obtaining points of tangency, trolley advances along a tangential direction, after cut-through object, according to current position coordinates,
The new route that the point of arrival ranks next target point in table is recalculated, is brought into operation.
6. a kind of inspection device applied to equipment routing inspection method in any one of Claims 1 to 5 region, feature exist
In, comprising:
Two differential GPS receivers are separately mounted to front end and the tail end of inspection device, for positioning the direction of inspection device；
Multiple ultrasonic radar distance measuring sensors, are separately mounted to the surrounding of inspection device；
Power module, the supply for electric power during inspection device inspection；
Control module, the control module complete the comparison of video image frame for the data processing to entire robot, control
The automatic detecting of the robot；
Communication module is connected to control module, realizes information exchange by serial ports.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910478157.8A CN110111442A (en) | 2019-06-03 | 2019-06-03 | Equipment routing inspection method and inspection device in a kind of region |
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| CN201910478157.8A CN110111442A (en) | 2019-06-03 | 2019-06-03 | Equipment routing inspection method and inspection device in a kind of region |
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Cited By (9)
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|---|---|---|---|---|
| CN110758381A (en) * | 2019-09-18 | 2020-02-07 | 北京汽车集团有限公司 | Method and device for generating steering track, storage medium and electronic equipment |
| CN111948684A (en) * | 2020-08-21 | 2020-11-17 | 广东电网有限责任公司 | Distribution network obstacle inspection system and method based on differential positioning |
| WO2021135714A1 (en) * | 2020-01-02 | 2021-07-08 | 苏州宝时得电动工具有限公司 | Base station sharing method and system for autonomous robots, and storage medium |
| CN113128747A (en) * | 2019-12-30 | 2021-07-16 | 南京德朔实业有限公司 | Intelligent mowing system and autonomous mapping method thereof |
| CN113671954A (en) * | 2021-08-03 | 2021-11-19 | 国网浙江省电力有限公司嘉兴供电公司 | Inspection method of intelligent robot of transformer substation |
| CN113671955A (en) * | 2021-08-03 | 2021-11-19 | 国网浙江省电力有限公司嘉兴供电公司 | Inspection sequence control method based on intelligent robot of transformer substation |
| CN114115277A (en) * | 2021-11-26 | 2022-03-01 | 中国建设银行股份有限公司 | Inspection robot-based inspection management method and related equipment |
| CN114187675A (en) * | 2021-11-16 | 2022-03-15 | 中国电信集团系统集成有限责任公司 | Fire-fighting inspection method and equipment, medium and product |
| CN114326785A (en) * | 2021-11-30 | 2022-04-12 | 国网河南省电力公司荥阳市供电公司 | Unmanned aerial vehicle transformer substation flight detection system |
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| CN113128747A (en) * | 2019-12-30 | 2021-07-16 | 南京德朔实业有限公司 | Intelligent mowing system and autonomous mapping method thereof |
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| CN111948684A (en) * | 2020-08-21 | 2020-11-17 | 广东电网有限责任公司 | Distribution network obstacle inspection system and method based on differential positioning |
| CN113671955A (en) * | 2021-08-03 | 2021-11-19 | 国网浙江省电力有限公司嘉兴供电公司 | Inspection sequence control method based on intelligent robot of transformer substation |
| CN113671955B (en) * | 2021-08-03 | 2023-10-20 | 国网浙江省电力有限公司嘉兴供电公司 | Inspection sequence control method based on intelligent robot of transformer substation |
| CN113671954A (en) * | 2021-08-03 | 2021-11-19 | 国网浙江省电力有限公司嘉兴供电公司 | Inspection method of intelligent robot of transformer substation |
| CN114187675A (en) * | 2021-11-16 | 2022-03-15 | 中国电信集团系统集成有限责任公司 | Fire-fighting inspection method and equipment, medium and product |
| CN114187675B (en) * | 2021-11-16 | 2023-11-17 | 中电信数智科技有限公司 | Fire-fighting inspection method and equipment, medium and product |
| CN114115277A (en) * | 2021-11-26 | 2022-03-01 | 中国建设银行股份有限公司 | Inspection robot-based inspection management method and related equipment |
| CN114326785A (en) * | 2021-11-30 | 2022-04-12 | 国网河南省电力公司荥阳市供电公司 | Unmanned aerial vehicle transformer substation flight detection system |
| CN114326785B (en) * | 2021-11-30 | 2024-02-27 | 国网河南省电力公司荥阳市供电公司 | Unmanned aerial vehicle transformer substation flight detecting system |
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Application publication date: 20190809 |