CN112040415A - Indoor hybrid positioning method for transformer substation robot based on WIFI and RFID - Google Patents
Indoor hybrid positioning method for transformer substation robot based on WIFI and RFID Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
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Abstract
A transformer substation robot indoor hybrid positioning method based on WIFI and RFID belongs to the field of control. Constructing a substation indoor hybrid positioning device consisting of a main controller, a WIFI receiver, a WIFI hotspot, an RFID electronic tag and an RFID reader-writer in a substation; the main controller and the WIFI receiver receive data sent by each WIFI hotspot in real time; the RFID reader-writer receives signals sent by the RFID electronic tags in real time and transmits the signals to the main controller; and a fingerprint identification algorithm is adopted, positioning is carried out through WIFI and RIFD, the received signal intensity is compared with a fingerprint database, and the real-time position of the indoor mobile robot of the transformer substation is given. When the WIFI signal is weak, the RFID positioning technology is adopted, and when the RFID tag is unstable in positioning, the WIFI positioning technology is adopted; the instability of single signal receiving is prevented, and the indoor positioning precision of the transformer substation robot is improved.
Description
Technical Field
The invention belongs to the field of control, and particularly relates to a transformer substation robot indoor hybrid positioning method based on WIFI and RFID.
Background
In modern society, electricity is an important energy source. In recent years, with the prosperous development of China, the country has a great investment in electric power systems, including infrastructure facilities such as hydroelectric power stations, coal-fired power stations, nuclear power stations, transformer substations, switching stations and district-street substations. There are many electric devices and electric power automation products that ensure stable operation of the electric power system.
The stability of the power system is related to various industries in China, and has a very important role in stabilizing energy sources in industries such as industry, commerce and real estate in China. Among these, the key infrastructure to control power transmission and distribution is the substation, which is the hub of the power system.
A substation is an electrical facility in an electrical power system that transforms voltage, receives and distributes electrical energy, controls the flow of electrical power, and regulates voltage, and it connects the grids of the various levels of voltage through its transformers. The power system is mainly used in the industries of power grids, municipal engineering, power plants, rail traffic, ports and docks, petrochemical industry and the like. In order to keep the safe and stable operation of the transformer substation, the electrical equipment in the transformer substation needs to be maintained and patrolled to timely eliminate the potential safety hazard of the equipment in the transformer substation.
With the implementation of an unattended system of a transformer substation, the routine inspection cycle of the existing 220kV transformer substation is generally twice a week, and the overall inspection is once a month, so that operation and maintenance personnel of the transformer substation cannot master the operation condition of equipment in the substation in real time.
Meanwhile, with the expansion of the scale of the transformer substation and the transfer of the live-line detection responsibilities such as infrared temperature measurement, partial discharge and the like, the inspection task of the transformer operation and maintenance personnel is increased rapidly.
The robot can carry various detection instruments according to the demand, can automatically carry out work according to preset tasks, and is less influenced by environment, climate and operation time.
In order to master the operation condition of field equipment in real time and reduce the patrol task of power transformation operation and maintenance personnel, a robot patrol mode is gradually applied to a transformer substation and is combined with manual patrol to carry out the patrol work of the transformer substation, so that the aims of reducing the patrol task of the power transformation operation and maintenance personnel and improving the patrol efficiency are fulfilled.
Disclosure of Invention
The invention aims to provide a transformer substation robot indoor hybrid positioning method based on WIFI and RFID. The passing substation robot receives a WIFI signal of a mobile terminal, calculates the position of the substation robot according to the strength of the signal by using a WIFI fingerprint, reads characteristic information of a target RFID tag by a set of fixed readers, and determines the position of the robot by a method for receiving the signal strength of the tag of the robot. The positioning technology based on WIFI and RFID can realize redundancy complementation and mutual error correction, and prevents instability of a received single signal, so that the indoor positioning precision of the substation robot is improved.
The technical scheme of the invention is as follows: the indoor hybrid positioning method of the transformer substation robot based on WIFI and RFID is characterized by comprising the following steps:
constructing a substation indoor hybrid positioning device consisting of a main controller, a WIFI receiver, a WIFI hotspot, an RFID electronic tag and an RFID reader-writer in a substation;
setting a main controller and at least one WIFI hotspot in a transformer substation;
setting an RFID electronic tag at a preset spatial position in each substation room;
arranging an RFID reader-writer on each robot;
the main controller is an industrial control computer;
the main controller and the WIFI receiver receive data sent by each WIFI hotspot in real time;
the RFID reader-writer receives signals sent by the RFID electronic tags in real time and transmits the signals to the main controller;
the main controller is positioned through WIFI and RIFD, and the real-time position of the indoor mobile robot of the transformer substation is given;
the indoor hybrid positioning method of the transformer substation robot adopts a fingerprint identification algorithm, and obtains the position of the specified transformer substation robot by comparing the received signal strength with a fingerprint database.
Specifically, the data sent by the WIFI hotspot at least includes a MAC address and a signal strength.
Specifically, the electronic carrier at least comprises a tag ID and an RSSI field strength value.
Furthermore, the WIFI hotspot has a unique MAC address, and the setting position of the WIFI hotspot is fixed.
Further, the RFID electronic tag has a unique ID number and sends an electronic carrier wave outwards according to a fixed period.
The indoor hybrid positioning method of the transformer substation robot adopts a fingerprint identification algorithm, and obtains the position of the transformer substation robot by comparing the received signal strength with a fingerprint database.
The preset spatial position at least comprises the corresponding position of each operating switch, a reversing point on the running route of the substation robot or a must-pass path.
The substation robot is movably arranged on the fixed running track.
Compared with the prior art, the invention has the advantages that:
1. intelligence fortune dimension improves equipment security:
based on the hybrid positioning method of the robot in the transformer substation, the robot can execute operation maintenance tasks within twenty-four hours of the transformer substation, and early warning and timely disposal of emergency can be realized. The safety of the substation equipment is improved. The measurement data of the substation maintenance personnel is greatly influenced by human factors, and the interference to the measurement result is easy to generate. The transformer substation robot can reduce loss caused by human factors and accelerate the running speed and quality of a power grid.
2. Improve indoor positioning accuracy:
and redundant complementation and mutual error correction can be realized by using positioning technologies based on WIFI and RFID. And when the RFID label is not stably positioned, the WIFI positioning technology is adopted. The instability of single signal receiving is prevented, and therefore the indoor positioning accuracy of the transformer substation robot is improved.
3. The cost of the positioning scheme is reduced:
the WIFI technology is relatively mature and more in application, large-range area positioning can be achieved, the RFID indoor positioning technology reads characteristic information of an RFID label of a target through an electronic reader, and the position of the robot is calculated through a signal intensity neighbor method. The price of the electronic tag is low, so that the cost of the scheme is controllable, the scheme can be suitable for batch production of robots and is suitable for working in the actual application scene of the transformer substation.
Drawings
FIG. 1 is a schematic diagram of the hardware components of the positioning system of the substation robot of the present invention;
FIG. 2 is a schematic diagram of a WIFI positioning method of a transformer robot according to the invention;
fig. 3 is a flow chart of the indoor hybrid positioning algorithm of the transformer substation robot.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Aiming at the inspection operation process of the power system, the technical scheme of the invention provides a transformer substation robot indoor hybrid positioning method based on WIFI and RFID, and the WIFI positioning technology has good precision and expandability, can realize complex large-range positioning and is convenient for networking. And acquiring the target position by comparing WIFI signal characteristic fingerprint information required by positioning. The basic principle of the RFID positioning is to read characteristic information (such as identity ID, received signal strength, etc.) of a target RFID tag through a set of fixed readers, and determine the position of a robot by receiving the signal strength of the tag of the robot.
The technical scheme of the invention is a transformer substation robot indoor hybrid positioning method based on WIFI and RFID fingerprint positioning, and the transformer substation indoor robot position positioning is realized by a method of mixing two positioning modes of WIFI and RFID positioning. The two positioning strategies are fused through a hybrid algorithm, and are complemented in a redundant mode and corrected mutually. The indoor position of the transformer substation robot can be positioned, the indoor positioning precision of the robot is improved, and the motion safety and the operation accuracy of the robot are guaranteed.
The system has the characteristics of safety, reliability and strong expandability, and has a very wide application prospect in the monitoring and operation maintenance processes of the power system.
In the indoor hybrid positioning method of the transformer substation robot based on WIFI and RFID, the main hardware components required by the transformer substation robot for positioning are shown in FIG. 1.
The hardware forming module of the robot positioning system of the transformer substation is composed of hardware such as a main controller 4, a WIFI receiver 6, a WIFI hotspot 2, an RFID electronic tag 3 and an RFID reader-writer 5.
According to the indoor hybrid positioning method of the transformer substation robot based on the WIFI and the RFID, a fingerprint database is established in a positioning space of a transformer substation by adopting a fingerprint positioning method, and positioning is realized by comparing actual information with parameters in the database. The method has the advantages that reference measuring points are hardly needed, and the positioning precision is relatively high.
And the main robot controller 4 of the transformer substation selects and uses an IndoconCue IPC810 host server, establishes real-time communication with the WIFI receiver 6, and reads the received information of the WIFI hotspot 2, including the MAC address and the signal intensity. And real-time communication is established with the RFID reader-writer 5, and information of the RFID electronic tag 3, including the tag ID, the signal strength and the like, is read.
According to the technical scheme, the positions of the WIFI hotspots 2 and the positions of the RFID electronic tags 3 are dispersedly set according to the indoor space structure of the transformer substation and the positions of various switch cabinets, the transformer substation robot is a track robot, the RFID electronic tags 3 are arranged on a track of the robot, one electronic tag 3 is arranged at each specific position of the robot, and a database of the electronic tags 3 and the positions of the robot is established. According to the specific position of the switch cabinet, the RFID electronic tag 3 is installed at the specific position of the transformer substation robot track, when the robot moves to a specific position, the RFID reader-writer 5 reads the information of the electronic tag 3, and then the position of the robot is inquired in a database according to the tag ID and the signal strength.
And then WIFI fingerprint collection is carried out, the signal intensity 9 of each position point of the substation robot is recorded, a robot fingerprint database 8 is established, and then the position 11 of the robot is determined by calculation through a positioning algorithm 10 according to the comparison between the signal intensity 9 measured by a receiver of the robot and the data in the database.
The RSS or received power of a signal depends on the location of the receiver.
The acquisition of RSS is simple because it is necessary for most wireless communication devices to function properly. Many communication systems require RSS information to sense the quality of the link, implement handover, adapt to transmission rates, and so on. RSS is not affected by signal bandwidth and is widely used in positioning.
For a fixed WIFI signal transmission source, the average RSS attenuation at different distances from it is proportional to the logarithm of the distance.
Assuming a fixed signal transmission source, the average RSS attenuation at different distances from it is proportional to the logarithm of the distance, and in the simplest case, the RSS can be expressed as:
RSS＝Pt-K-10αlog10d。
where α is called path loss exponent, Pt is transmission power, and K is a constant depending on the environment and frequency.
In a WIFI network, a beacon frame is often sent by a WIFI hotspot, which includes some network information, a service group ID, a supported transmission rate, and some other system information. beacon frames are one of many control frames in WIFI, transmitted every 100ms, and RSS is measured using beacon frames.
The position fingerprint positioning is to obtain the target position by comparing the signal characteristic fingerprint information 9 required for positioning, and the schematic diagram of the algorithm is shown in fig. 2. Location fingerprinting can be divided into two phases: an offline phase and an online phase.
In the off-line phase, a location fingerprint database 8 needs to be established for each location of the substation. The location fingerprint database 8 is a collection of a series of calibration samples 7, and these calibration samples 7 are composed of different location points in the building and attenuated signal vectors of visible hot spots collected at each location.
During the online phase, the calibration samples 7 in the location fingerprint database 8 are used to calculate the most likely location of the user.
A flow chart of a WIFI and RFID based indoor hybrid positioning algorithm of a substation robot is shown in fig. 3. The position of the robot obtained based on WIFI positioning is set as P1The position of the robot obtained based on the RFID positioning is P2The position of the robot obtained by the hybrid algorithm 10 is given by:
P＝αP1+(1-α)P2
alpha is the weight of WFID and is usually 0.3, alpha is 1 when WIFI signals cannot be received, and alpha is 0 when RFID positioning faults occur, so that redundancy complementation and mutual error correction can be realized by adopting the position 11 of the redundancy calculation robot, and the indoor positioning accuracy of the substation robot is improved.
In the technical scheme of the invention, in the application of the test point, the automatic inspection of the transformer substation robot on the equipment of the transformer substation is realized, the automation level of the transformer substation inspection is improved, the accurate and stable positioning of the transformer substation robot is realized, and the following specific effects are achieved:
1. intelligence fortune dimension improves equipment security:
based on the hybrid positioning method of the robot in the transformer substation, the robot can execute operation maintenance tasks within twenty-four hours of the transformer substation, and early warning and timely disposal of emergency can be realized. The safety of the substation equipment is improved. The measurement data of the substation maintenance personnel is greatly influenced by human factors, and the interference to the measurement result is easy to generate. The transformer substation robot can reduce loss caused by human factors and accelerate the running speed and quality of a power grid.
2. Improve indoor positioning accuracy:
and redundant complementation and mutual error correction can be realized by using positioning technologies based on WIFI and RFID. And when the RFID label is not stably positioned, the WIFI positioning technology is adopted. The instability of single signal receiving is prevented, and therefore the indoor positioning accuracy of the transformer substation robot is improved.
3. The cost of the positioning scheme is reduced:
the WIFI technology is relatively mature and more in application, large-range area positioning can be achieved, the RFID indoor positioning technology reads characteristic information of an RFID label of a target through an electronic reader, and the position of the robot is calculated through a signal intensity neighbor method. The price of the electronic tag is low, so that the cost of the scheme is controllable, the scheme can be suitable for batch production of robots and is suitable for working in the actual application scene of the transformer substation.
According to the technical scheme, the transformer substation robot is taken as a key research object, the transformer substation robot indoor hybrid positioning method based on WIFI and RFID is provided, the indoor positioning precision of the robot can be improved, and the motion safety and the operation accuracy of the robot are guaranteed. Thereby realizing the safety inspection function of the transformer substation. The robot can execute operation maintenance tasks within twenty-four hours of the transformer substation, can realize early warning and disposal of emergency situations, and finally contributes to the improvement of the inspection level of the power station of the power company.
The invention can be widely applied to the field of power station inspection of regional power companies.
Claims (8)
1. A transformer substation robot indoor hybrid positioning method based on WIFI and RFID is characterized by comprising the following steps:
constructing a substation indoor hybrid positioning device consisting of a main controller, a WIFI receiver, a WIFI hotspot, an RFID electronic tag and an RFID reader-writer in a substation;
setting a main controller and at least one WIFI hotspot in a transformer substation;
setting an RFID electronic tag at a preset spatial position in each substation room;
arranging an RFID reader-writer on each robot;
the main controller is an industrial control computer;
the main controller and the WIFI receiver receive data sent by each WIFI hotspot in real time;
the RFID reader-writer receives signals sent by the RFID electronic tags in real time and transmits the signals to the main controller;
the main controller is positioned through WIFI and RIFD, and the real-time position of the indoor mobile robot of the transformer substation is given;
the indoor hybrid positioning method of the transformer substation robot adopts a fingerprint identification algorithm, and obtains the position of the specified transformer substation robot by comparing the received signal strength with a fingerprint database.
2. The indoor WIFI and RFID based hybrid substation robot positioning method according to claim 1, wherein the data transmitted by the WIFI hotspot at least comprises a MAC address and signal strength.
3. The indoor WIFI and RFID based hybrid positioning method for the substation robot according to claim 1, wherein the electronic carrier at least comprises a tag ID and an RSSI field strength value.
4. The indoor WIFI and RFID based hybrid substation robot positioning method according to claim 1, wherein the WIFI hotspot has a unique MAC address and is fixed in setting position.
5. The indoor WIFI and RFID based hybrid substation robot positioning method according to claim 1, wherein the RFID tag has a unique ID number and sends an electronic carrier wave outwards according to a fixed period.
6. The indoor hybrid positioning method for the transformer substation robot based on the WIFI and the RFID as claimed in claim 1, wherein the indoor hybrid positioning method for the transformer substation robot is characterized in that the position of the transformer substation robot is obtained by comparing the received signal strength with a fingerprint database by adopting a fingerprint identification algorithm.
7. The indoor WIFI and RFID based hybrid substation robot positioning method according to claim 1, wherein the predetermined spatial positions at least include corresponding positions of each operating switch, a reversing point or a must-pass path on a running route of the substation robot.
8. The indoor hybrid positioning method for WIFI and RFID based substation robots according to claim 1 is characterized in that the substation robot is movably arranged on a fixed running track.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114245307A (en) * | 2021-12-21 | 2022-03-25 | 北京云迹科技股份有限公司 | Positioning method and device for robot, electronic equipment and storage medium |
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| CN106526535A (en) * | 2016-11-08 | 2017-03-22 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
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| CN110602651A (en) * | 2019-09-20 | 2019-12-20 | 北京智芯微电子科技有限公司 | Positioning method based on WIFI position fingerprint and positioning system of robot |
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Patent Citations (4)
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| CN106526535A (en) * | 2016-11-08 | 2017-03-22 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
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Application publication date: 20201204 |