CN111540183A - Patrol robot safety region intrusion early warning method based on wireless signal analysis - Google Patents
Patrol robot safety region intrusion early warning method based on wireless signal analysis Download PDFInfo
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- CN111540183A CN111540183A CN202010394448.1A CN202010394448A CN111540183A CN 111540183 A CN111540183 A CN 111540183A CN 202010394448 A CN202010394448 A CN 202010394448A CN 111540183 A CN111540183 A CN 111540183A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/22—Electrical actuation
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Abstract
The invention discloses a safety region intrusion early warning method of an inspection robot based on wireless signal analysis, which comprises the following steps: step 1: recording wireless signal information in a monitoring area under a safety condition; step 2: acquiring wireless signal information in a monitoring area in real time; and step 3: filtering out suspicious signals according to the signal source; and 4, step 4: and filtering out a signal for inspecting the robot to invade the safe area of the equipment from the suspicious signal according to the strength change of the signal, and starting an alarm. The method is based on communication monitoring between the inspection robot and the controller, the early warning accuracy is high, the cost is within the range which can be borne by the public, and the inspection robot with a new version can be identified.
Description
Technical Field
The invention relates to a method for early warning invasion of a safety region of an inspection robot based on wireless signal analysis, in particular to the technical field of early warning of safety operation of the inspection robot and a safety region of an invasion device.
Background
The intelligent substation inspection robot becomes a development hotspot in recent years, and the intelligent substation equipment state monitoring device and system constructed by fully utilizing the substation inspection robot platform have very important practical significance.
In recent years, with the application of a substation inspection robot in a substation and the problem of navigation and positioning misalignment of the robot in an unattended inspection mode, the inspection robot inevitably enters the range of a substation equipment safety management area, physical damage to substation equipment is caused or normal operation of equipment in the substation is influenced, and the detection and early warning technology for the event is more and more important.
The prior safe area intrusion early warning technology of the inspection robot is mainly divided into the following technologies:
1) an intrusion early warning technology of a transformer substation intelligent inspection robot based on a video camera and image analysis is disclosed. The technology relates to the shape recognition of the inspection robot, but the recognition precision of the technology is not high due to the fact that the inspection robots on the market are various in shape. The technology is based on communication monitoring between the inspection robot and the transformer substation inspection robot management platform, and the defects are avoided.
2) An intrusion early warning technology of a patrol robot based on a mixed approach. The technology relates to the construction of a vision, sound and radar monitoring system of a patrol robot, and has the defects of high identification precision, various used devices and high cost. The implementation of the technology can be completed by only one common personal computer, and the cost is within the range that the public can bear.
3) An inspection robot intrusion early warning technology based on an inspection robot communication protocol. The technology relates to the detection of the communication protocol of the inspection robot, and has the defects that the early warning can be only carried out on the known model of the inspection robot, and the technology cannot be applied if the model of the intrusion inspection robot is newer. The technology judges whether the invasion event of the inspection robot exists based on the strength change of the wireless communication signal in the inspection process of the inspection robot, and has no defects.
Most of the existing inspection robots with the shooting modules transmit image data by using wireless signals of 2.4GHz frequency bands and 5.8GHz frequency bands, and some inspection robots even transmit inspection instructions and operation control by using the signals. In the physical layer of a wireless communication network, data is propagated through frames, and the way data frames are propagated is through broadcasting. The broadcast means that after a data frame is sent out, the data frame can be received by all hosts on the network, after the host receives the data frame, whether the address in the data frame is matched with the address of the host is checked, if the address is matched, the information in the data frame is received, and if the address is not matched, the data frame is discarded. Thus, if a host in a wireless network receives all data frames that pass through it in the network and chooses to completely unpack, it can sniff all the information being transmitted in a certain area nearby. The above is the theoretical basis of the wireless signal acquisition part in the present invention.
RSSI (Received Signal Strength Indication) refers to the broadband Received power over the channel bandwidth Received by the receiver, and the distance between a Signal point and a receiving point is measured using the index. The unit of RSSI is dBm, which is generally a negative value, and for a wireless signal transmitted from the same signal point, the greater the RSSI calculated by the receiving point, the closer the distance between the signal point and the receiving point. The inspection robot with the intrusion behavior mostly has a high-precision camera and transmits images in real time through wireless signals, so if a receiver is near the inspection robot, the RSSI of the real-time image transmission signals of the inspection robot can be obtained, and the distance change between the inspection robot and the receiver can be obtained. The above is the theoretical basis for judging whether the signal belongs to the signal of the intrusion inspection robot.
Disclosure of Invention
The invention aims to provide a safe area intrusion detection and early warning method of an inspection robot based on wireless communication signal analysis.
In order to achieve the purpose, the invention provides the following technical scheme: the early warning method for the invasion of the safety zone of the inspection robot based on the wireless signal analysis comprises the following steps: step 1: recording wireless signal information in a monitoring area under a safety condition;
step 2: acquiring wireless signal information in a monitoring area in real time;
and step 3: filtering out suspicious signals according to the signal source;
and 4, step 4: and filtering out a signal for inspecting the robot to invade the safe area of the equipment from the suspicious signal according to the strength change of the signal, and starting an alarm.
Preferably, in step 1, the safety condition refers to a condition that the robot is not inspected for intrusion, that is, the general condition or the static condition is usually confirmed, the monitoring area refers to an area protected by an early warning, and the wireless signal information includes MAC addresses or names of all wireless network access points and receiving stations in the area.
Preferably, in step 2, the monitoring area and the wireless signal information are defined in step 1, and the real-time acquisition may refer to continuously and sequentially scanning channels of the target frequency band at a frequency less than 0.2 second.
Preferably, in step 3, the filtering principle is to compare the wireless information obtained in step 2 with the wireless information recorded in step 1 to obtain the wireless information obtained in step 2 but not included in step 1, and a signal containing the information is regarded as a suspicious signal.
Preferably, in the step 4, the filtering principle according to the signal strength variation means that the RSSI variation trend of the suspicious signal in the step 3 is acquired, the RSSI variation trend is compared with the RSSI variation trend of the inspection robot signal invading the safety area, if the similarity degree is high, the signal is determined to be the inspection robot invasion signal, the alarm should be performed after the inspection robot invasion signal is determined to appear, and the alarm cannot be triggered in any other situations.
It should be further noted that step 1 corresponds to an initialization process, and step 1 should be executed before the early warning system can work normally, and step 1 should be skipped after all the required information is recorded. Step 2 and step 3 are carried out circularly, and step 4 is carried out after the suspicious signal is filtered out in step 3.
Compared with the prior art, the invention has the beneficial effects that: the method is based on communication monitoring between the inspection robot and a controller, and has the advantages of high early warning accuracy, high cost within the range which can be borne by the public and capability of identifying a new version of the inspection robot.
Drawings
Fig. 1 is a flowchart of an intrusion early warning method for an inspection robot according to the present invention.
Fig. 2 is a schematic diagram of an intrusion model of the inspection robot established in the invention.
Fig. 3 is a schematic diagram of the change of the signal RSSI of the inspection robot with the intrusion tendency.
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 only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1-3, the present invention provides a technical solution: as shown in fig. 1, the method for early warning the intrusion of the safety zone of the inspection robot based on the wireless signal analysis comprises the following steps: firstly, recording wireless signal information in a monitoring area under a safety condition, wherein the wireless signal information refers to MAC addresses or names of all signal access points and access stations in the area, and storing the information to obtain a stored information set.
And then, starting to acquire wireless signal information in the monitoring area in real time to obtain a real-time information set. The real-time information is compared with the previously stored information, and whether the stored information set contains a real-time information set or not is judged, that is, whether information which belongs to the real-time information set but does not belong to the stored information set exists or not is judged. If the stored information set contains a real-time information set, jumping back to the step of acquiring wireless signal information in real time; if the stored information set does not contain the real-time information set, recording the information which belongs to the real-time information set but does not belong to the stored information set, marking the signal corresponding to the information as a suspicious signal, and carrying out the next step.
If a suspicious signal is found, checking a historical RSSI value of the signal, comparing the historical RSSI value with the RSSI variation trend of the signal of the intrusion inspection robot, if the RSSI variation trend has the characteristics of the signal of the intrusion inspection robot, judging the signal as an intrusion signal of the inspection robot, and sounding an alarm; and if the signal characteristics of the intrusion inspection robot are not available, jumping back to the step of acquiring the wireless signal information in real time.
The criteria for determining whether the signal has the signal characteristics of the intrusion inspection robot are as follows:
as shown in fig. 2, wherein S1, S2, S3 indicate the position of the inspection robot intruding, T indicates an intrusion target, L1 indicates the path of the inspection robot approaching the target, L2 indicates the path of the inspection robot departing the target, and two open rectangles indicate obstacles.
The invention considers that the process of invading the equipment safety area in the transformer substation by the general inspection robot can be divided into three steps: and (5) approaching the target point, shooting is carried out, and the vehicle travels away from the target point. The approach to the target point means that the inspection robot travels a route long by L1 from S1 in the drawing to reach the observation point S2; the shooting implementation means that the inspection robot is at the S2 position for a period of time to shoot; the driving-away target point means that the inspection robot moves from the position of S2 to S3 after the photographing is completed.
In many cases, the environment of the safety range of the substation equipment which is inspected for robot intrusion can be considered as a free space, and the RSSI of a specific signal received by a receiving point in the free space can be represented by the following formula:
wherein d represents the distance between the signal receiving point and the signal transmitting point in m; pt represents the transmission power of a signal, and the unit is dBm; the unit of RSSI is also dBm.
In addition, a high-precision camera is matched with a general inspection robot, and images shot by the camera can be transmitted to a rear-end equipment inspection management platform in real time through wireless signals. Since the transmission of the image signal is real-time, Pt may be regarded as not changing with time, and then, in the process of implementing intrusion by the inspection robot, RSSI of the image transmission signal of the inspection robot that can be received at the target point T may be illustrated by fig. 3.
As shown in fig. 3, the horizontal axis represents time and the vertical axis represents RSSI. The curve consists of three parts, T1 being the ascending segment, T2 being the plateau segment, and T3 being the descending segment. The curves in the figure only show trends.
A T1 section of the schematic image shows that the inspection robot is in a state of being close to a target point, the distance between the inspection robot and the target point is continuously reduced, and the RSSI value is continuously increased; the T2 segment indicates that the inspection robot is in a shooting implementation state, the distance between the inspection robot and a target point is basically unchanged, and the RSSI value is kept basically unchanged; the section T3 shows that the inspection robot is in a state of leaving the target point, the distance between the inspection robot and the target point is continuously increased, and the RSSI value is continuously reduced.
In summary, the method for judging whether the suspicious signal is the signal of the intrusion inspection robot comprises the following steps: if the suspicious signal has the trends in T1 and T2 in fig. 3, the signal is an inspection robot signal for the security range of the intrusion device; if the suspect signal does not have the trends in T1 and T2 in FIG. 3, then the signal is not an intrusion inspection robot signal.
Examples
Take the example of building a system embodying the method on a home PC.
Step 1: the method comprises the steps that certain integrated monitoring software under a window system can be used for conveniently collecting surrounding wireless signal information, such as CommView for WiFi, the software can capture surrounding wireless data packets by using a built-in wireless network card of a computer, processing is carried out to obtain sending addresses of the packets, MAC addresses or names of all surrounding wireless network access points and receiving stations are finally determined, and results are stored into text documents.
Step 2: by using the software, the surrounding wireless signal information can be obtained in real time, and the result is saved as a text document.
And step 3: and (3) establishing a database of the wireless signal information in the text document in the step (1), and searching for information which does not exist in the database by using the information obtained in the step (2). As previously mentioned, this information refers to the MAC addresses or names of the wireless network access point and the receiving station. If no wireless information does not exist in the database, the step 2 is returned.
And 4, step 4: recording the RSSI of the signals sent by the wireless network access point and the receiving station obtained in the step 3, analyzing the RSSI signals in Matlab, and if the suspicious signals have the trends in T1 and T2 in the graph 3, determining that the suspicious signals are the signals of the intrusion inspection robot and performing early warning; if the suspect signal does not have the trends in T1 and T2 of FIG. 3, then the signal is not an intrusion inspection robot signal and returns to step 2.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A safety region intrusion early warning method of an inspection robot based on wireless signal analysis is characterized by comprising the following steps: the method comprises the following steps: step 1: recording wireless signal information in a monitoring area under a safety condition;
step 2: acquiring wireless signal information in a monitoring area in real time;
and step 3: filtering out suspicious signals according to the signal source;
and 4, step 4: and filtering out a signal for inspecting the robot to invade the safe area of the equipment from the suspicious signal according to the strength change of the signal, and starting an alarm.
2. The inspection robot safety area intrusion early warning method based on wireless signal analysis according to claim 1, characterized in that: in the step 1, the safety condition refers to a condition that the robot is not inspected for intrusion under confirmation, that is, the general condition or the static condition, the monitoring area refers to an area protected by early warning, and the wireless signal information includes MAC addresses or names of all wireless network access points and receiving stations in the area.
3. The inspection robot safety area intrusion early warning method based on wireless signal analysis according to claim 1, characterized in that: in step 2, the monitoring area and the wireless signal information are defined in step 1, and the real-time acquisition may refer to continuously scanning channels of the target frequency band in sequence at a frequency less than 0.2 second.
4. The inspection robot safety area intrusion early warning method based on wireless signal analysis according to claim 1, characterized in that: in step 3, the filtering principle refers to comparing the wireless information obtained in step 2 with the wireless information recorded in step 1 to obtain the wireless information obtained in step 2 but not recorded in step 1, and the signal containing the information is regarded as a suspicious signal.
5. The inspection robot safety area intrusion early warning method based on wireless signal analysis according to claim 1, characterized in that: in the step 4, the filtering principle according to the signal strength change means that the RSSI change trend of the suspicious signal in the step 3 is obtained and compared with the RSSI change trend of the inspection robot signal invading the safe area, if the similarity degree is high, the signal is judged to be the inspection robot invasion signal, the alarm is performed after the inspection robot invasion signal is determined to appear, and the alarm cannot be triggered under any condition except the condition.
6. The inspection robot safety area intrusion early warning method based on wireless signal analysis according to claim 1, characterized in that: step 1 should be executed before the early warning system can work normally, after all the required information is recorded, step 1 is skipped, step 2 and step 3 are carried out circularly, and step 4 is carried out after the suspicious signal is filtered out in step 3.
7. The RSSI profile for an intrusion inspection robot signal according to claim 5, wherein the RSSI increases over time, then levels off, and finally decreases.
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