CN112213979A - Intelligent robot inspection system and method for station - Google Patents
Intelligent robot inspection system and method for station Download PDFInfo
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- CN112213979A CN112213979A CN202011097821.3A CN202011097821A CN112213979A CN 112213979 A CN112213979 A CN 112213979A CN 202011097821 A CN202011097821 A CN 202011097821A CN 112213979 A CN112213979 A CN 112213979A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/20—Pc systems
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- G05B2219/24024—Safety, surveillance
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Abstract
The invention provides a station intelligent robot inspection system and a station intelligent robot inspection method, wherein the station intelligent robot inspection system consists of an intelligent inspection robot group, a monitoring base station, a wireless communication system and a station autonomous charging station; after receiving the polling task model through the wireless communication system, each polling robot in the intelligent polling robot group automatically plans an optimal polling sequence and a polling path, then respectively arrives at an appointed polling point to carry out data acquisition and carry out primary risk identification and judgment, simultaneously transmits information data to the monitoring base station through the wireless communication system, and the monitoring base station comprehensively analyzes the information acquired by each polling robot, carries out secondary risk evaluation and judgment, thereby generating a corresponding polling plan and feeding back the corresponding polling plan to each polling robot, and simultaneously, storing polling data. The invention can achieve the effect of unmanned and seamless autonomous inspection, can effectively carry out risk identification and evaluation, improves the accuracy and efficiency of inspection operation and ensures the safety of inspection personnel.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of petrochemical stations, in particular to a system and a method for polling an intelligent robot of a station.
Background
The petrochemical station is a storage and transportation place which takes petroleum and natural gas and other products as raw materials and is subjected to operations such as separation, liquefaction and the like through petrochemical equipment, an oil and natural gas drilling and development platform and the like, production equipment of the petrochemical station is usually in working environments with different temperatures, pressures and multiple media, and the production raw materials and the products have the characteristics of flammability, explosiveness, strong corrosiveness, toxicity and the like, so that the petrochemical station has great test on equipment working under the conditions for a long time.
The petrochemical field station is as the key node of connecting the energy hub station, how to guarantee its normal operating direct relation whole petrochemical natural gas system's efficiency and safety, consequently regularly patrols and examines petrochemical field station equipment and is the key link of guarantee safety in production high quality and efficient, nevertheless because the complexity of petrochemical field station operational environment, traditional artifical mode of patrolling and examining and current system method of patrolling and examining have following shortcoming:
(1) due to the dangerousness and complexity of the station environment, inspection personnel are often in a dangerous state in the inspection process, and the safety of the inspection personnel is difficult to be effectively guaranteed;
(2) the data acquired by inspection personnel in a sensing and meter reading recording mode is low in relevance, a systematic detection system cannot be formed, and dynamic feedback and updating of monitoring data cannot be realized;
(3) the inspection personnel have low sensitivity to environmental media in long-term operation and are extremely difficult to quickly identify dangers, so that potential safety hazards cannot be found in time and effectively treated;
(4) the existing inspection system and method are only suitable for independent work of a single robot, and lack of coordination, and if the single robot is out of control, the work development of the next process is influenced;
along with the improvement of industrial robot technology and the perfection of intelligent detection technology of a petrochemical field station, the traditional manual inspection can obviously not meet the requirement of the development of the petrochemical field station, and in order to ensure the safety of inspection personnel, improve the inspection operation precision and efficiency and discover the risk of the field station in time, the field station intelligent robot inspection mode is urgently needed in the production industry of the current petrochemical field station.
Disclosure of Invention
The invention aims to provide a station intelligent robot inspection system and a station intelligent robot inspection method. The inspection system and the inspection method can simultaneously control a plurality of groups of petrochemical station inspection robots to work, and have higher controllability and inspection efficiency; the inspection robot group can replace an inspection worker of a petrochemical station to perform an inspection task for 24 hours to the maximum extent, so that the safety of the inspection worker is guaranteed; meanwhile, the system and the method can coordinate each inspection robot in the intelligent robot group to acquire information data at a plurality of different inspection points and feed the information data back to the monitoring base station in real time, so that the monitoring of each inspection area is more related; the petrochemical engineering station information data under the severe environment and the working condition can be accurately acquired and risk identification and evaluation can be improved to a great extent.
In order to achieve the above object, according to an aspect of the present invention, there is provided a station intelligent robot inspection system, including: the station intelligent robot inspection system consists of an intelligent inspection robot group, a monitoring base station, a wireless communication system and a station autonomous charging station;
the intelligent inspection robot group consists of at least one inspection robot; the inspection robot comprises a primary risk monitoring system, a holder system, a driving control system, an automatic power supply system, a safety protection system and a central control system; the holder system comprises a holder, an A holder motor and a B holder motor; the cloud deck is provided with an ultrasonic sensor, a visible light image camera, a sound acquisition device, a gas acquisition cover and an infrared thermal imager; the drive control system comprises a speed detection module and a drive motor; the automatic power supply system consists of a power supply monitoring module, a storage battery A and a storage battery B; the safety protection system consists of a GPS positioning device and a path planning module;
the central control system is communicated with the safety protection system through a communication signal terminal 1 so as to control the safety protection system to carry out path planning and obstacle avoidance motion planning; the central control system is communicated with the primary risk monitoring system through a communication signal end 2 to control the primary risk system to acquire, analyze and convert information data and alarm data exceeding a threshold value; the central control system is communicated with the tripod head system through a communication signal end 3 to control the rotation angles of the tripod head motor A and the tripod head motor B, so that the angles of the ultrasonic sensor, the visible light image camera, the sound acquisition device, the gas acquisition cover and the infrared thermal imager are controlled; the central control system is communicated with the automatic power supply system through a communication signal end 4 to control the automatic power supply system to supply power and charge; the central control system is communicated with the driving system through a communication signal end 5 to control the rotating speed of the driving motor;
the monitoring base station comprises a secondary risk monitoring system, an inspection task generating system, a remote access system and a remote control system, wherein the remote access system realizes remote access check of a data report, an inspection log, historical data and a current task; the remote control system is used for remote unconventional specific routing inspection control; the inspection task generating system automatically generates an inspection task model according to the inspection point position information in the database system;
the station autonomous charging station comprises a plurality of automatic charging devices and position signal transmitting terminals, wherein each automatic charging device is provided with one position signal transmitting terminal;
the wireless communication system comprises wireless signal transceivers, a wireless network bridge and a wireless AP, wherein the wireless signal transceivers are arranged on the inspection robots and the monitoring base stations.
In one embodiment, the primary risk monitoring system comprises a real-time data acquisition module, a real-time data analysis module, a data signal processing module and an alarm module; the real-time data acquisition module is used for acquiring information data of station equipment appearance images, instrument indexes, equipment temperature thermal images, air gas content and concentration and equipment working noise; the real-time data analysis module is used for comparing threshold values of the information data, and the threshold values are manually set; the alarm module is used for automatically alarming the data exceeding the threshold value; and the data signal processing module is used for carrying out amplitude modulation and frequency modulation processing on the information data.
In one embodiment, each inspection robot in the intelligent inspection robot group is provided with an A wireless signal transceiver, and the monitoring base station is provided with a B wireless signal transceiver; the monitoring base station sends commands and receives information data through a B wireless signal transceiver; the command comprises an inspection task model and a remote control instruction, and is transmitted to the A wireless signal transceiver of each inspection robot through the wireless network bridge and the wireless AP; the data information comprises an equipment appearance image or video, an instrument index, an equipment surface temperature thermal image, air gas content and concentration and equipment working noise, is sent by the wireless signal receiver A of each inspection robot, and is transmitted to the wireless signal transceiver B through the wireless network bridge and the wireless AP.
In one embodiment, the A tripod head motor is used for realizing 360-degree rotation of the tripod head in the horizontal direction, and the B tripod head motor is used for realizing 180-degree rotation of the tripod head in the vertical direction.
In one embodiment, the power monitoring module is used for monitoring the working conditions and the residual capacity of the power supplies of the storage battery A and the storage battery B, wherein the storage battery A is a primary power supply of the inspection robot, and the storage battery B is a standby power supply of the inspection robot.
In one embodiment, the database system is used for storing station inspection point position information, a station electronic map, historical inspection records and historical information data;
in one embodiment, the secondary risk monitoring system consists of a database system and a background intelligent analysis and diagnosis module; the background intelligent analysis and diagnosis module is used for processing the acquired information data and the historical information data through association rules and a fuzzy clustering algorithm, then mining characteristic parameters causing risks and generating a comprehensive data curve function, judging the development trend of the comprehensive data function curve through a numerical analysis method, and performing secondary risk assessment on the station equipment information.
According to another aspect of the invention, a station intelligent robot inspection method is provided, which is characterized by comprising the following steps:
s1: after the monitoring base station generates the inspection task model, the inspection task model is transmitted to the intelligent inspection robot group through the wireless communication system;
s2: each inspection robot in the intelligent inspection robot group plans an optimal inspection sequence and an inspection path to automatically travel to an inspection point through a GPS positioning device and a path planning module according to the position of the inspection point in the inspection task model;
s3: the real-time data acquisition module is used for respectively acquiring information of the appearance of the equipment, instrument data, a temperature thermal image of the equipment, gas composition and concentration and working noise of the equipment, threshold value comparison and risk evaluation are carried out on the data through the real-time data analysis module, the working condition of the equipment is determined, and if a corresponding numerical value exceeds a threshold value, a system alarms;
s4: meanwhile, after the acquired information is preprocessed, the information is transmitted to a monitoring base station through a wireless communication system;
s5: the background intelligent analysis and diagnosis module is used for processing the acquired data through association rules and a fuzzy clustering algorithm, mining characteristic parameters causing risks and generating a comprehensive data function curve, judging the development trend of the comprehensive data function curve through a numerical analysis method, performing secondary risk evaluation on the station equipment information, and giving an alarm if the trend of the comprehensive data function curve is abnormal;
s6: after comprehensively analyzing the data acquired by each inspection robot through equipment mode identification and running state analysis, the monitoring base station determines the fault type and the fault reason and generates a corresponding inspection plan, and meanwhile, the data are stored in a database system;
s7: when all the items to be detected at the inspection point are finished and the system alarm disappears, the inspection robot drives to the next inspection point;
s8: and repeating the steps S2-S7 until the inspection is finished after the last inspection point, and returning the corresponding inspection robot of the intelligent inspection robot group to the station autonomous charging station for automatic charging.
In one embodiment, in the step S2, the inspection robot detects the obstacle situation around the inspection robot through the ultrasonic sensor in the inspection process, the GPS positioning device positions the inspection robot, and the path planning module completes the obstacle avoidance movement planning of the inspection robot; before each inspection robot in the intelligent inspection robot group reaches a specified inspection point, the rotating speed of a driving motor of the inspection robot is increased through the driving control system to enable the inspection robot to be in a fast driving mode, and after the inspection robot reaches the specified inspection point, the rotating speed of the driving motor of the inspection robot is reduced through the driving control system to enable the inspection robot to be converted into a slow driving mode.
Has the advantages that:
1. by adopting the inspection mode that the inspection robot group autonomously plans the optimal inspection path to reach the corresponding inspection point through the predetermined algorithm and then automatically acquires the information data of the station production equipment, the accurate acquisition and risk identification evaluation of the petrochemical station information data under severe environment and working conditions can be greatly improved, so that the unmanned and seamless autonomous inspection effect is achieved, and the safety of inspection personnel is guaranteed.
2. The intelligent inspection robot group comprises inspection robots, a monitoring base station, a background intelligent analysis and diagnosis module, a regional, modularized and systematized inspection database system and a real-time efficient decision early warning mode.
3. Through controlling a plurality of robots of patrolling and examining to mutually support and carry out the station and patrol and examine the task, form the operation of patrolling and examining in step of systematic robot group of patrolling and examining, accomplish data acquisition and risk identification, realize failure diagnosis and state evaluation novel detection model as an organic whole, the guarantee has improved efficiency of patrolling and examining to the degree of accuracy and the reliability of petrochemical station risk problem discernment.
Drawings
FIG. 1 is a diagram of an intelligent robot inspection system for a petrochemical plant station according to the present invention;
FIG. 2 is a flow chart of the intelligent robot group inspection method of the petrochemical field station of the invention;
FIG. 3 is a flow chart of obstacle avoidance for the petrochemical station inspection robot of the present invention;
fig. 4 is a schematic diagram of the inspection process of the intelligent inspection robot group.
Detailed Description
The technical scheme of the invention is further described by combining the attached drawings;
the invention provides a technical scheme that: referring to fig. 1, an intelligent robot inspection system for a station comprises an intelligent inspection robot group, a monitoring base station, a wireless communication system and an autonomous station charging station for the station;
the intelligent inspection robot group is composed of at least one inspection robot 100; the inspection robot consists of a primary risk monitoring system 130, a holder system 140, a driving control system 160, an automatic power supply system 150, a safety protection system 120 and a central control system 110; the primary risk monitoring system 130 comprises a real-time data acquisition module 131, an alarm module 132, a real-time data analysis module 133 and a data signal processing module 134; the pan-tilt system 140 comprises a pan-tilt, a pan-tilt motor 146 and a pan-tilt motor 147; the cloud deck is provided with an ultrasonic sensor 141, a visible light image camera 142, a sound acquisition device 143, a gas acquisition cover 144 and an infrared thermal imager 145; the drive control system 160 includes a speed monitoring module 161 and a drive motor 162; the automatic power supply system 150 consists of a power supply monitoring module 151, a storage battery A152 and a storage battery B153; the safety protection system 120 is composed of a GPS positioning device 121 and a path planning module 122;
the monitoring base station consists of a secondary risk monitoring system 200, a routing inspection task generating system 210, a remote access system 220 and a remote control system 230; the secondary risk monitoring system 200 comprises a database system 201 and a background intelligent analysis and diagnosis module 202;
the wireless communication system consists of a wireless signal transceiver 300, a wireless bridge 310 and a wireless AP 320; the wireless signal transceiver 300 comprises an a wireless signal transceiver 301 and a B wireless signal transceiver 302; wherein the a wireless signal transceiver 301 is disposed on the inspection robot 100; the B wireless signal transceiver 302 is disposed on a monitoring base station;
the station autonomous charging station is composed of a plurality of automatic charging devices 400 and a position signal transmitting terminal 410, wherein each automatic charging device is provided with one position signal transmitting terminal 410.
With reference to fig. 2 to fig. 4, based on the same inventive concept, an embodiment of the present invention further provides a station intelligent robot inspection method, which can be implemented based on the station intelligent robot inspection system described in the above embodiments.
S1: the task generating system 210 in the monitoring base station receives the inspection point position information, the field station electronic map and the historical inspection record from the database system 201 through the communication signal terminal 6, determines the position to be inspected in the inspection task model according to the inspection point position information and the historical inspection record and marks the position on the field station electronic map, and determines the number of the required inspection robots 100 and the corresponding inspection robots 100 according to the inspection point position information of the required inspection area and the self electric quantity condition of each inspection robot 100;
the B wireless signal transceiver 302 transmits the patrol task model and the station electronic map information in a wireless mode, and the patrol task model and the station electronic map information are transmitted to the A wireless signal transceiver 301 of each patrol robot 100 of the intelligent patrol robot group through the wireless network bridge 310 and the wireless AP 320;
s2: the inspection robot 100 receives the inspection task model and the station electronic map information, marks a key inspection object after processing through the central control system 110, and sends the key inspection object to the path planning module 122 through the communication signal terminal 1, the path planning module 122 determines an inspection sequence according to inspection point position information and the key inspection object in the station electronic map, and finally plans an optimal inspection route;
when the inspection robot 100 travels to an inspection point corresponding to an inspection area, the GPS positioning device 121 determines the position of the inspection robot and determines whether the inspection robot reaches the inspection point by combining the inspection point position information in the station electronic map, if the inspection point does not reach the inspection point, the central control system 110 sends a command of increasing the rotating speed of the driving motor 162 to the driving control system 160 through the communication signal terminal 5, and meanwhile, the speed detection module 161 monitors the rotating speed information of the driving motor 162 in real time and transmits the information to the central control system 110 through the communication signal terminal 5, so that the driving motor 162 is kept at a steady high rotating speed to increase the traveling speed of the inspection robot 100, and similarly, if the inspection robot reaches the inspection point to be inspected, the central control system 110 keeps the driving motor 162 at a steady low rotating speed to decrease the traveling speed of the inspection robot 100;
the central control system 110 receives information of the ultrasonic sensor 141 and the GPS positioning device 121 through the communication signal terminal 3 and the communication signal terminal 1, respectively, and after the information is processed by the central control system 110, the position distance relationship between the inspection robot 100 and a front obstacle is determined, so as to generate an obstacle avoidance movement instruction, and then the instruction is transmitted to the path planning module 122 through the communication signal terminal 1, so that the obstacle avoidance movement planning of the inspection robot 100 is finally realized;
s3: after the inspection robot 100 reaches the inspection point position of the corresponding inspection area, the real-time data acquisition module 131 starts to acquire data of the station; judging the appearance deformation of the equipment: the visible light image camera 142 is used for shooting and collecting key parts of the petrochemical station equipment for multiple times in an instant manner, the real-time data analysis module 133 is used for comparing the image information with the appearance image of normal equipment, if the deformation of the appearance of the equipment exceeds a set threshold value, the alarm module 132 is started, the system alarms, otherwise, the system does not alarm; and judging the instrument index: the dial indexes are instantly and repeatedly captured and collected through the visible light image camera 142, the threshold value comparison judgment is carried out on the dial indexes through the data analysis module 133, if the dial indexes exceed the corresponding floating threshold value interval, the alarm module 132 is started, the system alarms, and otherwise the system does not alarm; and (3) judging the temperature of the equipment: acquiring equipment temperature information through the infrared thermal imager 145, comparing and judging the equipment temperature information with a corresponding temperature threshold interval through the data analysis module 133, starting the alarm module 132 if the temperature threshold interval is exceeded, and giving an alarm to the system, otherwise, not giving an alarm to the system; judging the working noise of the equipment: the working sound condition of the multi-section equipment is collected through the sound collection device 143, noise analysis and comparison are carried out on the working sound and the normal working sound through the data analysis module 133, if the working noise of the equipment exceeds a preset threshold value, the alarm module 132 is started, the system alarms, and otherwise the system does not alarm; judging the gas content and concentration: collecting gas data around the inspection point through a gas collecting cover 144, analyzing the content and concentration of the dangerous gas through a real-time data analyzing module 133, comparing and judging with a set dangerous gas concentration threshold value, starting an alarm module 132 if the concentration threshold value is exceeded, and giving an alarm to the system, otherwise, not giving an alarm to the system;
in the real-time data acquisition process, the rotational angles of the pan-tilt motor A146 and the pan-tilt motor B147 are controlled through the pan-tilt system 140 to control the pose angles of the visible light image camera 142, the sound acquisition device 143, the gas acquisition cover 144 and the infrared thermal imager 145, so that the accuracy of information data acquisition is improved;
s4: the information data is subjected to frequency modulation and amplitude modulation processing through the data signal processing module 134 and then transmitted to the monitoring base station through the A wireless communication transceiver 301;
s5: after receiving the real-time data (equipment appearance deformation, equipment temperature, working noise, gas content and concentration, and instrument index) from each inspection robot 100, the monitoring base station processes the real-time data through a background intelligent analysis and diagnosis module 202 by using association rules and a fuzzy clustering algorithm, excavates characteristic parameters causing risks, judges the development trend of a comprehensive data function curve through a numerical analysis method, performs secondary risk assessment on the working condition of field station equipment, and if the development trend of the comprehensive data function curve is normal, the inspection robot 100 drives to the next inspection point;
s6: if the trend of the function curve is abnormal, calling historical inspection data in the database system 201, analyzing the fault type and reason by integrating the information acquired by each inspection robot 100 and the historical inspection data, generating a corresponding inspection plan by the inspection task generation system 210 to acquire data information of the inspection point, storing the data in the database system 201, and simultaneously giving an alarm to notify monitoring personnel;
s7: when all the items to be detected of the inspection point are finished and the system alarm disappears, the inspection robot 100 drives to the next inspection point;
s8: and repeating the steps S2-S7 until the last inspection point, and automatically returning the corresponding inspection robot 100 in the intelligent inspection robot group to the automatic charging device 400 corresponding to the station autonomous charging station for automatic charging by receiving the position signal sent by the position signal transmitting terminal 410.
Each inspection robot 100 in the intelligent inspection robot group monitors the storage battery A152 and the storage battery B153 in real time through the power supply monitoring module in the inspection task executing process, wherein the storage battery A152 is a primary power supply, the storage battery B153 is a standby power supply and is responsible for supplying power to the central control system 110, the safety protection system 120, the primary risk monitoring system 130, the holder system 140 and the drive control system 160, and the storage battery B153 is used when the storage battery A152 is insufficient in electric quantity or a circuit fails; the field station staff can remotely access and check the data report, the inspection log, the historical data and the current task through the remote access system 220, and can insert the inspection task through the remote control system 230 to control the corresponding inspection robot 100 to perform irregular specific inspection.
The above-mentioned embodiments are intended to illustrate the objects, advantages and technical solutions of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A station intelligent robot inspection system and a method are characterized in that the station intelligent robot inspection system consists of an intelligent inspection robot group, a monitoring base station, a wireless communication system and a station autonomous charging station;
the intelligent inspection robot group consists of at least one inspection robot; the inspection robot comprises a primary risk monitoring system, a holder system, a driving control system, an automatic power supply system, a safety protection system and a central control system;
the primary risk monitoring system comprises a real-time data acquisition module, a real-time data analysis module, a data signal processing module and an alarm module;
the holder system comprises a holder, an A holder motor and a B holder motor; the cloud deck is provided with an ultrasonic sensor, a visible light image camera, a sound acquisition device, a gas acquisition cover and an infrared thermal imager;
the drive control system comprises a speed detection module and a drive motor;
the automatic power supply system consists of a power supply monitoring module, a storage battery A and a storage battery B;
the safety protection system consists of a GPS positioning device and a path planning module;
the central control system is communicated with the safety protection system through a communication signal terminal 1 so as to control the safety protection system to carry out path planning and obstacle avoidance movement; the central control system is communicated with the primary risk monitoring system through a communication signal end 2 to control the primary risk system to acquire, analyze and convert signal data and alarm data exceeding a threshold value; the central control system is communicated with the tripod head system through a communication signal end 3 to control the rotation angles of the tripod head motor A and the tripod head motor B, so that the angles of the ultrasonic sensor, the visible light image camera, the sound acquisition device, the gas acquisition cover and the infrared thermal imager are controlled; the central control system is communicated with the automatic power supply system through a communication signal end 4 to control the automatic power supply system to supply power and charge; the central control system is communicated with the driving system through a communication signal end 5 to control the rotating speed of the driving motor;
the monitoring base station comprises a secondary risk monitoring system, an inspection task generating system, a remote access system and a remote control system; the secondary risk monitoring system consists of a database system and a background intelligent analysis and diagnosis module;
the station autonomous charging station comprises a plurality of automatic charging devices and position signal transmitting terminals, wherein each automatic charging device is provided with one position signal transmitting terminal;
the wireless communication system comprises wireless signal transceivers, a wireless network bridge and a wireless AP, wherein the wireless signal transceivers are arranged on the inspection robots and the monitoring base stations.
2. The intelligent robot inspection system according to claim 1, wherein the real-time data acquisition module is configured to perform information data acquisition on station equipment appearance images, instrument indices, equipment temperature thermographs, air gas content and concentration, and equipment operating noise;
the real-time data analysis module is used for comparing threshold values of the information data, and the threshold values are manually set;
the alarm module is used for automatically alarming the data exceeding the threshold value;
and the data signal processing module is used for carrying out amplitude modulation and frequency modulation processing on the information data.
3. The station intelligent robot inspection system according to claim 1, wherein each inspection robot in the intelligent inspection robot group is provided with a wireless signal transceiver A, and the monitoring base station is provided with a wireless signal transceiver B; the monitoring base station sends commands and receives information data through a B wireless signal transceiver; the command comprises an inspection task model and a remote control instruction, and is transmitted to the A wireless signal transceiver of each inspection robot through the wireless network bridge and the wireless AP; the information data comprises an equipment appearance image, an instrument index, an equipment temperature thermal image, air gas content and concentration and equipment working noise, and are sent by the wireless signal transceiver A of each inspection robot and transmitted to the wireless signal transceiver B through the wireless network bridge and the wireless AP.
4. The intelligent robot inspection system according to claim 1, wherein the A pan/tilt motor is configured to achieve 360 ° rotation of the pan/tilt in the horizontal direction, and the B pan/tilt motor is configured to achieve 180 ° rotation of the pan/tilt in the vertical direction;
the power monitoring module is used for monitoring the A storage battery with B storage battery power operating condition and residual capacity, wherein, the A storage battery is for patrolling and examining the first power of robot, the B storage battery is for patrolling and examining the stand-by power supply of robot.
5. The station intelligent robot inspection system according to claim 1, wherein the database system is configured to store station inspection point location information, a station electronic map, historical inspection records, and historical information data;
the background intelligent analysis and diagnosis module is used for processing the acquired information data and the historical information data through association rules and a fuzzy clustering algorithm, then mining characteristic parameters causing risks and generating a comprehensive data curve function, judging the development trend of the comprehensive curve function through a numerical analysis method, and performing secondary risk assessment on the station equipment information;
the inspection task generating system automatically generates an inspection task model according to the inspection point position information in the database system;
the remote access system realizes remote access viewing of data reports, routing inspection logs, historical data and current tasks;
the remote control system is used for remote unconventional specific routing inspection control.
6. A station intelligent robot inspection method is characterized by comprising the following steps:
s1: after the monitoring base station generates the inspection task model, the inspection task model is transmitted to the intelligent inspection robot group through the wireless communication system;
s2: each inspection robot in the intelligent inspection robot group plans an optimal inspection sequence and an inspection path to automatically travel to an inspection point through a GPS positioning device and a path planning module according to the position of the inspection point in the inspection task model;
s3: the real-time data acquisition module is used for respectively acquiring information of the appearance of the equipment, instrument data, a temperature thermal image of the equipment, gas composition and concentration and working noise of the equipment, threshold value comparison and risk evaluation are carried out on the data through the real-time data analysis module, the working condition of the equipment is determined, and if a corresponding numerical value exceeds a threshold value, a system alarms;
s4: meanwhile, after the acquired information is preprocessed, the information is transmitted to a monitoring base station through a wireless communication system;
s5: the background intelligent analysis and diagnosis module is used for processing the acquired data through association rules and a fuzzy clustering algorithm, mining characteristic parameters causing risks and generating a comprehensive data function curve, judging the development trend of the comprehensive data function curve through a numerical analysis method, performing secondary risk evaluation on the station equipment information, and giving an alarm if the trend of the comprehensive data function curve is abnormal;
s6: after comprehensively analyzing the data acquired by each inspection robot through equipment mode identification and running state analysis, the monitoring base station determines the fault type and the fault reason and generates a corresponding inspection plan, and meanwhile, the data are stored in a database system;
s7: when all the items to be detected at the inspection point are finished and the system alarm disappears, the inspection robot drives to the next inspection point;
s8: and repeating the steps S2-S7 until the inspection is finished after the last inspection point, and returning the corresponding inspection robot of the intelligent inspection robot group to the station autonomous charging station for automatic charging.
7. The inspection method of the intelligent robot in the field station according to claim 6, wherein in the step S2, the inspection robot detects the surrounding obstacles of the inspection robot through the ultrasonic sensor in the inspection process, the GPS positioning device realizes the positioning of the inspection robot, and the path planning module finishes the obstacle avoidance movement planning of the inspection robot.
8. The intelligent robot inspection method according to claim 6, wherein in step S2, before each inspection robot in the intelligent inspection robot group reaches the designated inspection point, the rotational speed of the inspection robot driving motor is increased by the driving control system to be in the fast driving mode, and after the inspection robot driving motor reaches the designated inspection point, the rotational speed of the inspection robot driving motor is decreased by the driving control system to be converted into the slow driving mode.
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112757305A (en) * | 2021-01-20 | 2021-05-07 | 济南浪潮高新科技投资发展有限公司 | Intelligent inspection robot and inspection method |
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| CN113635303A (en) * | 2021-08-10 | 2021-11-12 | 国网上海市电力公司 | Method for improving intelligent inspection efficiency of inspection robot of extra-high voltage transformer substation |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
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| CN113793428A (en) * | 2021-09-14 | 2021-12-14 | 国网江苏省电力有限公司常州供电分公司 | Handheld terminal inspection method and system |
| CN113894812A (en) * | 2021-10-27 | 2022-01-07 | 广西电网有限责任公司贺州供电局 | Intelligent inspection robot system |
| CN113934210A (en) * | 2021-10-11 | 2022-01-14 | 华能新疆吉木萨尔发电有限公司 | Multi-machine scheduling method and device for track robot and storage medium |
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| CN114260918A (en) * | 2022-01-12 | 2022-04-01 | 上海华建电力设备股份有限公司 | Intelligent power distribution comprehensive management method based on track robot |
| CN114374241A (en) * | 2021-12-16 | 2022-04-19 | 杭州申昊科技股份有限公司 | Automatic charging method for intelligent inspection robot and wireless charging room |
| CN114559414A (en) * | 2022-03-25 | 2022-05-31 | 长沙理工大学 | Multifunctional energy storage power station inspection robot and inspection method thereof |
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| CN115793673A (en) * | 2023-01-10 | 2023-03-14 | 北京飞渡科技股份有限公司 | Natural gas station robot inspection method and device based on VR technology |
| CN116165484A (en) * | 2023-02-21 | 2023-05-26 | 海南电网有限责任公司信息通信分公司 | Fault positioning robot-assisted fixed inspection, inspection and scheduling method based on electric power automation operation and maintenance |
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| CN116559604A (en) * | 2023-05-06 | 2023-08-08 | 上海莫克电子技术有限公司 | Intelligent mobile inspection device, inspection system and control method |
| CN117031551A (en) * | 2023-08-10 | 2023-11-10 | 水利部交通运输部国家能源局南京水利科学研究院 | Method and system for tour inspection of intelligent unmanned vehicle traversing station in dam engineering |
| CN117252588A (en) * | 2023-11-13 | 2023-12-19 | 南京同庆科技有限公司 | Intelligent inspection system for overhauling clean energy power station |
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| CN112904844A (en) * | 2021-01-14 | 2021-06-04 | 广东核电合营有限公司 | Intelligent inspection method and system for nuclear power station |
| CN112757305A (en) * | 2021-01-20 | 2021-05-07 | 济南浪潮高新科技投资发展有限公司 | Intelligent inspection robot and inspection method |
| CN113296113A (en) * | 2021-05-20 | 2021-08-24 | 华能(浙江)能源开发有限公司清洁能源分公司 | Unmanned intelligent inspection system and method applied to offshore booster station |
| CN113381331A (en) * | 2021-06-23 | 2021-09-10 | 国网山东省电力公司济宁市任城区供电公司 | Intelligent inspection system for transformer substation |
| CN113381331B (en) * | 2021-06-23 | 2023-04-11 | 国网山东省电力公司济宁市任城区供电公司 | Intelligent inspection system for transformer substation |
| CN113780337A (en) * | 2021-07-29 | 2021-12-10 | 湖南五凌电力科技有限公司 | Generator inspection method and device, electronic equipment and storage medium |
| CN113635303A (en) * | 2021-08-10 | 2021-11-12 | 国网上海市电力公司 | Method for improving intelligent inspection efficiency of inspection robot of extra-high voltage transformer substation |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
| CN113793428A (en) * | 2021-09-14 | 2021-12-14 | 国网江苏省电力有限公司常州供电分公司 | Handheld terminal inspection method and system |
| CN113934210A (en) * | 2021-10-11 | 2022-01-14 | 华能新疆吉木萨尔发电有限公司 | Multi-machine scheduling method and device for track robot and storage medium |
| CN113934210B (en) * | 2021-10-11 | 2024-07-05 | 华能新疆吉木萨尔发电有限公司 | Multi-machine scheduling method and device for track robot and storage medium |
| CN113894812A (en) * | 2021-10-27 | 2022-01-07 | 广西电网有限责任公司贺州供电局 | Intelligent inspection robot system |
| CN114147740A (en) * | 2021-12-09 | 2022-03-08 | 中科计算技术西部研究院 | Robot patrol planning system and method based on environment state |
| CN114374241A (en) * | 2021-12-16 | 2022-04-19 | 杭州申昊科技股份有限公司 | Automatic charging method for intelligent inspection robot and wireless charging room |
| CN114374241B (en) * | 2021-12-16 | 2023-12-26 | 杭州申昊科技股份有限公司 | Automatic charging method for intelligent inspection robot and wireless charging house |
| CN114260918A (en) * | 2022-01-12 | 2022-04-01 | 上海华建电力设备股份有限公司 | Intelligent power distribution comprehensive management method based on track robot |
| CN114559414A (en) * | 2022-03-25 | 2022-05-31 | 长沙理工大学 | Multifunctional energy storage power station inspection robot and inspection method thereof |
| CN114931112A (en) * | 2022-04-08 | 2022-08-23 | 南京农业大学 | Sow body ruler detection system based on intelligent inspection robot |
| CN114931112B (en) * | 2022-04-08 | 2024-01-26 | 南京农业大学 | Sow body ruler detection system based on intelligent inspection robot |
| US11662703B1 (en) * | 2022-06-10 | 2023-05-30 | Chengdu Qinchuan Iot Technology Co., Ltd. | Industrial internet of things for inspection data processing, control method, and storage medium thereof |
| US11953874B2 (en) | 2022-06-10 | 2024-04-09 | Chengdu Qinchuan Iot Technology Co., Ltd. | Industrial internet of things systems for inspection operation management of inspection robots and methods thereof |
| CN115793673A (en) * | 2023-01-10 | 2023-03-14 | 北京飞渡科技股份有限公司 | Natural gas station robot inspection method and device based on VR technology |
| CN116165484A (en) * | 2023-02-21 | 2023-05-26 | 海南电网有限责任公司信息通信分公司 | Fault positioning robot-assisted fixed inspection, inspection and scheduling method based on electric power automation operation and maintenance |
| CN116559604A (en) * | 2023-05-06 | 2023-08-08 | 上海莫克电子技术有限公司 | Intelligent mobile inspection device, inspection system and control method |
| CN117031551A (en) * | 2023-08-10 | 2023-11-10 | 水利部交通运输部国家能源局南京水利科学研究院 | Method and system for tour inspection of intelligent unmanned vehicle traversing station in dam engineering |
| CN117031551B (en) * | 2023-08-10 | 2024-01-30 | 水利部交通运输部国家能源局南京水利科学研究院 | Method and system for tour inspection of intelligent unmanned vehicle traversing station in dam engineering |
| CN117246174A (en) * | 2023-11-08 | 2023-12-19 | 南通国轩新能源科技有限公司 | Intelligent charging robot system and automatic cruise control method |
| CN117252588A (en) * | 2023-11-13 | 2023-12-19 | 南京同庆科技有限公司 | Intelligent inspection system for overhauling clean energy power station |
| CN117252588B (en) * | 2023-11-13 | 2024-03-22 | 南京同庆科技有限公司 | Intelligent inspection system for overhauling clean energy power station |
| CN117676383A (en) * | 2023-12-07 | 2024-03-08 | 内蒙古伊泰煤炭股份有限公司 | Method and device for detecting field working condition of industrial field |
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