CN110989594A - Intelligent robot inspection system and method - Google Patents
Intelligent robot inspection system and method Download PDFInfo
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- G—PHYSICS
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- 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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
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- 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
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- 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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- 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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Abstract
The invention provides an intelligent robot inspection system and method, which comprises the following steps: the intelligent robot is used for acquiring equipment running state information of equipment to be detected in real time by using a machine vision system according to a routing inspection plan issued by the control center and transmitting the acquired equipment running state information to the control center, wherein the equipment running state information comprises board lamp display state information; and the control center is used for making a routing inspection plan and issuing the routing inspection plan to the intelligent robot, monitoring the equipment to be inspected according to the running state information of the equipment, identifying and predicting equipment faults and giving an alarm. The invention can monitor the running state of the equipment in real time, identify, position and early warn equipment faults in time, save the workload of personnel inspection and meet the requirements of stable, safe and efficient operation of rail transit lines.
Description
Technical Field
The invention relates to the technical field of rail transit operation, in particular to an intelligent robot inspection system and an intelligent robot inspection method.
Background
With the vigorous development of rail transit, the requirement on the operation capacity of rail transit is increasingly improved, and the safe and reliable operation of signal equipment is directly related to the stability, safety and high efficiency of rail transit line operation. The signal equipment room is used for placing core equipment of a signal system, and real-time and visual monitoring of equipment operation, board fault location positioning, fault diagnosis and early warning and the like of the signal equipment room is an urgent need of operators.
At present, a signal equipment room is monitored by adopting a regular inspection mode, and the problem of equipment operation is difficult to find in time; if a real-time inspection mode is adopted, the workload of maintenance personnel is greatly increased, and the operation efficiency is low; moreover, the fault to be generated of the equipment cannot be early warned in advance, so that maintenance personnel only need to maintain the equipment after the equipment is in fault, and the safety and efficiency of the operation of the track line are affected.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention provides an intelligent robot inspection system and an intelligent robot inspection method, which can monitor the running state of equipment in real time and effectively ensure the stable, safe and efficient operation of a rail transit line.
According to a first aspect of the present invention, there is provided an intelligent robot inspection system, including:
the intelligent robot is used for acquiring equipment running state information of equipment to be detected in real time by using a machine vision system according to a routing inspection plan issued by the control center and transmitting the acquired equipment running state information to the control center, wherein the equipment running state information comprises board lamp display state information;
and the control center is used for making a routing inspection plan and issuing the routing inspection plan to the intelligent robot, monitoring the equipment to be inspected according to the running state information of the equipment, identifying and predicting equipment faults and giving an alarm.
Further, the inspection plan comprises an identifier of the equipment to be inspected and an inspection electronic map; the intelligent robot walks to the position of the equipment to be detected according to the inspection electronic map, shoots the image of the equipment to be detected by utilizing the machine vision system, and obtains the equipment running state information of the equipment to be detected according to the shot image.
Further, the intelligent robot is also used for sending the image of the equipment to be detected to a control center; the control center is also used for monitoring the equipment to be detected according to the image of the equipment to be detected; and/or
The intelligent robot is also used for detecting the working state of the intelligent robot and sending the working state of the intelligent robot to the control center; the control center is also used for monitoring the intelligent robot according to the working state of the control center and remotely restarting the intelligent robot when the intelligent robot breaks down.
Further, the predicting equipment failure and alarming according to the equipment running state information comprises:
the method comprises the steps that real-time monitored equipment running state information is used as input of a health degree calculation model to obtain the current equipment health degree, and the health degree calculation model is obtained based on historical stored equipment running state information training; and comparing the health degree of the equipment with a preset health degree threshold value, and if the health degree is lower than the threshold value, giving an alarm.
Further, control center passes through the interface and is connected and mutual data with the intelligent fortune dimension subsystem of monitoring train operation, control center still is used for receiving come from during the fault alarm information of intelligent fortune dimension subsystem, according to fault alarm information confirms that the target waits to examine equipment, and control intelligent robot gathers the equipment running state information that the equipment was examined to the target.
According to a second aspect of the invention, an intelligent robot inspection method is provided, which comprises the following steps:
the control center makes a patrol plan and issues the patrol plan to the intelligent robot;
the intelligent robot acquires equipment running state information of equipment to be detected in real time by using a machine vision system according to the inspection plan, and transmits the acquired equipment running state information to a control center, wherein the equipment running state information comprises board lamp display state information;
and the control center monitors the equipment to be detected according to the running state information of the equipment, identifies and predicts equipment faults and gives an alarm.
Further, the inspection plan comprises an identifier of the equipment to be inspected and an inspection electronic map; the intelligent robot walks to the position of the equipment to be detected according to the inspection electronic map, shoots the image of the equipment to be detected by utilizing the machine vision system, and obtains the equipment running state information of the equipment to be detected according to the shot image.
Further, the method further comprises:
the intelligent robot sends the image of the equipment to be detected to a control center;
the control center monitors the equipment to be detected according to the image of the equipment to be detected; and/or
The intelligent robot detects the working state of the intelligent robot and sends the working state of the intelligent robot to the control center;
and the control center monitors the intelligent robot according to the working state of the control center, and remotely restarts the intelligent robot when the intelligent robot breaks down.
Further, the step of predicting equipment faults and giving an alarm by the control center according to the equipment running state information comprises the following steps:
the method comprises the steps that real-time monitored equipment running state information is used as input of a health degree calculation model to obtain the current equipment health degree, and the health degree calculation model is obtained based on historical stored equipment running state information training;
and comparing the health degree of the equipment with a preset health degree threshold value, and if the health degree is lower than the threshold value, giving an alarm.
Further, the method further comprises:
the control center receives fault alarm information from an intelligent operation and maintenance subsystem of the train signal monitoring system, determines a target to-be-detected device according to the fault alarm information, and controls the intelligent robot to collect device running state information of the target to-be-detected device.
According to the intelligent robot inspection system and the intelligent robot inspection method, the intelligent robot inspects equipment of a signal equipment room according to an inspection plan issued by the control center, the control center identifies, predicts and alarms equipment faults according to inspection data monitoring equipment, the running state of the equipment can be monitored in real time, the equipment faults can be identified, positioned and early warned in time, the inspection workload of personnel is saved, and the requirements of stable, safe and efficient operation of a rail transit line are met; the robot vision system is used for information acquisition, so that the structural complexity of the robot can be reduced, the fault sensing time can be reduced, and the interference of various data to maintenance personnel can be avoided; the fault of the equipment can be found and positioned more quickly by acquiring the display state of the board lamp; by utilizing collected inspection data and combining big data and artificial intelligence technology, fault equipment can be intelligently early-warned, operators are reminded to maintain the equipment in advance, and the equipment fault rate is reduced.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows an architecture diagram of an intelligent robot inspection system according to an embodiment of the present invention.
FIG. 2 illustrates a schematic structural diagram of an intelligent robot in accordance with an embodiment of the present invention;
fig. 3 is a flowchart illustrating an inspection method for an intelligent robot according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
Referring to fig. 1, there is shown a smart robot inspection system 100 according to an embodiment of the present invention, including a smart robot 101 and a control center 102, wherein:
the intelligent robot 101 is used for acquiring equipment running state information of the equipment to be detected in real time by using a machine vision system according to a patrol plan issued by the control center, and transmitting the acquired equipment running state information to the control center, wherein the equipment running state information comprises board lamp display state information.
The control center 102 is used for making a routing inspection plan and issuing the routing inspection plan to the intelligent robot, monitoring the equipment to be inspected according to the running state information of the equipment, identifying and predicting equipment faults and giving an alarm.
The intelligent robots 101 may be multiple, and are respectively located in signal equipment rooms of a station of a whole line, and each signal equipment room is provided with at least one intelligent robot. Two signalling device rooms, one intelligent robot in each signalling device room, are exemplarily shown in fig. 1. The patrol plan can be set manually or generated automatically according to rules. Optionally, the plan of patrolling and examining includes waiting to examine equipment identification and patrols and examines electronic map, intelligent robot 101 walks to according to patrolling and examining electronic map wait to examine equipment department and utilize machine vision system to shoot wait to examine the image of equipment, obtain according to the image of shooing wait to examine the equipment running state information of equipment. The intelligent robot can capture images through a machine vision system and recognize and analyze the images by utilizing an image recognition technology, so that the running state information of the equipment can be acquired, various sensors such as humidity and temperature do not need to be installed, the structural complexity of the robot can be reduced, the fault sensing time is shortened, and the interference of various data to maintenance personnel is avoided.
Fig. 2 shows an example of the intelligent robot according to the present invention, the intelligent robot 101 includes a traveling system 201, a main body 202, a lifting arm 203 and a machine vision system 204, the main body 202 is installed on the traveling system 201, the lifting arm 203 is connected with the main body 202 and has a liftable structure, the machine vision system 204 is installed on the lifting arm 203, a processor, a sensor, a communication module and the like are installed in the main body 202, the intelligent robot 101 communicates with the control center 102 through the communication module, the processor is used for controlling the actions of the intelligent robot 101 according to the instructions issued by the control center 102 and the patrol plan, including controlling the traveling system 201 according to the patrol electronic map to move the intelligent robot 101 to the location of the device to be tested, and controlling the lifting arm 203 to lift according to the information of the device to be tested, so that the machine vision system 204 can photograph the device to be tested, the captured image of the device under test is analyzed to generate device operating state information of the device under test, and the device operating state information and the image of the device under test are sent to the control center 102 through the communication module. The sensor is used for sensing the walking route of the intelligent robot, and the processor compares the walking route sensed by the sensor with a routing inspection electronic map and corrects deviation in the walking process in time.
Optionally, the intelligent robot 101 is still with the image of waiting to examine equipment is sent to control center 102, control center 102 is still used for according to the image monitoring of waiting to examine equipment wait to examine equipment, include with the image presents on the screen to control center personnel can see the scene picture in real time, directly perceivedly.
Optionally, the intelligent robot 101 is further configured to detect a working state of the intelligent robot, and send the working state of the intelligent robot to the control center 102. The control center 102 is configured to monitor the intelligent robot 101 according to the working state of the control center, and remotely restart the intelligent robot 101 when the intelligent robot 101 fails.
Optionally, the identifying, by the control center 102, the device fault according to the device operation state information and alarming includes: and judging whether the display state information of the board lamp is normal or not, and if so, giving an alarm. The alarm mode comprises sound-light alarm, prompt popping on a screen, alarm information sending to terminals of related personnel and the like, and the alarm information optionally comprises the position of the equipment corresponding to the abnormal board lamp and the equipment identification. After receiving the alarm, the maintenance personnel can rapidly arrive at the fault equipment for processing, and the fault processing efficiency is higher. Moreover, the state of the equipment is judged by displaying the state through the board lamp, and the fault of the equipment can be found and positioned more quickly.
Optionally, the control center 102 performs equipment fault diagnosis and health degree analysis by using big data and an artificial intelligence algorithm based on the equipment operation state information monitored in real time, so as to realize fault prediction. Specifically, the predicting and alarming the equipment fault by the control center according to the equipment running state information comprises: the control center 102 trains based on the historically stored equipment running state information to obtain a health degree calculation model, and the equipment running state information monitored in real time is used as the input of the health degree calculation model to obtain the current equipment health degree; and comparing the health degree of the equipment with a preset health degree threshold value, and if the health degree is lower than the threshold value, giving an alarm. The alarm mode comprises audible and visual alarm, popping up a prompt on a screen, sending alarm information to terminals of related personnel and the like. After receiving the alarm, the maintenance personnel can carry out maintenance treatment in advance, thereby avoiding the occurrence of faults. In addition, the control center 102 collects processing experience of maintenance experts and generates an expert diagnosis system to assist in fault diagnosis.
Optionally, the control center 102 is connected with an intelligent operation and maintenance subsystem 103 of the train signal monitoring system through an interface and interacts data, and the control center 102 is further configured to determine a target equipment to be inspected according to fault alarm information when receiving the fault alarm information from the intelligent operation and maintenance subsystem 103, and control the intelligent robot 101 to acquire equipment running state information of the target equipment to be inspected. From this, realized the linkage of intelligent robot system of patrolling and examining and monitoring train signal system's intelligent fortune dimension subsystem, when train signal system broke down, intelligent robot system of patrolling and examining can inspect the indoor equipment of signal equipment to can maintain whole signal system more comprehensively and high-efficiently.
Specifically, according to an embodiment of the present invention, the intelligent robot 101 and the control center 102 interact with each other through a maintenance network. The control center 102 comprises an inspection server 1021 and an analysis workstation 1022, the inspection server 1021 adopts dual-computer hot standby redundancy, is provided with a matched disk array, receives inspection data and stores the inspection data in the matched disk array, and the inspection data comprises equipment running state information acquired by the intelligent robot 101, images of equipment to be inspected and/or self working state information of the intelligent robot. Optionally, the received information may be processed before storage, e.g. format conversion or compression, etc. The patrol server 1021 stores information such as a patrol plan, information on each signal equipment room, a user account, and authority configuration. The analysis workstation 1022 is configured to identify, locate, predict, and alarm a device fault according to the device operating state information stored in the inspection server 1021 and/or the operating state of the image monitoring device of the device to be inspected. The analysis workstation 1022 is an operation interface of a user, is used for extracting and displaying the inspection data from the inspection server 1021, has a statistical analysis function, and can perform statistics and analysis on the inspection data to generate a daily schedule, a monthly schedule, a seasonal schedule and a yearly schedule of the equipment state. The analysis workstation 1022 is also used for making routing inspection plans, including making an inspection electronic map for each intelligent robot, monitoring the intelligent robot according to the working state of the intelligent robot, remotely setting parameters of the intelligent robot and restarting the intelligent robot. Before using the intelligent robot to patrol and analyze the workstation, an operator must create a user and set a user password, and must log in the workstation through the user name and the password, and the intelligent robot patrol and analyze system defaults to comprise two roles of an administrator and a maintainer with different grades and authorities.
The intelligent robot inspection system provided by the embodiment of the invention inspects equipment of a signal equipment room according to an inspection plan issued by the control center through the intelligent robot, and the control center identifies, predicts and alarms equipment faults according to inspection data monitoring equipment, can monitor the running state of the equipment in real time, identifies, positions and pre-warns the equipment faults in time, saves the inspection workload of personnel, and meets the requirements of stable, safe and efficient operation of a rail transit line; the robot vision system is used for information acquisition, so that the structural complexity of the robot can be reduced, the fault sensing time can be reduced, and the interference of various data to maintenance personnel can be avoided; the fault of the equipment can be found and positioned more quickly by acquiring the display state of the board lamp; by utilizing the collected inspection data, the fault equipment can be intelligently early-warned, operators are reminded to maintain the equipment in advance, and the equipment fault rate is reduced.
Fig. 3 illustrates a flow of a smart robot inspection method according to an embodiment of the present invention, optionally performed by the smart robot inspection system illustrated in fig. 1. The method comprises the following steps:
s301, the control center makes a patrol plan and issues the patrol plan to the intelligent robot;
the patrol plan can be set manually or generated automatically according to rules. Optionally, the content of the inspection plan includes an identifier of the equipment to be inspected and an inspection electronic map, and the electronic map is also marked with the position and the identifier of the equipment to be inspected.
As one example, a preset patrol plan is stored in a disk array of a patrol server, and the patrol server periodically transmits the patrol plan to a corresponding smart robot. As another example, preset rules are stored in a disk array of the patrol inspection server, and a patrol inspection plan is generated periodically according to the rules and is sent to the corresponding intelligent robot. The routing plan may also be sent on an irregular basis or in response to operator instructions.
S302, the intelligent robot acquires equipment running state information of the equipment to be detected in real time by using a machine vision system according to the inspection plan and sends the acquired equipment running state information to a control center, wherein the equipment running state information comprises board lamp display state information;
the intelligent robot receives the issued patrol inspection plan, walks to the position of the equipment to be inspected according to the patrol inspection electronic map in the patrol inspection plan, shoots the image of the equipment to be inspected by utilizing the machine vision system, and obtains the equipment running state information of the equipment to be inspected according to the shot image. The intelligent robot can capture images through a machine vision system and recognize and analyze the images by utilizing an image recognition technology, so that the running state information of the equipment can be acquired, various sensors such as humidity and temperature do not need to be installed, the structural complexity of the robot can be reduced, the fault sensing time is shortened, and the interference of various data to maintenance personnel is avoided. The equipment running state information comprises board lamp display state information, and because each signal equipment is provided with a board lamp, the on/off and the color of the board lamp directly correspond to different conditions of the equipment, the board lamp display state information is obtained by recognizing the board lamp display state through images, and the equipment state can be accurately and visually reflected. And after the intelligent robot finishes the routing inspection, the running state information of each equipment to be inspected is sent to the control center.
And S303, the control center monitors the equipment to be detected according to the running state information of the equipment, identifies and predicts equipment faults and gives an alarm.
Wherein, the control center identifies the equipment fault and gives an alarm according to the equipment running state information, and comprises: and judging whether the display state information of the board lamp is normal or not, and if the display state information is abnormal, sending out a fault alarm. After receiving the alarm, the maintenance personnel can rapidly arrive at the fault equipment for processing, and the fault processing efficiency is higher. Moreover, the state of the equipment is judged by displaying the state through the board lamp, and the fault of the equipment can be found and positioned more quickly.
Optionally, the control center performs equipment fault diagnosis and health degree analysis by using big data and an artificial intelligence algorithm based on the equipment running state information obtained through long-term monitoring, and can realize fault prediction. Specifically, the predicting and alarming the equipment fault by the control center according to the equipment running state information comprises: training the control center based on historically stored equipment running state information to obtain a health degree calculation model, and taking the equipment running state information monitored in real time as the input of the health degree calculation model to obtain the current equipment health degree; and comparing the health degree of the equipment with a preset health degree threshold value, if the health degree is lower than the threshold value, determining the equipment as early warning equipment, and sending out early warning alarm. After receiving the alarm, the maintenance personnel can carry out maintenance treatment in advance, thereby avoiding the occurrence of faults.
The fault alarm and early warning alarm modes comprise sound and light alarm, alarm information popping up on a screen, alarm information sending to terminals of related personnel and the like, wherein the alarm information is optionally an alarm list and comprises the position of a fault device or an early warning device and a device identifier.
Therefore, for equipment with faults, the method provided by the embodiment of the invention can rapidly identify and position the equipment, and for equipment without faults, the method provided by the embodiment of the invention can also intelligently evaluate the health state based on the equipment state, discover fault hidden dangers and realize fault early warning.
Optionally, the intelligent robot further sends the image of the equipment to be detected to a control center; the control center monitors the device to be examined on the basis of the image of the device to be examined, for example, the received image of the device to be examined is presented in real time on the screen of an analysis workstation.
Optionally, the intelligent robot detects a self working state and sends the self working state to the control center; the control center also monitors the intelligent robot according to the working state of the control center, and remotely restarts the intelligent robot when the intelligent robot breaks down.
According to an embodiment of the invention, the control center further receives fault alarm information from an intelligent operation and maintenance subsystem of a train signal monitoring system, determines the target equipment to be detected according to the fault alarm information, and controls the intelligent robot to acquire equipment running state information of the target equipment to be detected. The intelligent operation and maintenance subsystem can be any existing system for monitoring a train signal system, and by arranging an interface, the intelligent operation and maintenance subsystem and the intelligent robot inspection system can be in butt joint and can bidirectionally transmit information, and as an embodiment, the method implemented by the control center comprises the following steps:
judging whether fault alarm information of the intelligent operation and maintenance subsystem is received or not;
if so, determining information of the equipment to be detected and a corresponding intelligent robot according to the fault alarm information, wherein the information of the equipment to be detected comprises an identification of the equipment to be detected, a position of a signal equipment room where the equipment to be detected is located and/or an indoor map of the signal equipment where the equipment to be detected is located;
generating a routing inspection plan according to the information of the equipment to be inspected;
sending the routing inspection plan to a corresponding intelligent robot;
and receiving the equipment running state information and/or the equipment image fed back by the intelligent robot.
Optionally, the device operation state information and/or the device image is presented on a screen of the analysis workstation, and/or the device operation state information is sent to the intelligent operation and maintenance subsystem.
From this, realized the linkage of intelligent robot system of patrolling and examining and monitoring train signal system's intelligent fortune dimension subsystem, when train signal system broke down, intelligent robot system of patrolling and examining can inspect the indoor equipment of signal equipment to can maintain whole signal system more comprehensively and high-efficiently.
According to the intelligent robot inspection method provided by the embodiment of the invention, the intelligent robot inspects equipment of the signal equipment room according to the inspection plan issued by the control center, and the control center identifies, predicts and alarms equipment faults according to the inspection data monitoring equipment, so that the running state of the equipment can be monitored in real time, the equipment faults can be positioned in time, the inspection workload of personnel is saved, and the requirements of stable, safe and efficient operation of a rail transit line are met; the robot vision system is used for information acquisition, so that the structural complexity of the robot can be reduced, the fault sensing time can be reduced, and the interference of various data to maintenance personnel can be avoided; the fault of the equipment can be found and positioned more quickly by acquiring the display state of the board lamp; by utilizing the collected inspection data, the fault equipment can be intelligently early-warned, operators are reminded to maintain the equipment in advance, and the equipment fault rate is reduced.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an intelligent robot system of patrolling and examining which characterized in that includes:
the intelligent robot is used for acquiring equipment running state information of equipment to be detected in real time by using a machine vision system according to a routing inspection plan issued by the control center and transmitting the acquired equipment running state information to the control center, wherein the equipment running state information comprises board lamp display state information;
and the control center is used for making a routing inspection plan and issuing the routing inspection plan to the intelligent robot, monitoring the equipment to be inspected according to the running state information of the equipment, identifying and predicting equipment faults and giving an alarm.
2. The system of claim 1, wherein the inspection plan includes an identification of the equipment to be inspected and an inspection electronic map; the intelligent robot walks to the position of the equipment to be detected according to the inspection electronic map, shoots the image of the equipment to be detected by utilizing the machine vision system, and obtains the equipment running state information of the equipment to be detected according to the shot image.
3. The system of claim 2, wherein the intelligent robot is further configured to send an image of the apparatus to be inspected to a control center; the control center is also used for monitoring the equipment to be detected according to the image of the equipment to be detected; and/or
The intelligent robot is also used for detecting the working state of the intelligent robot and sending the working state of the intelligent robot to the control center; the control center is also used for monitoring the intelligent robot according to the working state of the control center and remotely restarting the intelligent robot when the intelligent robot breaks down.
4. The system of claim 1, wherein predicting and alerting of device faults based on the device operational status information comprises:
the method comprises the steps that real-time monitored equipment running state information is used as input of a health degree calculation model to obtain the current equipment health degree, and the health degree calculation model is obtained based on historical stored equipment running state information training; and comparing the health degree of the equipment with a preset health degree threshold value, and if the health degree is lower than the threshold value, giving an alarm.
5. The system according to any one of claims 1-4, wherein the control center is connected with an intelligent operation and maintenance subsystem for monitoring train operation through an interface and interacts data, and the control center is further configured to determine a target equipment to be inspected according to fault alarm information when receiving the fault alarm information from the intelligent operation and maintenance subsystem, and control the intelligent robot to acquire equipment operation state information of the target equipment to be inspected.
6. An intelligent robot inspection method is characterized by comprising the following steps:
the control center makes a patrol plan and issues the patrol plan to the intelligent robot;
the intelligent robot acquires equipment running state information of equipment to be detected in real time by using a machine vision system according to the inspection plan, and transmits the acquired equipment running state information to a control center, wherein the equipment running state information comprises board lamp display state information;
and the control center monitors the equipment to be detected according to the running state information of the equipment, identifies and predicts equipment faults and gives an alarm.
7. The method of claim 6, wherein the inspection plan includes an identification of the equipment to be inspected and an inspection electronic map; the intelligent robot walks to the position of the equipment to be detected according to the inspection electronic map, shoots the image of the equipment to be detected by utilizing the machine vision system, and obtains the equipment running state information of the equipment to be detected according to the shot image.
8. The method of claim 7, further comprising:
the intelligent robot sends the image of the equipment to be detected to a control center;
the control center monitors the equipment to be detected according to the image of the equipment to be detected; and/or
The intelligent robot detects the working state of the intelligent robot and sends the working state of the intelligent robot to the control center;
and the control center monitors the intelligent robot according to the working state of the control center, and remotely restarts the intelligent robot when the intelligent robot breaks down.
9. The method of claim 6, wherein the control center predicting and alerting of equipment faults based on the equipment operational status information comprises:
the method comprises the steps that real-time monitored equipment running state information is used as input of a health degree calculation model to obtain the current equipment health degree, and the health degree calculation model is obtained based on historical stored equipment running state information training;
and comparing the health degree of the equipment with a preset health degree threshold value, and if the health degree is lower than the threshold value, giving an alarm.
10. The method according to any one of claims 6-9, further comprising:
the control center receives fault alarm information from an intelligent operation and maintenance subsystem of the train signal monitoring system, determines a target to-be-detected device according to the fault alarm information, and controls the intelligent robot to collect device running state information of the target to-be-detected device.
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