CN110161898A - A kind of substation inspection robot resource sharing system of compatible multiple agent - Google Patents
A kind of substation inspection robot resource sharing system of compatible multiple agent Download PDFInfo
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- CN110161898A CN110161898A CN201910288657.5A CN201910288657A CN110161898A CN 110161898 A CN110161898 A CN 110161898A CN 201910288657 A CN201910288657 A CN 201910288657A CN 110161898 A CN110161898 A CN 110161898A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The present invention relates to substation inspection robot technical fields, and in particular to a kind of substation inspection robot resource sharing system of compatible multiple agent, including inspecting robot centralized control system, several set substation inspection robots station in monitoring system；Wherein monitoring system includes a set of local monitor backstage and the trackless inspecting robot of several sets, several set rail-type inspectings robot, several set video monitoring systems in every set station.The multiple agent that inspecting robot centralized control system of the invention realizes different vendor can not only keep relatively independent, but also can sufficiently cooperate, and be obviously improved the access capability of the module of third party's exploitation.The present invention overcomes by the parsing problem of transmission data, different size intelligent body is realized to the common definition of data.The present invention is based on the data interaction system of CORBA framework, the substation inspection robot integrated information access service based on Web service is realized, the scalability and ease for maintenance of information system services, interface are significantly improved.
Description
Technical field
The present invention relates to substation inspection robot technical fields, and in particular to a kind of substation of compatible multiple agent patrols
Depending on robot resource sharing system.
Background technique
It is international it is robot combined can statistical data show that China's robot market's scale was averaged at 2012 to 2017
Growth rate (31.1%) is higher than global growth rate (17%), and industrial robot density has also reached 88/ten thousand people, but urgently real at present
Now digitlization, networking, intelligentized open resources shared platform, promote the popularization of robot technology to land.Substation patrols
It is growing with equipment scale depending on being the element task in power generation, it has more highlighted and has maked an inspection tour manpower inadequate resource
Problem；Still state has been widely applied substation inspection robot, instead of manually carrying out visible detection, infrared heat
The daily tour such as image checking, noise measuring, more can it is abnormal, in emergency circumstances find out field equipment state in time, improve life
Produce working efficiency, crack equipment increase and it is undermanned between conspicuous contradiction.
Since 2013, the power grid enterprises such as Southern Power Grid Company, State Grid Corporation of China have gradually promoted and applied trackless
Outdoor substation inspecting robot and its centralized control system, but since different vendor, different size inspecting robot use private
Agreement and limit application effect.On the other hand, although International Electrotechnical Commission (International Electric in 2010
Committee, IEC) second edition of having issued 61850 7-4 of IEC, the content supplemented with compliance logic node class and data class,
But also there is no the related definition contents for being suitable for robot tour.So the different vendor of current application, different size machine
It still cannot be shared between people and make an inspection tour the information such as path, testing result, it is difficult to make up the predicament of manual patrol task weight, Bu Nenghe
Reason allotment utilizes and centralized control, management inspecting robot resource, it is therefore necessary to establish unified substation inspection robot
Communication interface.
Meanwhile multi-agent system (multi-agent system, MAS) is by multiple intelligence of the interaction in an environment
The computing system of energy body composition, can be used for solving the isolated insoluble problem of intelligent body and single-layer system, and recognized
For be suitable for distributed heterogeneous system carry out information integration effective ways.In consideration of it, it is necessary to research and develop to be based on multiple agent
The substation inspection robot resource sharing system of system is solved because different vendor, different size inspecting robot are incompatible
And fail the key technology difficulty for being able to sufficiently apply；And then promote substation inspection robot that can really crack power generation
In structural understaffing conspicuous contradiction, constantly meet the people pursue good life electricity needs.
Summary of the invention
To solve the above-mentioned problems, it is total that the present invention provides a kind of substation inspection robot resources of compatible multiple agent
System is enjoyed, specific technical solution is as follows:
A kind of substation inspection robot resource sharing system of compatible multiple agent include a set of inspecting robot centralized control system,
Monitoring system in the station of several set substation inspection robots；After wherein monitoring system then includes a set of local monitor in every set station
Platform and the trackless inspecting robot intelligent body of several sets, several set rail-type inspecting intelligent robot bodies, several set video monitorings
System intelligent body；The trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligence
Body is connect with local monitor background communication respectively；Local monitor backstage with respectively with the inspecting robot collection control of place power grid
System communication connection.
Preferably, the trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system
Intelligent body takes loose coupling message transmission mode to be successively in communication with each other with local monitor backstage, inspecting robot centralized control system.
Preferably, local monitor backstage setting is based on 61850 standard of IEC in substation, the local monitor backstage
Station level bus and station in trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system
Intelligent body carries out data interaction.
Preferably, the local monitor backstage includes network interface circuit, microprocessor, input/output module, locally deposits
Store up module, arbitration switch module；The network interface circuit is realized for local monitor backstage with inspecting robot centralized control system
Data interaction；The microprocessor is for carrying out processing analysis to the data of input/output module；The input/output module is used
It is connect in trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system agent communication；
The module that is locally stored is for storing interaction data；The arbitration switch module is for arbitrating each intelligent body online while proposing
Access local monitor background request；The network interface circuit is connect with inspecting robot centralized control system；The input and output
Module respectively with network interface circuit, microprocessor, be locally stored module, arbitration switch module connect.
Preferably, message, Abstract Common Service Interface and specific communications of the network interface circuit based on IEC 61850
Service Mapping implementation is interacted with inspecting robot centralized control system；The transmission rate of the network interface circuit is greater than 16 Mbytes,
Propagation delay time is less than 150 milliseconds, communication protocol TCP/IP, and accesses inspecting robot collection control system via electric integrated data network
System.
Preferably, the microprocessor uses plane grid array package.
Preferably, the input/output module includes Ethernet interface, RJ-45 connector.
Preferably, the module that is locally stored includes 6 series RAID memory element of Adaptec.
The inspecting robot centralized control system is arranged in Operation and Maintenance Center, and based on electric integrated data network and administrative substation
Interior local monitor backstage carries out data interaction；The inspecting robot centralized control system includes messaging system, intelligent body pipe
Reason system, catalogue promoters, trackless inspecting robot intelligent body interface, rail-type inspecting intelligent robot body interface, video
Monitoring system intelligent body interface；The messaging system is for realizing different business mens, different classes of, different size intelligent body
Between strong interaction；The intelligent body management system is used for the data interaction for local monitor backstage, and selects suitably to patrol
Examine mission bit stream model file；Interface of the catalogue promoters between specification different vendor, different intelligent body defines language
It makes peace Application Programming Interface；The trackless inspecting robot intelligent body interface, rail-type inspecting intelligent robot body interface, view
Frequency monitoring system intelligent body interface is respectively used to realize the trackless inspecting robot intelligence administrative to inspecting robot monitoring system
It can body, rail-type inspecting intelligent robot body, the compatibility of video monitoring system intelligent body private agreement, adaptation；The message passes
Delivery system respectively with intelligent body management system, catalogue promoters, trackless inspecting robot intelligent body interface, rail-type inspecting machine
Device people's intelligent body interface, video monitoring system intelligent body interface, local monitor backstage connect.
The invention has the benefit that the present invention provides a kind of substation inspection robot data interaction systems of opening
Frame, the multiple agent for realizing different vendor can not only keep relatively independent, but also can sufficiently cooperate, and be obviously improved
The access capability of the module of tripartite's exploitation.The present invention has strong interactivity, overcomes by transmission data (such as data type, byte
Sequence etc.) parsing problem, realize different size intelligent body to the common definition of data.The present invention is based on CORBA frameworks
Data interaction system realizes the substation inspection robot integrated information access service based on Web service, significantly improves letter
Cease the scalability and ease for maintenance of system service, interface.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the internal data flow diagram of inspecting robot centralized control system.
Specific embodiment
In order to better understand the present invention, the present invention will be further explained below with reference to the attached drawings and specific examples:
As shown in Figure 1, a kind of substation inspection robot resource sharing system of compatible multiple agent includes a set of tour machine
People's centralized control system, several set substation inspection robots station in monitoring system；Wherein monitoring system then includes one in every set station
If cover local monitor backstage and the trackless inspecting robot intelligent body of several sets, several set rail-type inspecting intelligent robot bodies,
Dry set video monitoring system intelligent body；Trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring
System intelligent body is connect with local monitor background communication respectively；Local monitor backstage and the inspecting robot respectively with place power grid
Centralized control system communication connection.
The setting of local monitor backstage is in substation, station level bus and station of the local monitor backstage based on 61850 standard of IEC
Interior trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligent body carry out data
Interaction, interaction data include retrieval, publish/subscribe, instruction three classes data.
Local monitor backstage includes network interface circuit, microprocessor, input/output module, module, arbitration is locally stored
Switch module；Network interface circuit realizes data interaction with inspecting robot centralized control system for local monitor backstage；Micro process
Device is for carrying out processing analysis to the data of input/output module；Input/output module is used for and trackless inspecting robot intelligence
Body, rail-type inspecting intelligent robot body, the connection of video monitoring system agent communication；Module is locally stored for storing interaction
Data；The access local monitor background request that arbitration switch module is used to arbitrate each intelligent body online while propose；Network interface
Circuit is connect with inspecting robot centralized control system；Input/output module respectively with network interface circuit, microprocessor, be locally stored
Module, arbitration switch module connection.
Message (MMS), Abstract Common Service Interface (ACSI) and specific communications of the network interface circuit based on IEC 61850
Service Mapping implementation is interacted with inspecting robot centralized control system；The transmission rate of network interface circuit is greater than 16 Mbytes, transmission
Time delay is less than 150 milliseconds, communication protocol TCP/IP, and accesses inspecting robot centralized control system via electric integrated data network.
Microprocessor uses plane grid array package, can execute fixed point or floating-point operation arithmetic operation, shifting function
And logical operation, Instruction decoding, send and receive the tasks such as signal, address arithmetic and conversion.
Input/output module includes Ethernet interface, RJ-45 connector, is to realize the main linking function in local monitor backstage
Module, can be with inspecting robot centralized control system, the trackless inspecting robot intelligent body of several sets, several set rail-type inspecting machines
Device people intelligent body, the connection of several set video monitoring system agent communications.
It includes 6 series RAID memory element of Adaptec that module, which is locally stored, and provides instruction, reading data needed for operation
Service.
It arbitrates switch element and is based on priority diagnostic method in parallel, for after the access local monitor that line is arbitrated while being proposed
Platform request is changed in the ranking of transmit queue, quantity with request waiting time dynamic using message in dynamic priority elevation scheme
The characteristics of change, switches scheduling strategy using the dynamic priority based on random number to the transmission of aperiodicity information, overcomes and work as nothing
Rail inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligent body synchronization are fought for passing
Defeated congestion problem, realization evenly distribute Internet resources, improve information and transmit real-time.
Trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligent body are taken
Loose coupling message transmission mode is successively in communication with each other with local monitor backstage, inspecting robot centralized control system.
As shown in Fig. 2, inspecting robot centralized control system be arranged in Operation and Maintenance Center, and based on electric integrated data network with it is administrative
Local monitor backstage in substation carries out data interaction.Inspecting robot centralized control system includes messaging system (Message
Transfer System, MTS), intelligent body management system, catalogue promoters, trackless inspecting robot intelligent body interface, rail
Road formula inspecting robot intelligent body interface, video monitoring system intelligent body interface.Trackless inspecting robot intelligent body interface, rail
Different vendor's information model text is separately included in road formula inspecting robot intelligent body interface, video monitoring system intelligent body interface again
The bottom code library of part.
Messaging system is for realizing the strong interaction between different business mens, different classes of, different size intelligent body.Its
Major function is realized based on the information model file towards substation inspection task, is wrapped with IEC TC57 standard (IEC 61970
Standard, 61968 standard of IEC, 61850 standard of IEC) common information model is as power system management and its information exchange field
The information model that international standard defines.Information model file is with XML/RDF file format input and output.
Intelligent body management system is used for the inquiry for local monitor backstage, publish/subscribe, control three classes data interaction,
And for selecting suitable patrol task information model file.
Catalogue promoters is based on Real-time CORBA structure (Common Object Request
Broker Architecture, CORBA), it is fixed for specification different vendor, the different classes of interface between specification intelligent body
Adopted language (Interface description language, IDL) and Application Programming Interface (Application
Programming Interface, API), it realizes according to different intelligent body Object Request Broker (Object Request
Broker, ORB) select interface to interact, related definition is referring to entitled Object Management Organization (Object Management
Group, OMG) international computer professional standard association recommend middleware standard.
Trackless inspecting robot intelligent body interface, rail-type inspecting intelligent robot body interface, video monitoring system intelligence
Energy body interface is based on IEC TC57 standard respectively for realizing the trackless tour machine administrative to inspecting robot monitoring system
People's intelligent body, rail-type inspecting intelligent robot body, the compatibility of video monitoring system intelligent body private agreement, adaptation.
Messaging system connects with intelligent body management system, catalogue promoters, trackless inspecting robot intelligent body respectively
Mouth, rail-type inspecting intelligent robot body interface, video monitoring system intelligent body interface, local monitor backstage connect.
Inspecting robot centralized control system is when integrating different vendor, different classes of, different size intelligent body, using being based on
The intelligent body associated component of CORBA carries out the system integration, provides and accesses standard under the online mode based on messaging system
(61970 standard of IEC, 61968 standard of IEC, 61850 standard of IEC) and real-time number with CORBA middleware (IDL, API)
According to integrating, internal interaction data includes information model file, inquiry, publish/subscribe, control three classes data and information model
File (XML/RDF).Wherein, the information model file of XML/RDF is system core element, it by different intelligent body manufacturer, no
Generic or different size intelligent body private formatted data is expressed as the open number independent of original system, former development language
According to i.e. data defined in enterprise information model and interface specification become inspecting robot centralized control system and adapt to various demands
Interface adapter.
The offer of intelligent body management system meets written standards (61970 standard of IEC, 61968 standard of IEC, IEC 61850
Standard) specification information model file (XML/RDF), and receive different classes of, different voltages grade transformer substation in the intelligence of fortune
Intelligent body interface and production in body, system patrol the request of the subscribers such as dimension personnel, and request is saved in demand file；?
When patrol task changes in demand, or need replacing different vendor, different size intelligent body when, generate data file, publication
To corresponding subscriber.After subscriber receives data file, the letter of corresponding substation inspection task is generated according to written standards
Model file is ceased, and by related data and information model file distribution into Intelligent target body.Since intelligent body management system can
Give data distribution to different subscribers so that the compatible adaptation of system, using more flexible, meet trans-regional transhipment tour
The demand of the intelligent bodies resource such as robot.
Monitoring system is arranged in different substations in standing, and trackless inspecting robot intelligent body therein, rail mounted patrol
The device status information in substation is acquired respectively depending on intelligent robot body, video monitoring system intelligent body, and is transmitted to local
Monitoring backstage；The device status information collected is sent to inspecting robot centralized control system by local monitor backstage.Inspecting robot
What centralized control system was arranged in place barrier patrols fibrillar center, and can to collect, show monitoring system acquisition in different stations, the equipment that uploads
Status information；It can also monitoring system and its intelligent body publication instruction into different stations.Meanwhile inspecting robot centralized control system
For realizing different vendor, different classes of, information model between different size intelligent body rough set theory, information exchange.
Compared with other crusing robot centralized control systems, the present invention is solved because of different classes of, different vendor, difference
The incompatible problem for causing to fail to be able to sufficiently to apply of specification inspecting robot effectively realizes inspecting robot and its control system
Message transmission between system overcomes by transmission data (such as data type, byte order), substation inspection path, inspection
The code parsing of task point and compatible adaptation problem, the multiple agent for realizing different vendor can not only keep relatively independent, but also
It can sufficiently cooperate, be obviously improved the subsequent access capability of the module of third party's exploitation, having reached makes substation inspection machine
Device people can really crack the conspicuous contradiction of structural understaffing in power generation, pursue good life electricity constantly to meet the people
The target of power demand.
The present invention is not limited to above-described specific embodiment, and the foregoing is merely preferable case study on implementation of the invention
, it is not intended to limit the invention, any modification done within the spirit and principles of the present invention and changes equivalent replacement
Into etc., it should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of substation inspection robot resource sharing system of compatible multiple agent, it is characterised in that: including a set of tour
Robot centralized control system, several set substation inspection robots station in monitoring system；Wherein monitoring system is then wrapped in every set station
Include a set of local monitor backstage and the trackless inspecting robot intelligent body of several sets, several set rail-type inspecting intelligent robots
Body, several set video monitoring system intelligent bodies；The trackless inspecting robot intelligent body, rail-type inspecting intelligent robot
Body, video monitoring system intelligent body are connect with local monitor background communication respectively；Local monitor backstage with respectively with place
The inspecting robot centralized control system of power grid communicates to connect.
2. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 1, special
Sign is: the trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligent body are adopted
Loose coupling message transmission mode is taken successively to be in communication with each other with local monitor backstage, inspecting robot centralized control system.
3. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 1, special
Sign is: in substation, station level of the local monitor backstage based on 61850 standard of IEC is total for local monitor backstage setting
Line and station in trackless inspecting robot intelligent body, rail-type inspecting intelligent robot body, video monitoring system intelligent body into
Row data interaction.
4. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 1 or 3,
Be characterized in that: local monitor backstage include network interface circuit, microprocessor, input/output module, be locally stored module,
Arbitrate switch module；The network interface circuit realizes that data are handed over inspecting robot centralized control system for local monitor backstage
Mutually；The microprocessor is for carrying out processing analysis to the data of input/output module；The input/output module is used for and nothing
Rail inspecting robot intelligent body, rail-type inspecting intelligent robot body, the connection of video monitoring system agent communication；Described
Ground memory module is for storing interaction data；The access that the arbitration switch module is used to arbitrate each intelligent body online while propose
Local monitor background request；The network interface circuit is connect with inspecting robot centralized control system；The input/output module point
Not with network interface circuit, microprocessor, be locally stored module, arbitration switch module connect.
5. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 4, special
Sign is: message, Abstract Common Service Interface and particular communication service mapping of the network interface circuit based on IEC 61850
Realization is interacted with inspecting robot centralized control system；The transmission rate of the network interface circuit is greater than 16 Mbytes, propagation delay time
Less than 150 milliseconds, communication protocol TCP/IP, and inspecting robot centralized control system is accessed via electric integrated data network.
6. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 4, special
Sign is: the microprocessor uses plane grid array package.
7. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 4, special
Sign is: the input/output module includes Ethernet interface, RJ-45 connector.
8. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 4, special
Sign is: the module that is locally stored includes 6 series RAID memory element of Adaptec.
9. a kind of substation inspection robot resource sharing system of compatible multiple agent according to claim 1, feature
Be: the inspecting robot centralized control system is arranged in Operation and Maintenance Center, and based in electric integrated data network and administrative substation
Local monitor backstage carry out data interaction；The inspecting robot centralized control system includes messaging system, intelligent body management
System, catalogue promoters, trackless inspecting robot intelligent body interface, rail-type inspecting intelligent robot body interface, video prison
Control system intelligent body interface；The messaging system for realizing different business mens, different classes of, different size intelligent body it
Between strong interaction；The intelligent body management system is used for the data interaction for local monitor backstage, and selects suitable inspection
Mission bit stream model file；The catalogue promoters is for the Interface Definition Language between specification different vendor, different intelligent body
And Application Programming Interface；The trackless inspecting robot intelligent body interface, rail-type inspecting intelligent robot body interface, video
Monitoring system intelligent body interface is respectively used to realize the trackless inspecting robot intelligence administrative to inspecting robot monitoring system
Body, rail-type inspecting intelligent robot body, the compatibility of video monitoring system intelligent body private agreement, adaptation；The message transmission
System respectively with intelligent body management system, catalogue promoters, trackless inspecting robot intelligent body interface, rail-type inspecting machine
People's intelligent body interface, video monitoring system intelligent body interface, local monitor backstage connect.
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| CN111844018A (en) * | 2020-05-29 | 2020-10-30 | 北京理工大学 | Fire-fighting site detection robot management method and device |
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| Publication number | Publication date |
|---|---|
| CN110161898B (en) | 2022-04-15 |
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