CN110794837A - Intelligent inspection equipment system based on robot - Google Patents
Intelligent inspection equipment system based on robot Download PDFInfo
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- CN110794837A CN110794837A CN201911056229.6A CN201911056229A CN110794837A CN 110794837 A CN110794837 A CN 110794837A CN 201911056229 A CN201911056229 A CN 201911056229A CN 110794837 A CN110794837 A CN 110794837A
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- 238000007689 inspection Methods 0.000 title claims abstract description 165
- 230000003993 interaction Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 17
- 238000013523 data management Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 6
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- 238000012544 monitoring process Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
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- 210000001503 joint Anatomy 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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Abstract
The invention relates to an intelligent inspection equipment system based on a robot, which comprises a browser client for displaying and processing an inspection result, an inspection module subsystem for issuing an inspection task and receiving the inspection result, a line control layer platform for managing the interaction of the inspection module subsystem and the robot, and an inspection robot subsystem for acquiring the inspection result. The invention utilizes the client, the inspection module and the line control layer platform to form an intelligent inspection equipment system, and the result information is fed back to the client in real time by uniformly scheduling and controlling each machine room robot, thereby greatly improving the inspection efficiency, greatly improving the automation degree and making the timeliness of inspection feedback substantially improved.
Description
Technical Field
The invention relates to the technical field of rail transit robot inspection, in particular to an intelligent inspection equipment system based on a robot.
Background
With the increasing urban population, the development of public transport plays an increasingly important role in relieving traffic congestion, and especially the development of urban rail transit systems plays a key role.
The urban rail transit system, namely the subway, is a traffic system which integrates the advantages of land saving, noise reduction, interference reduction, energy saving, pollution reduction and the like, has an irreplaceable function in the urban development process, and is an important link in the modern urban construction.
Compared with other vehicles, the urban rail transit system has many advantages besides avoiding the ground congestion of the city and fully utilizing the space. For example: the transportation capacity of the subway is large, the transportation capacity of the subway is 7-10 times larger than that of a ground bus, and the subway is incomparable with any urban transportation means; on time, the rate of punctuality is generally higher than that of public transport; the speed is high, the subway train travels in the underground tunnel by wind power driving, the highest speed per hour of the running is generally 80 kilometers, and can exceed 100 kilometers or even reach 120 kilometers in some cases.
The urban rail transit system has clear defects, such as high construction cost, long early-stage time and weak capability of resisting partial disasters.
Due to the advantages and disadvantages, the operation safety of the urban rail transit system becomes a central importance. Because the construction and operation mechanism of the urban rail transit system is complex, any link of the urban rail transit system needs to be precisely monitored, and the safety of the overall operation of the urban rail transit system can be guaranteed. Therefore, monitoring the normal operation of a series of equipment such as a UPS, a switch cabinet, a rectifier, a transformer, a feeder cabinet and the like in each machine room of the rail transit is an important precondition for the safety of the rail transit system and is also a task target of the intelligent inspection equipment system based on the robot.
At present, most machine rooms of the urban rail transit system adopt a manual 7 x 24-hour regular inspection mode. The labor capacity of personnel in the manual inspection mode is large, the inspection period is long, and the efficiency is low. The inspection mode has the problems that inspection personnel cannot be ensured to be in place, the description of the result is inaccurate or not standardized, and the like. Because the urban rail transit system has complex environment and high voltage level, the traditional manual inspection mode can greatly increase the inspection time, inspection cost and labor intensity along with the improvement of equipment precision and the increase of urban rail transit lines, but the inspection efficiency can not be obviously improved. Meanwhile, the working negligence of personnel, untimely inspection or omission of critical data are considered, so that no timely repair equipment is provided, and huge potential safety hazards can be left for the normal operation of the rail transit system.
Therefore, robot inspection is a very necessary and reasonable replacement measure. The intelligent robot can perfectly replace the traditional manual inspection by means of an advanced deep learning algorithm and a leading machine vision technology, and the problems of manual false detection, missing detection and the like are thoroughly solved. Therefore, the inspection efficiency is improved, the operation cost is reduced, the inspection technical content is improved, and the enterprise competitiveness is expanded in the development of enterprises.
However, the robot inspection has the defect that the robot inspection cannot be consistent with robots of different brands and models in terms of uniformity. Since rail transit lines are a process of continuous development, each machine room of each line may be inspected using a different brand of robot. In the management of the urban rail transit system, if a set of corresponding management system is arranged according to each type of robot, the routing inspection efficiency is reduced, and the operation and management cost is increased. Therefore, a control pipe layer is needed to unify various robots, so that the difference of the robots can be avoided from being considered in the inspection management system, the management difficulty is greatly reduced, and the management efficiency is improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the robot-based intelligent inspection equipment system which is high in efficiency, less in manpower and uniform in platform, and the robot is used for regularly inspecting equipment in a machine room, so that the real-time monitoring and management of 7 x 24 hours are realized, and the safety guarantee of urban rail transit is completed.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an equipment system is patrolled and examined to intelligence based on robot, this system includes browser client, patrols and examines module subsystem, drive-by-wire layer platform and patrols and examines robot subsystem, wherein:
the browser client is used for checking the inspection plan, the inspection list and the inspection task result;
the system comprises a line control layer platform, a routing inspection module subsystem and a routing inspection module subsystem, wherein the routing inspection module subsystem is used for making a routing inspection plan and a routing inspection task, issuing a routing inspection list and the routing inspection task to the line control layer platform and acquiring a routing inspection task result;
the line control layer platform is used for butting the inspection module subsystem upwards, butting the inspection robot subsystem downwards, distributing inspection tasks issued by the inspection module subsystem to the inspection robot subsystem, and collecting and feeding back results of inspection task completion of the inspection robot subsystem to the inspection module subsystem;
and the inspection robot subsystem is used for executing an inspection task and acquiring inspection results of detection points of all the detection target devices.
Furthermore, the inspection module subsystem comprises a data management module for performing data management on each device and related data thereof.
Further, the related data includes detection point, detection point type, status and threshold definition.
Furthermore, the inspection robot subsystem comprises an inspection robot and matched control software for controlling the inspection robot.
Further, the inspection robot consists of an electric slide rail and a robot body.
Furthermore, the robot body is also provided with a visible light camera for collecting images of the equipment detection points.
Furthermore, the interface interaction between the browser client and the patrol module subsystem adopts a WebAPI protocol.
Further, the interface interaction between the browser client and the patrol module subsystem adopts a message queue protocol.
Compared with the prior art, the invention has the following advantages:
(1) the invention has the advantages of better application of advanced inspection modes, improvement of inspection automation degree, reduction of inspection cost, increase of inspection coverage rate and capability of well finishing accumulation and intercommunication of inspection data. The goal to be realized in the development of the urban rail transit system is full coverage of line inspection, intelligent automatic fault identification and feasible solution, and the intelligent inspection equipment system based on the robot can well solve the problems by means of a powerful and reliable technology. Meanwhile, different from manual inspection, the inspection robot is completely free from the influence of factors such as environment, time and the like, and has more margin for inspection operation of high-voltage equipment.
(2) The invention is greatly optimized and integrated on the basis of the inspection by applying the robot. The inspection robots are subject to factors such as brands and models and are different in butt joint data. This makes the transmitted polling commands inconsistent, and thus increases the polling error rate. On the other hand, the inspection result data fed back by the robot has no uniform format and standard, so that great workload is brought to fault processing. These all add greatly to the unsafe factors of urban rail transit systems. The drive-by-wire floor platform of the present invention is therefore a viable solution to this problem. The drive-by-wire layer platform has the functions of bridging the intelligent inspection module subsystem and the inspection robot subsystem, and translates the instructions one by one and transmits the instructions to the corresponding inspection robots after the intelligent inspection module subsystem sends out inspection instructions. Meanwhile, after the inspection robot finishes the inspection task, the inspection result is fed back to the line control layer platform, the line control layer platform unifies the result data and sends the result data to the intelligent inspection module subsystem, so that the complete inspection task can be finished fully automatically, various robots can be remotely controlled in the system, and the system is not restricted by different robot brands.
(3) The invention makes the inspection system completely realize automation, thereby reducing uncertain risk factors caused by human participation. The inspection efficiency is improved while the inspection cost is greatly reduced. The invention is not influenced by factors such as time, space, environment and the like, and provides a reliable technical means for the safety of the urban rail transit system.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The technical principle scheme of the invention is as follows:
the intelligent inspection module subsystem is used for maintaining basic data of machine room equipment, equipment monitoring points and the like and making an intelligent inspection plan template and an equipment template. And then the robot applies the inspection plans, and regularly sends detection points of each device in each room to the drive-by-wire layer platform every day in a mode of API calling and message queue. If abnormal data exist, the abnormal data are dynamically displayed in the inspection module subsystem and alarm records are generated.
And the second line control layer platform is a processing center for interaction of the intelligent inspection module subsystem and the inspection robot subsystem, and distributes data sent by the intelligent inspection module subsystem to the inspection robot subsystem. And after the inspection robot subsystem receives the inspection task, the inspection robot subsystem completes a task instruction and feeds back the task instruction to the intelligent inspection module subsystem through a unified standard data format. And the inconsistency of the robot system is processed in a line control layer platform in a centralized manner, so that the data format received by the intelligent patrol module subsystem is ensured to be consistent.
And thirdly, the inspection robot subsystem mainly comprises an inspection robot and matched control software, the inspection robot needs to be installed on a specified track of each equipment room, the matched control software can calibrate the position of a monitoring point of each equipment in advance according to an inspection task instruction, the instrument value range is collected, actual images acquired by the visible light camera are compared with preset images, specified positions are identified, the inspection result of the detection equipment is finally obtained, and then the inspection result is transmitted to the line control layer platform in sequence in a message queue mode. And after the data are subjected to the consistency processing by the line control layer platform, the data are fed back to the intelligent inspection module subsystem, the inspection result is displayed at the client, and relevant workers process the inspection result according to various index data.
Examples
As shown in fig. 1, the robot-based intelligent inspection system of the present embodiment includes a browser client, an inspection module subsystem, a line control layer platform, and each machine room robot subsystem, where the browser client is a main entrance of an access system, and can check the states of all monitored machine rooms and process inspection results; the system comprises an inspection module subsystem, a data management module, a routing inspection plan definition module and an inspection list module, wherein the inspection module subsystem mainly comprises a data management module for performing data management on each device and related data thereof; the line control layer platform mainly comprises machine room equipment inspection task issuing, inspection result obtaining and transmission and interface butt joint of robots of all brands; each machine room robot system mainly comprises a robot and a system thereof, and mainly collects instrument values or states of machine room equipment and feeds back the instrument values or states to the wire control layer platform. The interface interaction of the polling module subsystem and the browser client side adopts a standard WebAPI protocol or a message queue protocol to carry out data sharing and interaction, so that a uniform rail transit intelligent polling system is formed.
The equipment ledger information mainly maintains the information of the inspection equipment and comprises information such as equipment names, codes, brands, models, machine rooms to which the equipment belongs and the like.
The equipment detection point ledger information is mainly used for maintaining all attributes of equipment in a machine room, and a robot can conveniently feed back an inspection result.
The patrol plan defining module is mainly used for defining the cycle of a daily patrol plan, a machine room needing to be patrolled, equipment in the patrol machine room, detection point information of the equipment, and an alarm value or a normal value of a detection point.
The inspection single module mainly displays each inspection result of the robot and the inspection task below the user, sends the inspection results to the wire control layer platform and the inspection results reported by the wire control layer platform, and judges whether the inspection results are abnormal or not.
The line control layer platform is mainly used for butt-joint interaction of all robot systems, is a bridge between the inspection module subsystem and the robot subsystem, and greatly reduces the coupling between the inspection module subsystem and the robot subsystem.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an equipment system is patrolled and examined to intelligence based on robot which characterized in that, this system includes browser client, patrols and examines module subsystem, drive-by-wire layer platform and patrols and examines robot subsystem, wherein:
the browser client is used for checking the inspection plan, the inspection list and the inspection task result;
the system comprises a line control layer platform, a routing inspection module subsystem and a routing inspection module subsystem, wherein the routing inspection module subsystem is used for making a routing inspection plan and a routing inspection task, issuing a routing inspection list and the routing inspection task to the line control layer platform and acquiring a routing inspection task result;
the line control layer platform is used for butting the inspection module subsystem upwards, butting the inspection robot subsystem downwards, distributing inspection tasks issued by the inspection module subsystem to the inspection robot subsystem, and collecting and feeding back results of inspection task completion of the inspection robot subsystem to the inspection module subsystem;
and the inspection robot subsystem is used for executing an inspection task and acquiring inspection results of detection points of all the detection target devices.
2. The robot-based intelligent inspection device system according to claim 1, wherein the inspection module subsystem includes a data management module for data management of each device and its associated data.
3. The robot-based intelligent inspection device system according to claim 2, wherein the associated data includes detection points, detection point types, status, and threshold definitions.
4. The robot-based intelligent inspection device system according to claim 1, wherein the inspection robot subsystem includes an inspection robot and associated control software for controlling the inspection robot.
5. The robot-based intelligent inspection equipment system according to claim 4, wherein the inspection robot is composed of an electric slide rail and a robot body.
6. The robot-based intelligent inspection equipment system according to claim 5, wherein the robot body is further provided with a visible light camera for image acquisition of equipment detection points.
7. The robot-based intelligent inspection device system according to claim 1, wherein the interface interaction between the browser client and the inspection module subsystem employs a WebAPI protocol.
8. The robot-based intelligent inspection device system according to claim 1, wherein the interface interaction between the browser client and the inspection module subsystem employs a message queue protocol.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911056229.6A CN110794837A (en) | 2019-10-31 | 2019-10-31 | Intelligent inspection equipment system based on robot |
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| CN201911056229.6A CN110794837A (en) | 2019-10-31 | 2019-10-31 | Intelligent inspection equipment system based on robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111415432A (en) * | 2020-03-20 | 2020-07-14 | 四川华能宝兴河水电有限责任公司 | Intelligent inspection method for hydropower station |
| CN112070456A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Task issuing method, terminal equipment, robot and storage medium |
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| CN108803613A (en) * | 2018-07-04 | 2018-11-13 | 梧州市兴能农业科技有限公司 | A kind of intelligent crusing robot control system |
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2019
- 2019-10-31 CN CN201911056229.6A patent/CN110794837A/en active Pending
Patent Citations (6)
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| CN104122891A (en) * | 2013-04-24 | 2014-10-29 | 山东轻工业学院 | Intelligent robot inspection system for city underground railway detection |
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| CN111415432A (en) * | 2020-03-20 | 2020-07-14 | 四川华能宝兴河水电有限责任公司 | Intelligent inspection method for hydropower station |
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| CN112070456B (en) * | 2020-07-31 | 2023-12-29 | 深圳市优必选科技股份有限公司 | Method for issuing task, terminal equipment, robot and storage medium |
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Application publication date: 20200214 |