CN110161898B - Transformer substation inspection robot resource sharing system compatible with multiple intelligent agents - Google Patents
Transformer substation inspection robot resource sharing system compatible with multiple intelligent agents Download PDFInfo
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- CN110161898B CN110161898B CN201910288657.5A CN201910288657A CN110161898B CN 110161898 B CN110161898 B CN 110161898B CN 201910288657 A CN201910288657 A CN 201910288657A CN 110161898 B CN110161898 B CN 110161898B
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- 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
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- 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 invention relates to the technical field of substation patrol robots, in particular to a substation patrol robot resource sharing system compatible with multiple intelligent agents, which comprises a patrol robot centralized control system and a plurality of sets of substation patrol robot in-station monitoring systems; each set of in-station monitoring system comprises a set of local monitoring background, a plurality of sets of trackless inspection robots, a plurality of sets of track type inspection robots and a plurality of sets of video monitoring systems. The inspection robot centralized control system provided by the invention realizes that multiple intelligent agents of different manufacturers can keep relative independence and can fully cooperate, and the access capability of a module developed by a third party is obviously improved. The invention overcomes the difficult problem of analyzing the transmitted data and realizes the common definition of the intelligent agents with different specifications on the data. The data interaction system based on the CORBA framework realizes the comprehensive information access service of the patrol robot of the transformer substation based on the Web service, and obviously improves the expandability and easy maintenance of the service and the interface of an information system.
Description
Technical Field
The invention relates to the technical field of substation patrol robots, in particular to a substation patrol robot resource sharing system compatible with multiple intelligent agents.
Background
The statistical data of the international robot association shows that the average growth rate (31.1%) of the market scale of the robots in China from 2012 to 2017 is higher than the global growth rate (17%), the density of the industrial robots also reaches 88/ten thousand, but at present, an open resource sharing platform which is digital, networked and intelligent is urgently to be realized, and the popularization of the robot technology is promoted. The inspection of the transformer substation is the basic work in power production, and the difficulty of insufficient inspection of human resources is increasingly highlighted along with the increasing scale of equipment; therefore, the transformer substation inspection robot is popularized and applied in a large area in China, daily inspection such as visible light detection, infrared thermal imaging detection and noise detection is replaced by manual inspection, the state of field equipment can be found out in time under abnormal and emergency conditions, the production working efficiency is improved, and the outstanding contradiction between equipment growth and personnel shortage is solved.
Since 2013, the trackless outdoor substation inspection robots and the centralized control systems thereof have been gradually popularized and applied to electric network enterprises such as southern electric network companies and national electric network companies, but the application effect is limited because inspection robots of different manufacturers and different specifications use private protocols. On the other hand, although the second edition of IEC 618507-4 was published by the International Electrical Commission (IEC) in 2010, and contents of compatible logical node classes and data classes were supplemented, there is no related definition content applicable to the inspection of robots. Therefore, currently applied robots of different manufacturers and different specifications cannot share information such as patrol paths, detection results and the like, difficulty in making up for the dilemma of heavy manual patrol tasks is difficult to overcome, and patrol robot resources cannot be reasonably allocated, utilized, centrally controlled and managed, so that a uniform substation patrol robot communication interface is necessarily established.
Meanwhile, a multi-agent system (MAS) is a computing system consisting of a plurality of agents interacting in one environment, can be used to solve the difficult problems that are difficult to solve by separate agents and a single-layer system, and is considered as an effective method for information integration in a distributed heterogeneous system. In view of this, it is necessary to develop a resource sharing system for a patrol robot of a transformer substation based on a multi-agent system, so as to solve the key technical problem that patrol robots of different manufacturers and different specifications are incompatible with each other and cannot be fully applied; and the inspection robot of the transformer substation can be promoted to truly solve the outstanding contradiction of structural shortage in power production, and the power demand of people for pursuing good life is continuously met.
Disclosure of Invention
In order to solve the problems, the invention provides a transformer substation inspection robot resource sharing system compatible with multiple intelligent agents, and the specific technical scheme is as follows:
a transformer substation inspection robot resource sharing system compatible with multiple intelligent agents comprises a set of inspection robot centralized control system and a plurality of sets of transformer substation inspection robot in-station monitoring systems; each set of in-station monitoring system comprises a set of local monitoring background, a plurality of sets of trackless inspection robot intelligent bodies, a plurality of sets of track inspection robot intelligent bodies and a plurality of sets of video monitoring system intelligent bodies; the trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body are respectively in communication connection with a local monitoring background; and the local monitoring background is in communication connection with the inspection robot centralized control system of the power grid where the local monitoring background is located.
Preferably, the trackless patrol robot intelligent body, the rail-mounted patrol robot intelligent body and the video monitoring system intelligent body adopt a loose coupling message transmission mode to communicate with the local monitoring background and the patrol robot centralized control system in sequence.
Preferably, the local monitoring background is arranged in a substation, and the local monitoring background performs data interaction with a trackless inspection robot agent, a rail-mounted inspection robot agent and a video monitoring system agent in the substation based on a station-level bus of IEC 61850 standard.
Preferably, the local monitoring background comprises a network interface circuit, a microprocessor, an input/output module, a local storage module and an arbitration switch module; the network interface circuit is used for realizing data interaction between the local monitoring background and the inspection robot centralized control system; the microprocessor is used for processing and analyzing the data of the input and output module; the input and output module is used for being in communication connection with a trackless inspection robot intelligent body, a rail type inspection robot intelligent body and a video monitoring system intelligent body; the local storage module is used for storing interactive data; the arbitration switch module is used for arbitrating local monitoring background access requests simultaneously proposed by all the agents on line; the network interface circuit is connected with the inspection robot centralized control system; the input and output module is respectively connected with the network interface circuit, the microprocessor, the local storage module and the arbitration switch module.
Preferably, the network interface circuit is based on IEC 61850 messages, abstract communication service interfaces and specific communication service mapping to realize interaction with the patrol robot centralized control system; the transmission rate of the network interface circuit is greater than 16 megabytes, the transmission delay is less than 150 milliseconds, the communication protocol is TCP/IP, and the network interface circuit is accessed to the inspection robot centralized control system through the power comprehensive data network.
Preferably, the microprocessor is packaged in a planar grid array.
Preferably, the input/output module comprises an ethernet interface and an RJ-45 connector.
Preferably, the local storage module comprises an Adaptec 6 series RAID storage element.
The inspection robot centralized control system is arranged in an operation and maintenance center and performs data interaction with a local monitoring background in a controlled substation based on a power comprehensive data network; the centralized control system of the inspection robot comprises a message transmission system, an intelligent management system, a directory facilitator, a trackless inspection robot intelligent body interface, a rail type inspection robot intelligent body interface and a video monitoring system intelligent body interface; the message transmission system is used for realizing strong interaction among agents of different manufacturers, different classes and different specifications; the intelligent agent management system is used for data interaction aiming at a local monitoring background and selecting a proper routing inspection task information model file; the directory facilitator is used for standardizing interface definition languages and application programming interfaces between different manufacturers and different agents; the trackless inspection robot intelligent body interface, the rail type inspection robot intelligent body interface and the video monitoring system intelligent body interface are respectively used for realizing compatibility and adaptation of private protocols of a trackless inspection robot intelligent body, a rail type inspection robot intelligent body and a video monitoring system intelligent body controlled by an inspection robot monitoring system; the message transmission system is respectively connected with an intelligent agent management system, a directory facilitator, a trackless inspection robot intelligent agent interface, a rail type inspection robot intelligent agent interface, a video monitoring system intelligent agent interface and a local monitoring background.
The invention has the beneficial effects that: the invention provides an open data interaction system framework of a substation patrol robot, which realizes that multiple intelligent agents of different manufacturers can keep relative independence and can fully cooperate with each other, and the access capability of a module developed by a third party is obviously improved. The invention has strong interactivity, overcomes the analysis problem of the transmitted data (such as data type, byte sequence and the like), and realizes the common definition of the intelligent agents with different specifications on the data. The data interaction system based on the CORBA framework realizes the comprehensive information access service of the patrol robot of the transformer substation based on the Web service, and obviously improves the expandability and easy maintenance of the service and the interface of an information system.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of internal data flow of the patrol robot centralized control system.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings in which:
as shown in fig. 1, a multi-agent compatible resource sharing system for a substation patrol robot includes a patrol robot centralized control system and a plurality of substation patrol robot in-station monitoring systems; each set of in-station monitoring system comprises a set of local monitoring background, a plurality of sets of trackless inspection robot intelligent bodies, a plurality of sets of track inspection robot intelligent bodies and a plurality of sets of video monitoring system intelligent bodies; the trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body are respectively in communication connection with a local monitoring background; and the local monitoring background is in communication connection with the inspection robot centralized control system of the power grid where the local monitoring background is located.
The local monitoring background is arranged in a transformer substation and performs data interaction with a trackless inspection robot agent, a rail-mounted inspection robot agent and a video monitoring system agent in the transformer substation based on a station-level bus of IEC 61850 standard, and the interactive data comprises retrieval, release/subscription and instruction data.
The local monitoring background comprises a network interface circuit, a microprocessor, an input/output module, a local storage module and an arbitration switch module; the network interface circuit is used for realizing data interaction between the local monitoring background and the inspection robot centralized control system; the microprocessor is used for processing and analyzing the data of the input and output module; the input and output module is used for being in communication connection with the trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body; the local storage module is used for storing interactive data; the arbitration switch module is used for arbitrating the local monitoring background access requests simultaneously proposed by the agents on line; the network interface circuit is connected with the inspection robot centralized control system; the input and output module is respectively connected with the network interface circuit, the microprocessor, the local storage module and the arbitration switch module.
The network interface circuit is based on IEC 61850 message (MMS), Abstract Communication Service Interface (ACSI) and specific communication service mapping to realize interaction with the patrol robot centralized control system; the transmission rate of the network interface circuit is greater than 16 megabytes, the transmission delay is less than 150 milliseconds, the communication protocol is TCP/IP, and the network interface circuit is accessed to the inspection robot centralized control system through the power comprehensive data network.
The microprocessor is packaged by a plane grid array and can execute tasks such as fixed-point or floating-point arithmetic operation, shift operation, logic operation, instruction decoding, signal receiving and sending, address operation, conversion and the like.
The input and output module comprises an Ethernet interface and an RJ-45 connector, is a module for realizing the main contact function of a local monitoring background, and can be in communication contact with a patrol robot centralized control system, a plurality of sets of trackless patrol robot intelligent bodies, a plurality of sets of track type patrol robot intelligent bodies and a plurality of sets of video monitoring system intelligent bodies.
The local storage module comprises an Adaptec 6 series RAID storage element and provides instructions and data reading services required by operation.
The arbitration switch element is used for arbitrating the local monitoring background access requests simultaneously proposed in an online manner based on a parallel priority discrimination method, and utilizes the characteristic that the ranking and the quantity of messages in a sending queue in a dynamic priority lifting mechanism are dynamically changed along with the waiting time of the requests to adopt a dynamic priority switching scheduling strategy based on random numbers for the transmission of non-periodic information, thereby overcoming the congestion problem that the intelligent bodies of trackless patrol robots, track patrol robots and video monitoring systems contend for transmission at the same time, realizing uniform distribution of network resources and improving the real-time performance of information transmission.
The trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body are sequentially communicated with the local monitoring background and the inspection robot centralized control system in a loose coupling message transmission mode.
As shown in fig. 2, the patrol robot centralized control system is arranged in an operation and maintenance center, and performs data interaction with a local monitoring background in a governed substation based on an electric power integrated data network. The centralized control System of the inspection robot comprises a Message Transfer System (MTS), an intelligent management System, a directory facilitator, a trackless inspection robot intelligent body interface, a rail type inspection robot intelligent body interface and a video monitoring System intelligent body interface. The trackless inspection robot intelligent body interface, the rail type inspection robot intelligent body interface and the video monitoring system intelligent body interface respectively comprise bottom code file libraries of different manufacturer information model files.
The message transmission system is used for realizing strong interaction among agents with different manufacturers, different classes and different specifications. The main function of the method is realized based on an information model file facing to a substation inspection task, and an IEC TC57 standard (IEC 61970 standard, IEC 61968 standard and IEC 61850 standard) public information model is used as an information model defined by international standards in the field of power system management and information exchange. The information model file is input and output in an XML/RDF file format.
And the intelligent agent management system is used for inquiring, publishing/subscribing and controlling the data interaction of the local monitoring background and selecting a proper routing inspection task information model file.
The directory facilitator is based on a Common Object Request Broker Architecture (CORBA) for specifying Interface Definition Languages (IDLs) and Application Programming Interfaces (APIs) between different vendors, different classes and specification agents, implementing interaction according to different agent Object Request Broker (ORB) selection interfaces, the relevant definitions referring to the middleware standards recommended by the international computer industry standards association named Object Management Group (OMG).
The trackless inspection robot intelligent body interface, the rail type inspection robot intelligent body interface and the video monitoring system intelligent body interface are respectively used for realizing compatibility and adaptation of a trackless inspection robot intelligent body, a rail type inspection robot intelligent body and a video monitoring system intelligent body private protocol governed by an inspection robot monitoring system based on the IEC TC57 standard.
The message transmission system is respectively connected with the intelligent agent management system, the directory facilitator, the trackless inspection robot intelligent agent interface, the rail type inspection robot intelligent agent interface, the video monitoring system intelligent agent interface and the local monitoring background.
When the patrol robot centralized control system integrates intelligent bodies of different manufacturers, different classes and different specifications, the system integration is carried out by adopting intelligent body related components based on CORBA, the online mode based on a message transmission system is provided, the access standard (IEC 61970 standard, IEC 61968 standard and IEC 61850 standard) and the real-time data integration with CORBA middleware (IDL and API) are provided, and the internal interactive data comprises an information model file, inquiry, release/subscription and control three types of data and an information model file (XML/RDF). The XML/RDF information model file is a system core element, and expresses private format data of different agent manufacturers, different classes or agents with different specifications into open data independent of an original system and an original development language, namely data defined by an enterprise information model and an interface specification, so that the patrol robot centralized control system becomes an interface adapter suitable for various requirements.
The intelligent management system provides a standard information model file (XML/RDF) meeting established standards (IEC 61970 standard, IEC 61968 standard and IEC 61850 standard), receives requests of intelligent agents, intelligent agent interfaces, production maintenance patrollers and other subscribers in the system, which are in operation, of different types and different voltage levels of substations, and stores the requests into a requirement file; when the requirement of the polling task changes or the agents of different manufacturers and different specifications need to be replaced, a data file is generated and is issued to a corresponding subscriber. And after receiving the data file, the subscriber generates an information model file of the corresponding substation inspection task according to a set standard, and publishes the related data and the information model file to the target intelligent agent. Because the intelligent management system can distribute data to different subscribers, the system is more flexible in compatibility adaptation and use, and the requirements of transregional transfer of intelligent resources such as inspection robots and the like are met.
The in-station monitoring system is arranged in different transformer substations, wherein a trackless inspection robot intelligent body, a rail-mounted inspection robot intelligent body and a video monitoring system intelligent body respectively collect equipment state information in the transformer substations and transmit the equipment state information to a local monitoring background; and the local monitoring background sends the collected equipment state information to the inspection robot centralized control system. The inspection robot centralized control system is arranged in an inspection maintenance center of a network area and can collect and display equipment state information acquired and uploaded by different in-station monitoring systems; instructions may also be issued to different in-station monitoring systems and their agents. Meanwhile, the patrol robot centralized control system is also used for realizing compatible conversion and information interaction of information models among intelligent agents of different manufacturers, different classes and different specifications.
Compared with other inspection robot centralized control systems, the inspection robot centralized control system solves the problem that inspection robots of different types, different manufacturers and different specifications are incompatible with each other and cannot be fully applied, effectively realizes message transmission between the inspection robots and the control system thereof, overcomes the problems of code analysis and compatible adaptation of transmitted data (such as data types, byte sequences and the like), inspection paths of transformer substations and inspection task points, realizes that multi-intelligent agents of different manufacturers can keep relative independence and can fully cooperate with each other, remarkably improves the subsequent access capability of modules developed by third parties, achieves the purpose that the inspection robots of the transformer substations can really solve the outstanding contradiction of structural absent persons in power production, and continuously meets the aim that people seek good life power requirements.
The present invention is not limited to the above-described embodiments, which are merely preferred embodiments of the present invention, and the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a compatible multi-agent's transformer substation inspection robot resource sharing system which characterized in that: the system comprises a set of inspection robot centralized control system and a plurality of sets of in-station monitoring systems of substation inspection robots; each set of in-station monitoring system comprises a set of local monitoring background, a plurality of sets of trackless inspection robot intelligent bodies, a plurality of sets of track inspection robot intelligent bodies and a plurality of sets of video monitoring system intelligent bodies; the trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body are respectively in communication connection with a local monitoring background; the local monitoring background is in communication connection with the inspection robot centralized control system of the power grid where the local monitoring background is located;
the trackless inspection robot intelligent body, the rail type inspection robot intelligent body and the video monitoring system intelligent body are sequentially communicated with the local monitoring background and the inspection robot centralized control system in a loose coupling message transmission mode;
the local monitoring background is arranged in a transformer substation and performs data interaction with a trackless inspection robot agent, a rail-mounted inspection robot agent and a video monitoring system agent in the transformer substation on the basis of a station-level bus of IEC 61850 standard;
the local monitoring background comprises a network interface circuit, a microprocessor, an input/output module, a local storage module and an arbitration switch module; the network interface circuit is used for realizing data interaction between the local monitoring background and the inspection robot centralized control system; the microprocessor is used for processing and analyzing the data of the input and output module; the input and output module is used for being in communication connection with a trackless inspection robot intelligent body, a rail type inspection robot intelligent body and a video monitoring system intelligent body; the local storage module is used for storing interactive data; the arbitration switch element is used for arbitrating on line and simultaneously providing a request for accessing a local monitoring background based on a parallel priority discrimination method, realizing that the ranking and the quantity of messages in a sending queue are dynamically changed along with the waiting time of the request by utilizing a dynamic priority lifting mechanism, and adopting a dynamic priority switching scheduling strategy based on random numbers for the transmission of non-periodic information; the network interface circuit is connected with the inspection robot centralized control system; the input and output module is respectively connected with the network interface circuit, the microprocessor, the local storage module and the arbitration switch module;
the inspection robot centralized control system is arranged in an operation and maintenance center and performs data interaction with a local monitoring background in a controlled substation based on a power comprehensive data network; the centralized control system of the inspection robot comprises a message transmission system, an intelligent management system, a directory facilitator, a trackless inspection robot intelligent body interface, a rail type inspection robot intelligent body interface and a video monitoring system intelligent body interface; the message transmission system is used for realizing strong interaction among agents of different manufacturers, different classes and different specifications; the intelligent agent management system is used for data interaction aiming at a local monitoring background and selecting a proper routing inspection task information model file; the directory facilitator is used for standardizing interface definition languages and application programming interfaces between different manufacturers and different agents; the trackless inspection robot intelligent body interface, the rail type inspection robot intelligent body interface and the video monitoring system intelligent body interface are respectively used for realizing compatibility and adaptation of private protocols of a trackless inspection robot intelligent body, a rail type inspection robot intelligent body and a video monitoring system intelligent body controlled by an inspection robot monitoring system; the message transmission system is respectively connected with an intelligent agent management system, a directory facilitator, a trackless inspection robot intelligent agent interface, a rail type inspection robot intelligent agent interface, a video monitoring system intelligent agent interface and a local monitoring background.
2. The multi-agent compatible substation patrol robot resource sharing system according to claim 1, wherein: the network interface circuit is based on IEC 61850 messages, abstract communication service interfaces and specific communication service mapping to realize interaction with the patrol robot centralized control system; the transmission rate of the network interface circuit is greater than 16 megabytes, the transmission delay is less than 150 milliseconds, the communication protocol is TCP/IP, and the network interface circuit is accessed to the inspection robot centralized control system through the power comprehensive data network.
3. The multi-agent compatible substation patrol robot resource sharing system according to claim 1, wherein: the microprocessor is packaged in a planar grid array.
4. The multi-agent compatible substation patrol robot resource sharing system according to claim 1, wherein: the input and output module comprises an Ethernet interface and an RJ-45 connector.
5. The multi-agent compatible substation patrol robot resource sharing system according to claim 1, wherein: the local storage module comprises an Adaptec 6 series RAID storage element.
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| US6731314B1 (en) * | 1998-08-17 | 2004-05-04 | Muse Corporation | Network-based three-dimensional multiple-user shared environment apparatus and method |
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