CN112034814B - Overhauling method, device and system of comprehensive pipe gallery operating robot - Google Patents
Overhauling method, device and system of comprehensive pipe gallery operating robot Download PDFInfo
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- CN112034814B CN112034814B CN202010699076.3A CN202010699076A CN112034814B CN 112034814 B CN112034814 B CN 112034814B CN 202010699076 A CN202010699076 A CN 202010699076A CN 112034814 B CN112034814 B CN 112034814B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention provides a method, a device and a system for overhauling a comprehensive pipe gallery operating robot, wherein the method comprises the following steps: acquiring the type information of the operation robots, the defect information of each operation robot, the importance degree information of the operation tasks and the fault information based on regular maintenance; obtaining a maintenance strategy of each working robot according to the type information, the importance degree information, the defect information and the fault information; acquiring control mode information of each type of working robot and cooperation information among different types of working robots; obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information; and automatically sending a maintenance instruction to the transfer device and the to-be-maintained working robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode. According to the invention, when the inspection personnel inspect the operation robot, the inspection personnel do not need to carry maintenance tools to enter the comprehensive pipe gallery to the vicinity of the operation robot, so that the risk of maintenance operation is reduced.
Description
Technical Field
The invention relates to the technical field of electronic equipment maintenance, in particular to a method, a device and a system for maintaining a comprehensive pipe gallery operating robot.
Background
The utility tunnel is a comprehensive corridor of underground city pipelines, namely, a tunnel space is built underground in a city, various engineering pipelines such as electric power, communication, gas, heat supply, water supply and drainage and the like are integrated, and a special overhaul port, a lifting port and a monitoring system are arranged to implement unified planning, unified design, unified construction and management so as to ensure important infrastructures and 'lifelines' of city operation, which are related to the safety of various pipelines in the city. Because in the environment of utility tunnel, there may be safety risks such as explosion, conflagration, flooding, electric shock, stifling, poisoning, so in order to ensure the safe operation of utility tunnel and pipeline, avoid the operation risk of artifical patrolling and examining, people begin to use a large amount of utility tunnel working robots to replace manual work to reduce operation and maintenance personnel's in the confined space quantity and operation risk.
At present, the prior utility tunnel operation robot mainly uses the hanger rail type as a main part, and generally adopts the traditional manual maintenance mode in the operation and maintenance mode. When manual inspection is carried out to work robot, need to patrol and examine personnel and carry repair tools and get into utility tunnel underground, move to near work robot, just can carry out remote control, overhaul the operation. However, when the inspection personnel works in the long-distance tunnel, high working risks exist, and other working robots and the maintenance work thereof are also affected.
Therefore, there is a need for an improved method of servicing the above-described utility tunnel work robot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an overhaul method, a device and a system of a utility tunnel operating robot, which aims to solve the problem of higher overhaul risk of the existing overhaul method of the utility tunnel operating robot.
In order to solve the technical problems, the invention adopts the technical scheme that:
the first aspect of the embodiment of the invention provides a method for overhauling an operation robot of a comprehensive pipe gallery, which is applied to the overhauling of various operation robots in the underground comprehensive pipe gallery transferred to various equipment rooms in a station on the ground by using various transfer devices, and comprises the following steps:
acquiring the type information of the working robots, the defect information of each working robot, the importance degree information of the working tasks and the fault information based on regular maintenance;
obtaining a maintenance strategy of each working robot according to the type information, the importance degree information, the defect information and the fault information;
acquiring control mode information of each type of the working robot and cooperation information among different types of the working robots;
obtaining a remote dispatching mode and a monitoring mode of each operation robot according to the control mode information and the cooperation information;
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode so as to utilize the transfer device to transfer the to-be-maintained operation robot to a station for maintenance.
In some embodiments, the deriving the maintenance strategy for each of the operation robots according to the category information, the importance information, the defect information, and the failure information includes:
defining a maintenance priority for each type of the operation robot according to the type information and the importance degree information;
according to the overhaul priority, obtaining the sequence of each type of operation robot entering a station for maintenance;
and obtaining the maintenance strategy of each working robot according to the defect information, the fault information and the sequence of each working robot entering the station for maintenance.
In some embodiments, before any two of the equipment rooms have different/same maintenance types and automatically send maintenance instructions to the transfer device and the operation robot to be maintained according to the maintenance strategy, the remote scheduling mode and the monitoring mode, the method further includes the following steps:
determining the category of each type of operation robot transferred to the equipment room according to the type information, the defect information and the fault information;
then, according to the maintenance strategy, the remote scheduling mode and the monitoring mode, automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained, and further comprising the following steps:
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained working robot according to the category of each type of working robot transferred to the equipment room.
In some embodiments, before each of the transfer devices and the types of the operation robots have a corresponding relationship, and automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained according to the maintenance strategy, the remote scheduling mode and the monitoring mode, the method further includes the following steps:
acquiring motion form information and load information of each working robot;
obtaining the type of a transfer device used by each operation robot according to the motion form information and the load information;
then, according to the maintenance strategy, the remote scheduling mode and the monitoring mode, automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained, and further comprising the following steps:
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the type of the transfer device used by each operation robot.
In some embodiments, before automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained according to the maintenance strategy, the remote scheduling mode and the monitoring mode, the method further includes the following steps:
and automatically sending an instruction of leaving a path from the to-be-overhauled operation robot to the equipment room to the operation robots except the to-be-overhauled operation robot according to the remote dispatching mode and the monitoring mode.
The second aspect of the embodiment of the invention provides a maintenance device for a comprehensive pipe gallery operation robot, which comprises:
the first acquisition module is used for acquiring the type information of the working robots, the defect information of each working robot, the importance degree information of the working tasks and the fault information based on regular maintenance;
the first processing module is used for obtaining the maintenance strategy of each type of the operation robot according to the type information, the importance degree information, the defect information and the fault information;
the second acquisition module is used for acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
the second processing module is used for obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
and the maintenance module is used for automatically sending maintenance instructions to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode so as to utilize the transfer device to transfer the to-be-maintained operation robot to the station for maintenance.
A third aspect of an embodiment of the present invention provides an overhaul system for a utility tunnel working robot, including:
the station that is located the ground and has a plurality of equipment rooms, be located the utility tunnel and at least one intercommunication utility tunnel and equipment room, be equipped with the orbit in the utility tunnel and with orbit sliding connection's multiple operation robot, it is a plurality of be formed with the passageway between the equipment room, be equipped with in well and the passageway with orbit connection's transportation track and with transportation track sliding connection's transfer device to the operation robot that transports and wait to overhaul carries out maintenance work to arbitrary equipment room, one of them be equipped with the terminal in the equipment room, connect through wired or wireless mode between terminal and the maintenance equipment in operation robot, transfer device, the equipment room, just the terminal is utility tunnel operation robot's maintenance device as claimed in claim 6.
In some embodiments, the terminal is wirelessly connected with the operation robot, the transfer device and the maintenance equipment in the equipment room in a 3G/4G/5G/WiFi mode.
A fourth aspect of embodiments of the present invention provides a storage medium having stored thereon executable instructions that, when executed, perform a method according to the first aspect of embodiments of the present invention.
From the above description, compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of firstly obtaining an overhaul strategy of each operation robot according to the type information of the operation robot, the defect information of each operation robot, the importance degree information of an operation task and fault information based on regular overhaul, then obtaining a remote dispatching mode and a monitoring mode of each operation robot according to the control mode information of each operation robot and the cooperation information among different types of operation robots, and finally transferring the operation robots in the underground comprehensive pipe gallery to corresponding equipment rooms in a field station on the ground by using a transfer device for overhaul work based on the overhaul strategy, the remote dispatching mode and the monitoring mode. According to the invention, when the inspection personnel manually inspects the working robot, the inspection personnel can execute remote control and maintenance operation without carrying a maintenance tool to enter the underground comprehensive pipe gallery to the vicinity of the working robot, so that the risk of maintenance operation is reduced, and the influence on other working robots not requiring maintenance and the ongoing operation of the working robots is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are of some, but not all, embodiments of the invention. For a person skilled in the art, other figures can also be obtained from the provided figures without inventive effort.
Fig. 1 is a schematic flow chart of a maintenance method of a comprehensive pipe gallery operating robot provided by a first embodiment of the invention;
fig. 2 is a schematic flow chart of a maintenance method of a comprehensive pipe gallery operating robot provided by a second embodiment of the invention;
fig. 3 is a schematic flow chart of a maintenance method of a comprehensive pipe gallery operating robot provided by a third embodiment of the invention;
fig. 4 is a schematic flow chart of a maintenance method of a comprehensive pipe gallery operating robot provided by a fourth embodiment of the invention;
fig. 5 is a schematic flow chart of a method for overhauling a comprehensive pipe gallery operating robot provided by a fifth embodiment of the invention;
fig. 6 is a block diagram of a service apparatus of a utility tunnel working robot according to a sixth embodiment of the present invention;
figure 7 is a schematic view of an inspection system for a utility tunnel work robot according to a seventh embodiment of the present invention;
fig. 8 is a block diagram of a storage medium according to an eighth embodiment of the present invention.
Detailed Description
For purposes of promoting a clear understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements throughout. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for overhauling a comprehensive pipe gallery operating robot according to a first embodiment of the present invention.
As shown in fig. 1, a method for overhauling a utility tunnel operation robot according to a first embodiment of the present invention is applied to the overhauling of various operation robots in an underground utility tunnel to equipment rooms in an above-ground station by using transfer devices, wherein any two equipment rooms have different/same overhauling types, and the method comprises steps 101 to 105:
step 101, acquiring type information of operation robots, defect information of each operation robot, importance degree information of operation tasks and fault information based on regular maintenance;
102, obtaining a maintenance strategy of each working robot according to the type information, the importance degree information, the defect information and the fault information;
103, acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
104, obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
and 105, automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode so as to utilize the transfer device to transfer the to-be-maintained operation robot to a station for maintenance.
It should be noted that the method for overhauling the operation robot of the utility tunnel provided by the embodiment can also be applied to the field of electric power pipe tunnels or other dangerous environments where a plurality of or a plurality of robots need to be maintained remotely.
The method for overhauling the comprehensive pipe gallery operating robot comprises the steps of obtaining an overhauling strategy of each operating robot according to type information of the operating robot, defect information of each operating robot, importance degree information of an operation task and fault information based on regular overhauling, obtaining a remote dispatching mode and a monitoring mode of each operating robot according to control mode information of each operating robot and cooperation information among different types of operating robots, and transferring the operating robots in the underground comprehensive pipe gallery to corresponding equipment rooms in a station on the ground by using a transfer device to carry out overhauling work according to the overhauling strategy, the remote dispatching mode and the monitoring mode. According to the invention, when the inspection personnel manually inspects the working robot, the inspection personnel can execute remote control and maintenance operation without carrying a maintenance tool to enter the underground comprehensive pipe gallery to the vicinity of the working robot, so that the risk of maintenance operation is reduced, and the influence on other working robots not requiring maintenance and the ongoing operation of the working robots is avoided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method for overhauling a utility tunnel operating robot according to a second embodiment of the present invention.
In contrast to the method for servicing utility tunnel operating robots according to the first embodiment of the present invention, the second embodiment of the present invention provides specific steps of step 102 to obtain a servicing strategy for each operating robot.
As shown in fig. 2, a method for overhauling a comprehensive pipe gallery operating robot according to a second embodiment of the present invention includes steps 201 to 207:
step 201, acquiring type information of the working robots, defect information of each working robot, importance degree information of the working tasks and fault information based on regular maintenance;
step 202, defining maintenance priority for each operation robot according to the type information and the importance information;
step 203, obtaining the sequence of each operation robot entering a station for maintenance according to the maintenance priority;
step 204, obtaining a maintenance strategy of each operating robot according to the defect information, the fault information and the sequence of each operating robot entering the station for maintenance;
step 205, acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
step 206, obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
and step 207, automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode so as to utilize the transfer device to transfer the to-be-maintained operation robot to a station for maintenance.
In the overhaul method for the utility tunnel operating robot according to the second embodiment of the present invention, when the overhaul strategy of each operating robot is obtained, an overhaul priority is determined for each operating robot according to the type information and the importance information of each operating robot (the importance information here is the importance of the work performed by the operating robot, and the higher the importance of the work performed by the operating robot is, the higher the overhaul priority of the operating robot is); determining the sequence of each operation robot entering a station for maintenance according to the maintenance priority; and finally, respectively integrating the defect information of each operating robot, fault information based on periodic maintenance and the sequence of maintenance of the access station, and determining the maintenance strategy of each operating robot so as to utilize the maintenance strategy to perform maintenance work on all operating robots. The second embodiment of the invention improves the ordering of each work robot entering the station for maintenance.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for overhauling a utility tunnel working robot according to a third embodiment of the present invention.
In contrast to the method of servicing utility tunnel work robots according to the first embodiment of the present invention, the second embodiment of the present invention adds a step of determining the category in which each work robot is transferred to the equipment room before step 105.
As shown in fig. 3, a third embodiment of the present invention provides a method for overhauling a comprehensive pipe gallery operating robot, which includes steps 301 to 306:
301, acquiring the type information of the working robots, the defect information of each working robot, the importance degree information of the working tasks and the fault information based on regular maintenance;
step 302, obtaining a maintenance strategy of each working robot according to the type information, the importance information, the defect information and the fault information;
step 303, acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
step 304, obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
step 305, determining the category of each operation robot transferred to the equipment room according to the category information, the defect information and the fault information;
and step 306, automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the category, maintenance strategy, remote scheduling mode and monitoring mode of each operation robot transferred to the equipment room, so that the to-be-maintained operation robot is transferred to the station for maintenance by using the transfer device.
In the method for overhauling the comprehensive pipe gallery operating robot provided by the third embodiment of the invention, before the overhauling instruction is sent to the transfer device and the operating robot to be overhauled, the type of each operating robot transferred to the equipment room (the equipment room is a plurality of equipment rooms with different overhauling types in a station) is determined according to the type information of each operating robot, the defect information of each operating robot and the fault information based on periodical overhauling. The third embodiment of the invention avoids the problem that the overhaul category of the equipment room does not correspond to the project to be overhauled of the to-be-overhauled operation robot when the to-be-overhauled operation robot is transferred to the station for maintenance, and further improves the orderliness of each operation robot entering the station for maintenance.
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for overhauling a comprehensive pipe gallery operating robot according to a fourth embodiment of the present invention.
In contrast to the method for servicing utility tunnel work robots according to the first embodiment of the present invention, the fourth embodiment of the present invention adds a step of acquiring the type of transfer device used by each work robot before step 105.
As shown in fig. 4, a fourth embodiment of the present invention provides a method for overhauling a comprehensive pipe gallery operating robot, which includes steps 401 to 407:
step 401, acquiring type information of the working robots, defect information of each working robot, importance degree information of the working tasks and fault information based on regular maintenance;
step 402, obtaining a maintenance strategy of each working robot according to the type information, the importance information, the defect information and the fault information;
step 403, acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
step 404, obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
step 405, obtaining motion form information and load information of each operation robot;
step 406, obtaining the type of the transfer device used by each operation robot according to the motion form information and the load information;
and 407, automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to a maintenance strategy, a remote scheduling mode and a monitoring mode and the type of the transfer device used by each operation robot so as to utilize the transfer device to transfer the to-be-maintained operation robot to the station for maintenance.
In the method for overhauling the comprehensive pipe gallery operating robot provided by the fourth embodiment of the invention, before the overhauling instruction is sent to the transfer device and the to-be-overhauled operating robot, the type of the transfer device used by each operating robot is obtained according to the motion form information and the load information of each operating robot, and then the corresponding transfer device is used for transferring the to-be-overhauled operating robot to a station for maintenance according to the type of the transfer device used by each operating robot. The fourth embodiment of the invention ensures that the transfer device corresponding to the to-be-overhauled operation robot transfers the to-be-overhauled operation robot, and avoids the situations of transfer failure and damage of the to-be-overhauled operation robot when the transfer device not corresponding to the to-be-overhauled operation robot transfers the to-be-overhauled operation robot.
Referring to fig. 5, fig. 5 is a schematic flow chart of a method for overhauling a comprehensive pipe gallery operating robot according to a fifth embodiment of the present invention.
Compared with the method for overhauling the comprehensive pipe gallery operating robot provided by the first embodiment of the invention, the fifth embodiment of the invention adds a step of adjusting the operating robots except the operating robot to be overhauled away from the path between the operating robot to be overhauled and the equipment before the step 105.
As shown in fig. 5, a fifth embodiment of the present invention provides a method for overhauling a comprehensive pipe gallery operating robot, which includes steps 501 to 506:
501, acquiring type information of the working robots, defect information of each working robot, importance degree information of the working tasks and fault information based on regular maintenance;
502, obtaining a maintenance strategy of each working robot according to the type information, the importance degree information, the defect information and the fault information;
step 503, acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
step 504, obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
step 505, automatically sending an instruction of leaving a path between the to-be-overhauled operation robot and the equipment to the operation robots except the to-be-overhauled operation robot according to the remote dispatching mode and the monitoring mode;
step 506, automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode, so that the to-be-maintained operation robot is transferred to the station for maintenance by using the transfer device.
According to the overhauling method of the comprehensive pipe gallery operating robot provided by the fifth embodiment of the invention, before the overhauling instruction is sent to the transfer device and the operating robot to be overhauled, the instruction of leaving the path from the operating robot to be overhauled to the equipment room is automatically sent to the operating robots except the operating robot to be overhauled according to the remote dispatching mode and the monitoring mode, so that the operating robot to be overhauled is guaranteed to be transferred to a station by the transfer device on the way, other operating robots which are working are avoided, and the problem that the two operating robots collide is avoided.
Referring to fig. 6, fig. 6 is a block diagram illustrating an overhaul apparatus of a utility tunnel working robot according to a sixth embodiment of the present invention.
As shown in fig. 6, a sixth embodiment of the present invention provides an inspection apparatus 100 for a utility tunnel working robot, which corresponds to the method for inspecting the utility tunnel working robot provided in the first embodiment of the present invention, comprising:
a first acquisition module 101 for acquiring category information of work robots, defect information of each work robot, importance information of work tasks, and fault information based on periodic maintenance;
the first processing module 102 is used for obtaining a maintenance strategy of each working robot according to the type information, the importance information, the defect information and the fault information;
a second obtaining module 103, configured to obtain control mode information of each type of work robot and cooperation information between different types of work robots;
the second processing module 104 is used for obtaining a remote scheduling mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
and the maintenance module 105 is used for automatically sending maintenance instructions to the transfer device and the to-be-maintained operation robot according to maintenance strategies, remote scheduling modes and monitoring modes, so that the transfer device is used for transferring the to-be-maintained operation robot to the station for maintenance.
Referring to fig. 7, fig. 7 is a schematic view of an overhaul system of a utility tunnel working robot according to a seventh embodiment of the present invention.
As shown in fig. 8, an overhaul system of a utility tunnel operation robot according to a seventh embodiment of the present invention includes a station 1 located on the ground and having a plurality of equipment rooms 11, a utility tunnel 2 located underground, and at least one well 3 communicating the utility tunnel 2 with the equipment rooms 11, wherein the utility tunnel 2 is provided therein with a running track 4 and a plurality of operation robots 5 slidably connected with the running track 4, a passage (not shown) is formed between the plurality of equipment rooms 11, the well 3 and the passage are provided therein with a transfer track 6 connected with the running track 4 and a transfer device 7 slidably connected with the transfer track 6 for transferring the operation robot 5 to be overhauled to any one of the equipment rooms 11 for overhaul, wherein a terminal 8 is provided in one of the equipment rooms 114, and the terminal 8 is connected with the operation robot 5, the transfer device 7, and the overhaul equipment in the equipment room 11 in a wired or wireless manner, and the terminal 8 is an inspection device 100 of a utility tunnel working robot as provided in the sixth embodiment of the present invention.
Specifically, the terminal 8 is wirelessly connected with the maintenance equipment in the operation robot 5, the transfer device 7 and the equipment room 11 in a 3G/4G/5G/WiFi mode.
It should be noted that, when designing the station 1, the number of the equipment rooms 11 may be determined according to the kind of the working robot 5; determining the detection type of the equipment room 11 according to the defect and fault information of each type of the working robot 5; the size of each equipment room 11 is determined based on the number of each type of work robot 5 and the frequency of failure of each type of work robot 5. In addition, the size of each equipment room 11 needs to be determined according to the needs of spare parts, facilities, tool storage, and personnel monitoring and maintenance working space required for maintenance.
It should be further noted that in this embodiment, the number of the equipment rooms 11 is 4, and the equipment rooms are an emergency equipment room 111, a maintenance equipment room 112, a transfer equipment room 113, and a personnel monitoring equipment room 114, where the transfer equipment room 113 is used for storing the transfer device 7 alone, and the emergency equipment room 111 is used for storing the emergency robot. The 4 equipment rooms 11 can provide operation and maintenance services of emergency robot commissioning, robot centralized charging, robot part maintenance and function testing, fault robot handling and robot remote dispatching and monitoring.
In addition, at the junction of the running track 4 and the transfer track 6, a switching device 8 may be provided to switch the work robot 5 to be overhauled from the running track 4 to the transfer track 6, or to switch the overhaul-completed work robot 5 from the transfer track 6 to the running track 4.
Alternatively, in other embodiments, a lifting device like an elevator or a crane may be arranged in the shaft 3 for transporting the work robot 5 to be overhauled.
Moreover, the hoistway 3 in the embodiment adopts a redundant mode, the possibility of bidirectional operation and maintenance is considered, and the hoistway 3 can also adopt a mode of a single transfer passage for the comprehensive pipe rack 2 with a proper length.
According to the overhauling system of the comprehensive pipe gallery operating robot provided by the seventh embodiment of the invention, the terminal arranged in one equipment room is used for automatically controlling the transfer device to transfer the operating robot to be overhauled from the underground comprehensive pipe gallery to the above-ground equipment room for overhauling, so that when an inspector manually inspects the operating robot, the inspection personnel can execute remote control and overhauling operation without carrying a maintenance tool to enter the underground comprehensive pipe gallery to the vicinity of the operating robot, the overhauling risk is reduced, and the influence on other operating robots not needing to be overhauled and the operation on the other operating robots is avoided.
Referring to fig. 8, fig. 8 is a block diagram of a storage medium according to an eighth embodiment of the present invention.
As shown in fig. 8, a storage medium 200 according to an eighth embodiment of the present invention has executable instructions 201 stored thereon, and when executed, the executable instructions 201 perform the method according to any one of the first to fifth embodiments of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk), among others.
It should be noted that, in the summary of the present invention, each embodiment is described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the method class embodiment, since it is similar to the product class embodiment, the description is simple, and the relevant points can be referred to the partial description of the product class embodiment.
It is further noted that, in the present disclosure, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined in this disclosure may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A maintenance method for a comprehensive pipe gallery operation robot is characterized in that the method is applied to the maintenance of various operation robots in an underground comprehensive pipe gallery transferred to various equipment rooms in a station on the ground by using various transfer devices, and the method comprises the following steps:
acquiring the type information of the working robots, the defect information of each working robot, the importance degree information of the working tasks and the fault information based on regular maintenance;
defining a maintenance priority for each type of the operation robot according to the type information and the importance degree information, and obtaining the sequence of each type of the operation robot entering a station for maintenance according to the maintenance priority;
obtaining a maintenance strategy of each operating robot according to the defect information, the fault information and the sequence of each operating robot entering a station for maintenance;
acquiring control mode information of each type of the working robot and cooperation information among different types of the working robots;
obtaining a remote dispatching mode and a monitoring mode of each operation robot according to the control mode information and the cooperation information;
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode so as to utilize the transfer device to transfer the to-be-maintained operation robot to a station for maintenance.
2. The method for overhauling a comprehensive pipe gallery operating robot as claimed in claim 1, wherein any two equipment rooms have different/same overhauling types, and the method further comprises the following steps before automatically sending an overhauling instruction to the transfer device and the operating robot to be overhauled according to the overhauling strategy, the remote dispatching mode and the monitoring mode:
determining the category of each type of operation robot transferred to the equipment room according to the type information, the defect information and the fault information;
then, according to the maintenance strategy, the remote scheduling mode and the monitoring mode, automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained, and further comprising the following steps:
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained working robot according to the category of each type of working robot transferred to the equipment room.
3. The method for overhauling a comprehensive pipe gallery operating robot as claimed in claim 1, wherein each transfer device corresponds to a type of operating robot, and before automatically sending an overhauling instruction to the transfer device and the operating robot to be overhauled according to the overhauling strategy, the remote dispatching mode and the monitoring mode, the method further comprises the following steps:
acquiring motion form information and load information of each working robot;
obtaining the type of a transfer device used by each operation robot according to the motion form information and the load information;
then, according to the maintenance strategy, the remote scheduling mode and the monitoring mode, automatically sending a maintenance instruction to the transfer device and the operation robot to be maintained, and further comprising the following steps:
and automatically sending a maintenance instruction to the transfer device and the to-be-maintained operation robot according to the type of the transfer device used by each operation robot.
4. The method for overhauling a comprehensive pipe gallery operating robot as claimed in claim 1, wherein before automatically sending an overhauling instruction to the transfer device and the operating robot to be overhauled according to the overhauling strategy, the remote dispatching mode and the monitoring mode, the method further comprises the following steps:
and automatically sending an instruction of leaving a path from the to-be-overhauled operation robot to the equipment room to the operation robots except the to-be-overhauled operation robot according to the remote dispatching mode and the monitoring mode.
5. The utility model provides a utility tunnel work robot's maintenance device which characterized in that includes:
the first acquisition module is used for acquiring the type information of the working robots, the defect information of each working robot, the importance degree information of the working tasks and the fault information based on regular maintenance;
the first processing module is used for defining maintenance priority for each type of the operation robot according to the type information and the importance degree information; according to the overhaul priority, obtaining the sequence of each type of operation robot entering a station for maintenance; obtaining a maintenance strategy of each operating robot according to the defect information, the fault information and the sequence of each operating robot entering a station for maintenance;
the second acquisition module is used for acquiring control mode information of each type of operation robot and cooperation information among different types of operation robots;
the second processing module is used for obtaining a remote dispatching mode and a monitoring mode of each working robot according to the control mode information and the cooperation information;
and the maintenance module is used for automatically sending maintenance instructions to the transfer device and the to-be-maintained operation robot according to the maintenance strategy, the remote scheduling mode and the monitoring mode, so that the transfer device is utilized to transfer the to-be-maintained operation robot to the station for maintenance.
6. An overhaul system of a utility tunnel work robot, comprising: the station that is located the ground and has a plurality of equipment rooms, be located the utility tunnel and at least one intercommunication utility tunnel and equipment room, be equipped with the orbit in the utility tunnel and with orbit sliding connection's multiple operation robot, it is a plurality of be formed with the passageway between the equipment room, be equipped with in well and the passageway with orbit connection's transportation track and with transportation track sliding connection's transfer device to the operation robot that transports and wait to overhaul carries out maintenance work to arbitrary equipment room, one of them be equipped with the terminal in the equipment room, connect through wired or wireless mode between terminal and the maintenance equipment in operation robot, transfer device, the equipment room, just the terminal is utility tunnel operation robot's maintenance device as claimed in claim 5.
7. An inspection and repair system for a utility tunnel working robot according to claim 6, characterized in that: and the terminal is wirelessly connected with the operation robot, the transfer device and the overhaul equipment in the equipment room in a 3G/4G/5G/WiFi mode.
8. A storage medium having stored thereon executable instructions that, when executed, perform the method of any one of claims 1-4.
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