CN111941388B

CN111941388B - Communication control method, electronic equipment and system of valve hall equipment inspection robot

Info

Publication number: CN111941388B
Application number: CN202010627769.1A
Authority: CN
Inventors: 李志龙; 张鹏程
Original assignee: Guangzhou Bureau of Extra High Voltage Power Transmission Co
Current assignee: Guangzhou Bureau of Extra High Voltage Power Transmission Co
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2022-07-12
Anticipated expiration: 2040-07-01
Also published as: CN111941388A

Abstract

The communication control method, the electronic equipment and the system of the valve hall equipment inspection robot comprise the following steps: generating a first control instruction and a second control instruction corresponding to the target inspection robot according to a preset inspection route, wherein the first control instruction comprises an inspection position of the target inspection robot, and the second control instruction comprises an inspection operation of the target inspection robot; sending a first control instruction to a power control box connected with a track sliding table where the target inspection robot is located through a first channel to instruct the power control box to control the track sliding table so that the target inspection robot moves to the inspection position; and sending a second control instruction to a detection control box connected with the target inspection robot through a second channel so as to instruct the detection control box to control the target inspection robot to finish the inspection operation when the target inspection robot reaches the inspection position. Implement this application embodiment, can reduce and patrol and examine and produce interference between the different control signal that the robot received, promote the control and patrol and examine the accuracy nature of robot.

Description

Communication control method, electronic equipment and system of valve hall equipment inspection robot

Technical Field

The invention relates to the technical field of power equipment, in particular to a communication control method, electronic equipment and a system for a valve hall equipment inspection robot.

Background

The ultrahigh voltage direct current transmission system is used as an important component of a southern power grid, plays a strategic role in cross-region allocation of power resources, and routing inspection and maintenance aiming at valve hall equipment are core tasks for ensuring normal operation of the ultrahigh voltage direct current transmission system. At present, can use the robot of patrolling and examining of operation on the trapped orbit to patrolling and examining of valve room equipment, nevertheless discovery in practice, when controlling patrolling and examining the robot, often can interfere with each other between the different control signal (if control patrolling and examining the signal that the robot detected, control were equipped with the signal that the track slip table of this patrolling and examining the robot removed etc.), has reduced the accuracy nature that the robot was patrolled and examined in control.

Disclosure of Invention

The embodiment of the application discloses a communication control method, electronic equipment and a system of a valve hall equipment inspection robot, which can reduce interference generated among different control signals received by the inspection robot and improve the accuracy of controlling the inspection robot.

The embodiment of the application discloses in a first aspect a communication control method for a valve hall equipment inspection robot, comprising:

generating a first control instruction and a second control instruction corresponding to a target inspection robot according to a preset inspection route, wherein the first control instruction comprises an inspection position of the target inspection robot, and the second control instruction comprises inspection operation of the target inspection robot;

sending the first control instruction to a power control box connected with a track sliding table where the target inspection robot is located through a first channel, wherein the first control instruction is used for indicating the power control box to control the track sliding table so that the target inspection robot can move to the inspection position;

and sending a second control instruction to a detection control box connected with the target inspection robot through a second channel, wherein the second control instruction is used for indicating the detection control box to control the target inspection robot to arrive at the inspection position so as to complete the inspection operation.

As an optional implementation manner, in the first aspect of this embodiment of the present application, after the sending the second control instruction to the detection control box connected to the target inspection robot through the second channel, the method further includes:

acquiring first feedback data sent by the power control box after the power control box executes the first control instruction through the first channel;

acquiring second feedback data sent by the detection control box after the detection control box executes the second control instruction through the second channel;

and regenerating other control instructions corresponding to the target inspection robot according to the first feedback data and the second feedback data.

As another optional implementation manner, in the first aspect of the embodiment of the present application, before generating the first control instruction and the second control instruction corresponding to the target inspection robot according to the preset inspection route, the method further includes:

determining a target inspection mode from a plurality of inspection modes, wherein the inspection modes at least comprise a fixed point inspection mode, a remote control inspection mode and an autonomous inspection mode;

and determining a target routing inspection route from a plurality of routing inspection routes corresponding to the target routing inspection mode, and taking the target routing inspection route as a preset routing inspection route.

As another optional implementation manner, in the first aspect of the embodiment of the present application, the generating a first control instruction and a second control instruction corresponding to the target inspection robot according to a preset inspection route includes:

according to a preset routing inspection route, determining one routing inspection robot from a plurality of routing inspection robots running on the preset routing inspection route as a target routing inspection robot;

and generating a first control instruction and a second control instruction corresponding to the target inspection robot according to the target inspection mode.

As another optional implementation manner, in the first aspect of this application embodiment, first control instruction specifically is used for instructing power control box obtains the target patrol and examine the robot position with patrol and examine the distance of position, and control with the track slip table that power control box is connected to patrol and examine the direction removal of position the distance, wherein, be equipped with on the track slip table the target patrol and examine the robot.

As another optional implementation manner, in the first aspect of the embodiment of the present application, the second control instruction is specifically configured to instruct the detection control box to determine a detection object corresponding to the inspection operation, control the target inspection robot to rotate according to a relative spatial position relationship between the target inspection robot and the detection object so as to face the detection object, and shoot the detection object through the camera to obtain the detection image data corresponding to the detection object.

As another optional implementation manner, in the first aspect of the embodiment of the present application, the first channel and the second channel are independent from each other, and at least include one or more of independent channel use time, independent channel occupation space, and independent channel occupation frequency band.

A second aspect of an embodiment of the present application discloses an electronic device, including:

the system comprises an instruction generating unit, a judging unit and a control unit, wherein the instruction generating unit is used for generating a first control instruction and a second control instruction corresponding to a target inspection robot according to a preset inspection route, the first control instruction comprises an inspection position of the target inspection robot, and the second control instruction comprises inspection operation of the target inspection robot;

the first communication unit is used for sending the first control instruction to a power control box connected with a track sliding table where the target inspection robot is located through a first channel, and the first control instruction is used for indicating the power control box to control the track sliding table so that the target inspection robot moves to the inspection position;

and the second communication unit is used for sending the second control instruction to a detection control box connected with the target inspection robot through a second channel, and the second control instruction is used for indicating the detection control box to control the target inspection robot to arrive at the inspection position to complete the inspection operation.

The third aspect of the embodiment of the application discloses a communication control system of a valve hall equipment inspection robot, which comprises an upper computer, a relay communication device, an inspection robot, a power control box and a detection control box, wherein the upper computer is connected with the relay communication device, the relay communication device is respectively connected with the power control box and the detection control box, the power control box is connected with a rail transfer sliding table where the inspection robot is located, the detection control box is connected with the inspection robot, wherein,

the upper computer is used for generating a first control instruction and a second control instruction corresponding to the inspection robot according to a preset inspection route, sending the first control instruction to the power control box through a first channel of the relay communication device, and sending the second control instruction to the detection control box through a second channel of the relay communication device, wherein the first control instruction comprises an inspection position of the inspection robot, and the second control instruction comprises an inspection operation of the inspection robot;

the power control box is used for controlling the track sliding table to enable the inspection robot to move to the inspection position according to the first control instruction sent by the upper computer;

and the detection control box is used for controlling the inspection robot to execute the inspection operation when reaching the inspection position according to the second control instruction sent by the upper computer.

The fourth aspect of the embodiments of the present application discloses another electronic device, including:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute all or part of the steps in any one of the communication control methods for the valve hall device inspection robot disclosed by the first aspect of the embodiments of the present application.

A fifth aspect of the present embodiment discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute all or part of the steps in any one of the communication control methods for a valve hall device inspection robot disclosed in the first aspect of the present embodiment.

A sixth aspect of the embodiments of the present application discloses a computer program product, which, when running on a computer, causes the computer to execute all or part of the steps in any one of the communication control methods for a valve hall device inspection robot in the first aspect of the embodiments of the present application.

Compared with the prior art, the embodiment of the application has the following beneficial effects:

in the embodiment of the application, come the different control signal of transmission respectively to the target inspection robot through mutually independent channel, can control this target inspection robot according to the different control command that different control signal carried respectively, or the control is equipped with the track slip table removal that this target inspection robot to realize that the host computer patrols and examines robot and its track slip table's independent communication control to this target, difficult mutual interference between the two. Therefore, the embodiment of the application can reduce the interference generated between different control signals received by the inspection robot, and improve the accuracy of controlling the inspection robot.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of an application scenario of a communication control method of a valve hall device inspection robot disclosed in an embodiment of the present application;

fig. 2 is a schematic flow chart of a communication control method of a valve hall device inspection robot disclosed in an embodiment of the present application;

fig. 3 is a schematic flow chart of another communication control method for a valve hall device inspection robot disclosed in the embodiments of the present application;

fig. 4 is a schematic flow chart of a communication control method of a valve hall device inspection robot according to another embodiment of the present disclosure;

FIG. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure;

fig. 6 is a schematic block diagram of a communication control system of a valve hall device inspection robot according to an embodiment of the present disclosure;

fig. 7 is a schematic block diagram of another electronic device disclosed in an embodiment of the present application.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and detailed description.

Example (b):

the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the application discloses a communication control method, electronic equipment and a system of a valve hall equipment inspection robot, which can reduce interference among different control signals of the inspection robot and improve the accuracy of controlling the inspection robot. The following detailed description is made with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a communication control method for a valve hall device inspection robot, which includes an upper computer 101, a first optical fiber transceiver 102, a second optical fiber transceiver 103, a power control box 104, a detection control box 105, a detection robot 106, a servo driver 107, a servo motor 108, a track 109, a track sliding table 110, a position sensor 111, and a pan-tilt 112. The upper computer 101 may be connected to the first optical fiber transceiver 102 through a network cable, the first optical fiber transceiver 102 is connected to the second optical fiber transceiver 103 through an optical fiber, the second optical fiber transceiver 103 may be connected to the power control box 104 and the detection control box 105 through two twisted pairs, respectively, the power control box 104 forms a closed loop control with the servo driver 107, the servo motor 108, the track sliding table 110 disposed on the track 109, and the position sensor 111, the track sliding table 110 is provided with the detection robot 106 and the cradle head 112 thereof, and the detection control box 105 is in communication connection with the detection robot 106 and the cradle head 112 thereof.

In this embodiment of the application, the upper computer 101 may generate a first control instruction and a second control instruction corresponding to the inspection robot 106 on the inspection route according to a preset inspection route of the valve hall device, where the first control instruction is used to control the inspection robot 106 to move to a set inspection position, and the second control instruction is used to control the inspection robot 106 to perform a set inspection operation (such as shooting, measuring temperature, and the like on a detection object) after reaching the inspection position; next, the upper computer 101 may send the first control instruction and the second control instruction to the first optical fiber transceiver 102 through an electrical signal, the first optical fiber transceiver 102 converts the received electrical signal into an optical signal, and sends the optical signal to the second optical fiber transceiver 103 through an optical fiber, so that the first optical fiber transceiver 102 and the second optical fiber transceiver 103 together form a relay communication device through the optical fiber; then, the second optical fiber transceiver 103 may perform photoelectric conversion, and according to the converted electrical signal, send the resolved first control instruction to the power control box 104 through one set of twisted pair (i.e., the first channel), and send the resolved second control instruction to the detection control box 105 through the other set of twisted pair (i.e., the second channel); then, the power control box 104 drives the servo motor 108 through the servo driver 107 according to the first control instruction, so that the track sliding table 110 moves along the track 109, and performs feedback adjustment according to the position information acquired by the position sensor 111 in real time, so as to drive the detection robot 106 and the pan-tilt 112 thereof on the track sliding table 110 to move to a set detection position; finally, the detection control box 105 controls the cradle head 112 to perform attitude adjustment according to the second control instruction, so that the detection robot 106 performs inspection operations such as shooting towards a detection object (such as various valve hall devices including a converter valve, a voltage divider, a transformer, and the like).

It is understood that the track 109 shown in fig. 1 is a vertical track, which is merely an example, and may be a horizontal track, an inclined track, etc. in some embodiments, and may be configured with corresponding servo drivers and servo motors.

It should be noted that the second optical fiber transceiver 103 is connected to the power control box 104 and the detection control box 105 through twisted pairs, which is also only an example, and this example can reduce mutual interference between different control signals transmitted in different groups of twisted pairs by using good shielding performance of the twisted pairs. In some embodiments, the optical fiber transceiver 103 may further send wireless control signals to the power control box 104 and the detection control box 105 in a time division or frequency division manner, so as to reduce interference between different control signals, thereby improving accuracy of controlling the inspection robot.

To better describe an application scenario of the embodiment of the application, fig. 2 discloses a flow diagram of a communication control method of a valve hall device inspection robot. As shown in fig. 2, the method may include the steps of:

201. according to a preset routing inspection route, a first control instruction and a second control instruction corresponding to the target routing inspection robot are generated, wherein the first control instruction comprises an inspection position of the target routing inspection robot, and the second control instruction comprises an inspection operation of the target routing inspection robot.

In this application embodiment, the position of valve room equipment is fixed usually, and state information such as outward appearance, temperature of its normal during operation also accord with certain law usually, consequently can patrol and examine the robot and patrol and examine valve room equipment through the operation on the route of patrolling and examining of setting for to can real time monitoring valve room equipment's operating condition, in time discover unusually.

For example, for a valve hall device of a certain area, the upper computer may set in advance a patrol route for the area according to a space size, a device type, and the like of the area, and then generate a first control command and a second control command corresponding to a target patrol robot operating on the patrol route. The first control instruction can comprise one or more inspection positions, and the rail sliding table where the target inspection robot is located can move on the rail according to the first control instruction to drive the target inspection robot to sequentially reach the inspection positions; optionally, the first control instruction may further include a specified time, a retention time, and the like for reaching the inspection position, so that the target inspection robot can accurately reach the inspection position at the specified time and stay for the set retention time to complete the set inspection operation; optionally, the host computer can also set up the plan of patrolling and examining in a certain period of time, should patrol and examine the plan and can include a plurality of time points of patrolling and examining and to patrol and examine contents such as position corresponding to each time point to can patrol and examine the time point and generate the first control command that contains the position of patrolling and examining of correspondence and send at every aforesaid, so that the target patrols and examines the robot and can independently plan according to this patrolling and examining plan and come and go the route of patrolling and examining, realize long-term automatic patrolling and examining, reduce the manual setup cost. The second control command may include one or more inspection operations, and the target inspection robot may perform the inspection operations (e.g., photographing an inspection object, measuring temperature, etc.) when the target inspection robot reaches the inspection position included in the first control command, or may perform the inspection operations (e.g., photographing a panorama, comparing temperature differences of devices at different positions, etc.) when the target inspection robot moves to the inspection position.

202. And sending the first control instruction to a power control box connected with the track sliding table where the target inspection robot is located through a first channel, wherein the first control instruction is used for indicating the power control box to control the track sliding table so that the target inspection robot moves to the inspection position.

In this embodiment, the first channel refers to a channel in a broad sense, that is, a channel for communication transmission, and may include a physical channel (for example, a channel formed by an optical fiber, a twisted pair, a wireless signal frequency band, and the like), or may include a virtual channel (for example, multiple channels obtained by multiplexing a certain physical channel); the channel may be a wired channel, a wireless channel, or a channel in which part is transmitted by wire and the other part is transmitted by wireless. It is understood that the physical carrier of the first channel may be single or multiple, i.e. the first channel may be formed by a router, a relay, a transceiver, a network cable, etc.

Specifically, through the first channel, the upper computer can send the first control instruction to the power control box connected to the track sliding table where the target inspection robot is located. Optionally, the first control instruction may be specifically configured to instruct the power control box to obtain a distance between a location where the target inspection robot is located and the inspection location, and to control the track sliding table connected to the power control box to move the distance in a direction of the inspection location, where the track sliding table is provided with the target inspection robot.

For example, the first control command may include a patrol position required for detecting a certain valve hall device, and when the power control box acquires the patrol position according to the first control command, the power control box may continue to acquire the current position of the target patrol robot (for example, directly acquire the current position through a built-in positioning module thereof, or communicate with the target patrol robot through a built-in communication module thereof, and the like), and further calculate the distance between the current position and the patrol position; next, the power control box can control a built-in servo driver to output a motor driving signal, and the motor driving signal is used for driving a servo motor so that the track sliding table where the target inspection robot is located moves the distance in the direction of the inspection position, and therefore the position control of the target inspection robot can be achieved.

203. And sending the second control instruction to a detection control box connected with the target inspection robot through a second channel, wherein the second control instruction is used for indicating the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position.

Wherein the second channel is similar to the first channel. In some embodiments, the second channel is independent from the first channel, and optionally may include one or more of time-independent channel usage, space-independent channel occupancy, frequency-independent channel occupancy, and the like, but is not limited thereto. For example, when the first channel and the second channel are different time slots on a certain frequency band, different time division signals can be transmitted on the channels, so that the channels are independent from each other in use time; for another example, when the first channel and the second channel are physical channels using different sets of twisted pairs (as shown in fig. 1), the channels are independent of each other in terms of occupied physical space; for another example, when the first channel and the second channel are different frequency bands, the wireless signals transmitted by the first channel and the second channel are independent of each other in frequency. Through the selection of one or more means, the first channel and the second channel can be mutually independent, and the signal transmitted in the first channel and the signal transmitted in the second channel are not easy to interfere with each other, so that the occurrence of errors or loss of transmitted information (such as control instructions, feedback data and the like) caused by signal interference can be reduced, and the accuracy of controlling the inspection robot is improved.

Specifically, through the second channel, the upper computer may send the second control instruction to a detection control box to which the target inspection robot is connected. Optionally, the second control instruction may be specifically used to instruct the inspection control box to determine an inspection object (such as various valve hall devices including a converter valve, a voltage divider, and a transformer) corresponding to the inspection operation; next, the detection control box can judge whether the target inspection robot reaches the inspection position; further, when it is judged that the target inspection robot reaches the inspection position, the inspection control box may control the target inspection robot to rotate to face the inspection object according to a relative spatial position relationship between the target inspection robot and the inspection object; finally, the target inspection robot shoots the detection object through a camera (including a visible light camera, an infrared camera and the like) carried by the target inspection robot, and acquires detection image data (such as visible light image data and infrared image data) corresponding to the detection object.

Wherein, the method for judging whether the target inspection robot reaches the inspection position by the detection control box can comprise the following steps: when the power control box controls the track sliding table where the target inspection robot is located to move, so that the target inspection robot reaches the inspection position, the power control box can send indication information to the detection control box, and the detection control box can judge that the target inspection robot reaches the inspection position when receiving the indication information; or the power control box can also send the current position information of the target inspection robot to the detection control box, and the detection control box compares the current position information with the pre-acquired detection position according to the position information to judge whether the target inspection robot reaches the inspection position; or the power control box can also feed back the current position information of the target inspection robot to the upper computer, the upper computer judges whether the target inspection robot reaches the inspection position according to the position information, if so, the upper computer sends indication information to the detection control box, and then the detection control box executes the subsequent steps; or, when the upper computer judges that the target inspection robot reaches the inspection position according to the position information fed back by the power control box, the step 203 is executed, and the upper computer sends a second control instruction to a detection control box connected with the target inspection robot through a second channel, so that the target inspection robot can be ensured to execute corresponding inspection operation after reaching the set inspection position.

For example, the second control instruction may include a polling operation for detecting a certain valve hall device, such as capturing a visible light image of the detection object, acquiring the current temperature of the detection object, recording the damage condition of the detection object, and the like. Taking the polling operation as the example of obtaining the current temperature of the detected object, when the detection control box obtains the polling operation according to the second control instruction, the position of the detected object can be obtained first, and then the rotating direction and the rotating angle are calculated according to the relative spatial position relation between the current position of the target polling robot and the position of the detected object; then, the detection control box can control a holder of the target inspection robot to drive the target inspection robot to rotate the rotating angle according to the rotating direction, so that the infrared camera carried by the detection control box faces towards a detection object; and finally, the target detection robot controls an infrared camera of the target detection robot to shoot a detection object, and analyzes the current temperature of the detection object according to the infrared image obtained by shooting.

As an optional implementation manner, the first control instruction may further include a first timestamp, and the second control instruction may further include a second timestamp, where the first timestamp and the second timestamp are respectively the time when the upper computer sends the first control instruction and the second control instruction. When the power control box receives the first control instruction, the first time stamp can be acquired, the first time stamp is compared with the second time stamp acquired when the detection control box receives the second control instruction, and if the time difference between the first time stamp and the second time stamp is larger than a preset threshold value, the upper computer can be requested to send out the corresponding control instruction again. Illustratively, when the first timestamp acquired by the power control box is 19:00:00.2 and the second timestamp acquired by the detection control box is 19:00:00.5, if the preset threshold is 1s and the time difference between the two timestamps is smaller than the preset threshold, the first control command received by the power control box and the second control command received by the detection control box can be considered as the same batch of control commands, so that synchronous execution can be performed, and the target inspection robot can execute the inspection operation contained in the second control command at the inspection position contained in the first control command; if the preset threshold value is 0.1s and the time difference between the two timestamps is greater than the preset threshold value, the first control instruction and the second control instruction are not the same batch of instructions, and at the moment, the upper computer can be requested to send out the corresponding control instruction again, so that the situation that the wrong inspection operation is executed at the wrong inspection position due to the fact that the power control box and the detection control box receive the instructions asynchronously is avoided. Optionally, according to the time difference between the two timestamps, the execution time of the second control command may be adjusted to be advanced or delayed to be synchronous with the first control command, so as to further avoid errors caused by asynchronous command receiving of the power control box and the detection control box.

By implementing the method described in the above embodiment, different control signals for the target inspection robot can be transmitted through mutually independent channels, and the target inspection robot is controlled to detect according to different control instructions carried by different control signals, or the track sliding table provided with the target inspection robot is controlled to move, so that the independent communication control of the target inspection robot and the track sliding table by an upper computer is realized, mutual interference between the target inspection robot and the track sliding table is not easy to occur, interference generated between different control signals received by the inspection robot is reduced, and the accuracy of the control inspection robot is improved.

Referring to fig. 3, fig. 3 is a schematic flow chart of another communication control method for a valve hall device inspection robot according to an embodiment of the present application. As shown in fig. 3, the method may include the steps of:

301. according to a preset routing inspection route, a first control instruction and a second control instruction corresponding to the target routing inspection robot are generated, wherein the first control instruction comprises an inspection position of the target routing inspection robot, and the second control instruction comprises an inspection operation of the target routing inspection robot.

302. And sending the first control instruction to a power control box connected with the track sliding table where the target inspection robot is located through a first channel, wherein the first control instruction is used for indicating the power control box to control the track sliding table so that the target inspection robot moves to the inspection position.

303. And sending the second control instruction to a detection control box connected with the target inspection robot through a second channel, wherein the second control instruction is used for indicating the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position.

Steps 301 to 303 are similar to steps 201 to 203 described above, and are not described herein again.

304. And acquiring first feedback data sent by the power control box after the power control box executes the first control command through the first channel.

For example, the power control box may acquire position data transmitted from a position sensor provided on a track sliding table on which the target inspection robot is located, and generate first feedback data according to the position data before and after the execution of the first control instruction, where the first feedback data may include the position data, a movement time, a movement result, and the like of the track sliding table. On the basis, the power control box can send the first feedback data to the upper computer through a first channel.

305. And acquiring second feedback data sent by the detection control box after the detection control box executes the second control instruction through the second channel.

For example, the detection control box may obtain detection image data corresponding to the detection object returned by the target inspection robot after executing the second control instruction, and generate second feedback data according to the detection image data, so as to send the second feedback data to the upper computer through a second channel. Optionally, the second feedback data may further include working state information of the target inspection robot after the target inspection robot executes the second control instruction, including instruction execution time, robot power supply condition, camera loss condition and the like, so that the maintenance personnel can timely know the working state of the target inspection robot through the second feedback data received by the upper computer, determine whether to perform maintenance work, and save time for the maintenance personnel to know the working state of the robot on site in a valve hall.

306. And regenerating other control instructions corresponding to the target inspection robot according to the first feedback data and the second feedback data.

Illustratively, when the first feedback data or the second feedback data indicate that the corresponding control instruction is not successfully executed, the original control instruction can be regenerated so that the target inspection robot can be executed again; when the first feedback data or the second feedback data indicate that the corresponding control instruction is successfully executed, other control instructions corresponding to the target inspection robot can be generated so that the target inspection robot can continue to perform inspection. Optionally, after the control instruction is regenerated according to the preset inspection flow, the above steps 302 to 306 may be repeatedly executed to implement continuous automated inspection.

By implementing the method described in the embodiment, the interference generated between different control signals received by the inspection robot can be reduced, and the accuracy of controlling the inspection robot is improved; meanwhile, the inspection progress and the working state of the inspection robot can be timely acquired through acquisition and analysis of feedback data of the inspection robot, automatic inspection is maintained when manual intervention is not needed, and notification is timely sent when manual maintenance is needed, so that the utilization efficiency of the inspection robot is favorably improved, and the labor cost is reduced as much as possible.

Referring to fig. 4, fig. 4 is a schematic flow chart of another communication control method for a valve hall device inspection robot according to the embodiment of the present application. As shown in fig. 4, the method may include the steps of:

401. determine a target mode of patrolling and examining from a plurality of modes of patrolling and examining, wherein, a plurality of modes of patrolling and examining include fixed point mode of patrolling and examining, remote control mode of patrolling and examining and independently patrol and examine the mode at least.

Specifically, the fixed point inspection mode may indicate that the target inspection robot performs an inspection operation at a fixed inspection position, for example, continuously and uninterruptedly monitoring an extremely important detection object; in the remote control inspection mode, the target inspection robot can reach an appointed inspection position according to a remote control instruction under manual control, and appointed inspection operation is executed; the autonomous inspection mode can indicate that the target inspection robot sequentially arrives at one or more inspection positions on a preset inspection route according to a preset inspection flow, and corresponding inspection operation is executed.

Illustratively, the upper computer can determine a target inspection mode from the plurality of inspection modes according to the selection of the user; the fixed-point inspection mode or the autonomous inspection mode can be set as a default target inspection mode, and when a user intervenes, the mode is automatically switched to the remote inspection mode so that the user can freely detect any detection object.

402. And determining a target routing inspection route from a plurality of routing inspection routes corresponding to the target routing inspection mode, and taking the target routing inspection route as a preset routing inspection route.

Specifically, each of the inspection modes may correspond to a plurality of inspection routes respectively, so as to cover a plurality of detection objects in different areas of the valve hall. When a certain detection object needs to be detected, one or more routing inspection routes containing the detection object can be obtained, and an optimal target routing inspection route is determined from the routing inspection routes and used as a preset routing inspection route.

403. And determining one inspection robot as a target inspection robot from a plurality of inspection robots running on the preset inspection route according to the preset inspection route.

404. And generating a first control instruction and a second control instruction corresponding to the target inspection robot according to the target inspection mode, wherein the first control instruction comprises the inspection position of the target inspection robot, and the second control instruction comprises the inspection operation of the target inspection robot.

Illustratively, according to the target patrol mode (such as an autonomous patrol mode), a plurality of patrol positions corresponding to a preset patrol route and patrol operations at each patrol position may be acquired; on the basis, one inspection robot closest to the average distance of the inspection positions can be used as a target inspection robot; then, a first control instruction corresponding to the target inspection robot can be generated according to the plurality of inspection positions so as to control the inspection robot to move to the plurality of inspection positions in sequence; meanwhile, a second control instruction corresponding to the target inspection robot can be generated according to the inspection operation on each inspection position so as to control the inspection robot to sequentially execute corresponding inspection operations on the plurality of inspection positions.

405. And sending the first control instruction to a power control box connected with the track sliding table where the target inspection robot is located through a first channel, wherein the first control instruction is used for indicating the power control box to control the track sliding table so that the target inspection robot moves to the inspection position.

406. And sending the second control instruction to a detection control box connected with the target inspection robot through a second channel, wherein the second control instruction is used for indicating the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position.

Steps 405 to 406 are similar to steps 202 to 203 described above, and are not described herein again.

407. And acquiring first feedback data sent by the power control box after the power control box executes the first control command through the first channel.

408. And acquiring second feedback data sent by the detection control box after the detection control box executes the second control instruction through the second channel.

409. And regenerating other control instructions corresponding to the target inspection robot according to the first feedback data and the second feedback data.

Steps 407 to 409 are similar to steps 304 to 306, and are not described herein again.

By implementing the method described in the embodiment, the interference generated between different control signals received by the inspection robot can be reduced, and the accuracy of controlling the inspection robot is improved; meanwhile, the proper routing inspection route and the target inspection robot can be determined according to the selected inspection mode, so that automatic inspection of valve hall equipment can be realized after one-time initial setting, subsequent manual intervention is reduced as far as possible, the utilization efficiency of the inspection robot is favorably improved, and the labor cost is reduced.

Referring to fig. 5, fig. 5 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 5, the electronic device may include an instruction generating unit 501, a first communication unit 502, and a second communication unit 503, wherein:

an instruction generating unit 501, configured to generate a first control instruction and a second control instruction corresponding to a target inspection robot according to a preset inspection route, where the first control instruction includes an inspection position of the target inspection robot, and the second control instruction includes an inspection operation of the target inspection robot;

a first communication unit 502, configured to send the first control instruction to a power control box connected to a track sliding table where the target inspection robot is located through a first channel, where the first control instruction is used to instruct the power control box to control the track sliding table so that the target inspection robot moves to the inspection position;

a second communication unit 503, configured to send the second control instruction to a detection control box connected to the target inspection robot through a second channel, where the second control instruction is used to instruct the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position.

As an optional implementation manner, the electronic device of the foregoing embodiment may further include a first acquiring unit and a second acquiring unit, which are not shown in the drawing, where:

a first obtaining unit, configured to obtain, through the first channel, first feedback data sent by the power control box after the power control box executes the first control command after the second communication unit 503 sends the second control command to the detection control box connected to the target inspection robot through a second channel;

a second obtaining unit, configured to obtain, through the second channel, second feedback data sent by the detection control box after the detection control box executes the second control instruction;

the command generating unit 501 is further configured to regenerate another control command corresponding to the target inspection robot according to the first feedback data and the second feedback data.

Through implementing the electronic equipment that above-mentioned embodiment described, can in time acquire the operating condition who patrols and examines progress and patrol and examine robot self through acquireing and analyzing to patrolling and examining robot feedback data, maintain the automation when need not artifical the intervention and patrol and examine, in time send the notice when needing artifical the maintenance, be favorable to promoting the utilization efficiency who patrols and examines the robot, reduce the cost of labor as far as possible.

As another optional implementation manner, the electronic device of the above embodiment may further include a first determining unit and a second determining unit, not shown in the drawings, wherein:

a first determining unit, configured to determine a target inspection mode from a plurality of inspection modes before the instruction generating unit 501 generates a first control instruction and a second control instruction corresponding to the target inspection robot according to a preset inspection route, where the plurality of inspection modes at least include a fixed point inspection mode, a remote control inspection mode, and an autonomous inspection mode;

and the second determining unit is used for determining a target routing inspection route from a plurality of routing inspection routes corresponding to the target routing inspection mode, and taking the target routing inspection route as a preset routing inspection route.

As still another optional implementation manner, the instruction generating unit 501 of the foregoing embodiment may include a determining subunit and a generating subunit, not shown in the drawings, where:

the system comprises a determining subunit, a judging subunit and a judging unit, wherein the determining subunit is used for determining one inspection robot as a target inspection robot from a plurality of inspection robots running on a preset inspection route according to the preset inspection route;

and the generating subunit is used for generating a first control instruction and a second control instruction corresponding to the target inspection robot according to the target inspection mode.

Through implementing the electronic equipment that above-mentioned embodiment described, can confirm suitable route and the target robot of patrolling and examining according to the mode of patrolling and examining of selecting to can realize the automation of valve room equipment and patrol and examine after primary setting, reduce subsequent manual intervention as far as possible, be favorable to further promoting the utilization efficiency of patrolling and examining the robot, reduce the cost of labor.

As another optional implementation manner, the first control instruction of the foregoing embodiment may be specifically used to instruct the power control box to obtain a distance between a position where the target inspection robot is located and the inspection position, and to control a track sliding table connected to the power control box to move the distance in a direction of the inspection position, where the target inspection robot is disposed on the track sliding table.

As still another alternative, the second control instruction of the above embodiment may be specifically used to instruct the inspection control box to determine the inspection object corresponding to the inspection operation, control the target inspection robot to rotate according to the relative spatial position relationship between the target inspection robot and the inspection object so as to face the inspection object, and capture the inspection object by the camera to acquire the inspection image data corresponding to the inspection object.

As a further optional implementation manner, the first channel and the second channel of the foregoing embodiment are independent from each other, and at least include one or more of independent channel usage time, independent channel occupation space, and independent channel occupation frequency band.

It is thus clear that through implementing the electronic equipment that above-mentioned embodiment described, can come the different control signal of transmission respectively to the target inspection robot through mutually independent channel, thereby according to the different control command that different control signal carried respectively, control this target inspection robot and detect, or control is equipped with the track slip table that this target inspection robot and removes, thereby realize the host computer and patrol inspection robot and its independent communication control of track slip table to this target, difficult mutual interference between the two, be favorable to reducing and patrol and examine and produce the interference between the different control signal that the robot received, the accuracy nature of robot is patrolled and examined in the promotion control.

Referring to fig. 6, fig. 6 is a schematic block diagram of a communication control system of a valve hall device inspection robot according to an embodiment of the present disclosure. As shown in fig. 6, the communication control system may include an upper computer 601, a relay communication device 602, an inspection robot 603, a power control box 604, and a detection control box 605, wherein:

the upper computer 601 is connected with a relay communication device 602, the relay communication device 602 is respectively connected with a power control box 604 and a detection control box 605, the power control box 604 is connected with a rail passing sliding table where the inspection robot 603 is located, and the detection control box 605 is connected with the inspection robot 603;

the upper computer 601 is configured to generate a first control instruction and a second control instruction corresponding to the inspection robot 603 according to a preset inspection route, send the first control instruction to the power control box 604 through a first channel of the relay communication device 602, and send the second control instruction to the detection control box 605 through a second channel of the relay communication device 602, where the first control instruction includes an inspection position of the inspection robot 603, and the second control instruction includes an inspection operation of the inspection robot 603;

the power control box 604 is configured to control the track sliding table according to a first control instruction sent by the upper computer 601 so that the inspection robot 603 moves to the inspection position;

the inspection control box 605 is configured to control the inspection robot 603 to perform the inspection operation when the inspection robot reaches the inspection position according to a second control instruction sent by the upper computer 601.

Specifically, the first control instruction may be specifically used to instruct the power control box 604 to obtain a distance between the position of the inspection robot 603 and the inspection position, and to control the track sliding table, which is connected to the power control box 604 and is provided with the inspection robot 603, to move the distance in the direction of the inspection position.

Specifically, the second control instruction may be specifically configured to instruct the inspection control box 605 to determine the inspection object corresponding to the inspection operation, control the inspection robot 603 to rotate to face the inspection object according to the relative spatial position relationship between the inspection robot 603 and the inspection object, and capture the inspection object by the camera to obtain the inspection image data corresponding to the inspection object.

The first channel and the second channel are independent of each other, and may at least include one or more of independent channel use time, independent channel occupation space, and independent channel occupation frequency band.

As an optional implementation manner, the power control box 604 may be further configured to send first feedback data to the upper computer 601 through the first channel after executing the first control command; the detection control box 605 may be further configured to send second feedback data to the upper computer 601 through the second channel after executing a second control instruction; the upper computer 601 is configured to regenerate other control instructions corresponding to the inspection robot 603 according to the first feedback data and the second feedback data.

As another alternative embodiment, the upper computer 601 may be configured to determine a target inspection mode from a plurality of inspection modes (e.g., a fixed point inspection mode, a remote control inspection mode, an autonomous inspection mode, etc.), determine a target inspection route from a plurality of inspection routes corresponding to the target inspection mode, and use the target inspection route as a preset inspection route, so that one inspection robot 603 from a plurality of inspection robots 603 operating on the preset inspection route may be determined as the target inspection robot 603 according to the preset inspection route, and generate a first control instruction and a second control instruction corresponding to the target inspection robot 603 according to the target inspection mode.

Through implementing above-mentioned communication control system, can come the different control signal of transmission respectively to patrolling and examining robot 603 through mutually independent channel to realize host computer 601 and to should patrol and examine robot 603 and the independent communication control of track slip table, difficult mutual interference between the two is favorable to reducing and patrols and examines and produce the interference between the different control signal that robot 603 received, promotes the control and patrols and examines the accuracy nature of robot 603.

Referring to fig. 7, fig. 7 is a schematic block diagram of another electronic device disclosed in the embodiment of the present application, where the electronic device may be a host computer. As shown in fig. 7, the electronic device may include:

a memory 701 in which executable program code is stored;

a processor 702 coupled with the memory 701;

the processor 702 calls the executable program code stored in the memory 701 to execute all or part of the steps of the communication control method for the valve hall device inspection robot according to any one of the above embodiments.

The Memory 701 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 701 includes a non-transitory computer-readable medium. The memory 701 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 701 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the various method embodiments described above, and the like; the storage data area may store data created according to the use of the server, and the like.

The processor 702 may include one or more processing cores. The processor 702, using various interfaces and lines to connect various parts throughout the server, performs various functions of the server and processes data by executing or performing instructions, programs, code sets, or instruction sets stored in the memory 701, and calling data stored in the memory 701. Alternatively, the processor 702 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 702 may be integrated with one or more of a Central Processing Unit (CPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, an application program and the like; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the processor 702, but may be implemented by a single chip.

In addition, the embodiment of the application further discloses a computer readable storage medium which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute all or part of the steps in any one of the communication control methods of the valve hall device inspection robot described in the above embodiments.

In addition, the embodiment of the application further discloses a computer program product, when the computer program product runs on a computer, the computer is enabled to execute all or part of the steps in the communication control method for the valve hall equipment inspection robot, which is described in the embodiment.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

The communication control method, the electronic device and the system of the valve hall equipment inspection robot disclosed in the embodiment of the application are introduced in detail, specific examples are applied in the text to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention by this. All equivalent changes and modifications made according to the spirit of the present disclosure should be covered within the scope of the present disclosure.

Claims

1. A communication control method for a valve hall equipment inspection robot is characterized by comprising the following steps:

generating a first control instruction and a second control instruction corresponding to a target inspection robot according to a preset inspection route, wherein the first control instruction comprises an inspection position of the target inspection robot, and the second control instruction comprises an inspection operation of the target inspection robot;

transmitting the second control instruction to a detection control box connected with the target inspection robot through a second channel, wherein the second control instruction is used for instructing the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position,

the first control instruction is used for indicating the power control box to obtain the distance between the position of the target inspection robot and the inspection position, when the power control box obtains the inspection position according to the first control instruction, the power control box continues to obtain the current position of the target inspection robot, and then the distance between the current position and the inspection position is calculated; then the power control box controls a built-in servo driver to output a motor driving signal, and the motor driving signal is used for driving a servo motor so as to enable a track sliding table where the target inspection robot is located to move the distance towards the direction of the inspection position, and therefore the position control of the target inspection robot can be achieved;

the second control instruction is used for indicating the detection control box to determine a detection object corresponding to the inspection operation, then judging whether the target inspection robot reaches the inspection position, and when the target inspection robot reaches the inspection position, the detection control box controls the target inspection robot to rotate to face the detection object according to the relative spatial position relation between the target inspection robot and the detection object; the target inspection robot shoots the detection object through a camera carried by the target inspection robot to acquire detection image data corresponding to the detection object.

2. The communication control method according to claim 1, wherein after the transmitting of the second control instruction to the inspection control box connected to the target inspection robot through the second channel, the method further comprises:

3. The communication control method according to claim 1, wherein before the generating of the first control instruction and the second control instruction corresponding to the target inspection robot according to the preset inspection route, the method further comprises:

4. The communication control method according to claim 3, wherein the generating of the first control instruction and the second control instruction corresponding to the target inspection robot according to the preset inspection route includes:

5. The communication control method according to any one of claims 1 to 4, wherein the first channel and the second channel are independent of each other, and at least include one or more of independent channel usage time, independent channel occupation space, and independent channel occupation frequency band.

6. An electronic device, comprising:

the second communication unit is used for sending the second control instruction to a detection control box connected with the target inspection robot through a second channel, and the second control instruction is used for indicating the detection control box to control the target inspection robot to complete the inspection operation when the target inspection robot reaches the inspection position;

wherein,

the second control instruction is used for instructing the detection control box to determine a detection object corresponding to the inspection operation, then judging whether the target inspection robot reaches the inspection position, and when the target inspection robot is judged to reach the inspection position, the detection control box controls the target inspection robot to rotate to face the detection object according to the relative spatial position relation between the target inspection robot and the detection object; the target inspection robot shoots the detection object through a camera carried by the target inspection robot to acquire detection image data corresponding to the detection object.

7. A communication control system of a valve hall equipment inspection robot is characterized by comprising an upper computer, a relay communication device, a target inspection robot, a power control box and a detection control box, wherein the upper computer is connected with the relay communication device, the relay communication device is respectively connected with the power control box and the detection control box, the power control box is connected with a track sliding table where the target inspection robot is located, the detection control box is connected with the target inspection robot, and the detection control box is connected with the target inspection robot,

the upper computer is used for generating a first control instruction and a second control instruction corresponding to the target inspection robot according to a preset inspection route, sending the first control instruction to the power control box through a first channel of the relay communication device, and sending the second control instruction to the detection control box through a second channel of the relay communication device, wherein the first control instruction comprises an inspection position of the target inspection robot, and the second control instruction comprises an inspection operation of the target inspection robot;

the power control box is used for controlling the track sliding table to enable the target inspection robot to move to the inspection position according to the first control instruction sent by the upper computer;

the detection control box is used for controlling the target inspection robot to execute the inspection operation when the target inspection robot reaches the inspection position according to the second control instruction sent by the upper computer;

wherein,

8. An electronic device, comprising:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to perform the method of any one of claims 1 to 5.