CN114310889A - Intelligent robot inspection system for transformer substation and access operation method thereof - Google Patents
Intelligent robot inspection system for transformer substation and access operation method thereof Download PDFInfo
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- CN114310889A CN114310889A CN202111630840.2A CN202111630840A CN114310889A CN 114310889 A CN114310889 A CN 114310889A CN 202111630840 A CN202111630840 A CN 202111630840A CN 114310889 A CN114310889 A CN 114310889A
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Abstract
The application relates to the field of robot technology, in particular to a transformer substation intelligent robot inspection system and an access operation method thereof, wherein the method comprises the steps of acquiring inspection information; acquiring the electric quantity value information and the position information of each robot; determining the robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robots meeting the preset conditions is larger than a first preset electric quantity value; determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information and the position information of each robot, and determining a master robot based on the robots meeting preset conditions, wherein the electric quantity value of the master robot is larger than the second preset electric quantity value; sending the routing inspection information to any master robot; and distributing a wireless frequency band corresponding to the position information of any master robot to any master robot. This application can be convenient for sort comparatively suitable robot and patrol and examine.
Description
Technical Field
The application relates to the field of robotics, in particular to a transformer substation intelligent robot inspection system and an access operation method thereof.
Background
The transformer substation is an important hub in an electric power system, the transformer substation often has a large amount of power equipment, and in order to know the working condition of the transformer substation in time, the transformer substation needs to be patrolled and examined, and the running state of the equipment is monitored. However, the inspection range of a general transformer substation is large, the number of dangerous factors is large, and the labor inspection cost is high.
At present, a plurality of intelligent robots are used for polling in an existing transformer substation, when the intelligent robots receive a polling task, the intelligent robots reach a polling destination according to a formulated route of the polling task, shoot a specified place and return to an initial position. The intelligent robot is wide in inspection range and consumes electric energy all the time in the inspection process.
In the process of realizing the application, the inventor thinks that after the intelligent robot receives the polling task, the situation of polling failure caused by insufficient electric quantity can occur, so how to select a more suitable robot for polling becomes a key problem.
Disclosure of Invention
In order to facilitate selecting a more suitable robot for inspection, the application provides an intelligent robot inspection system for a transformer substation and an access operation method thereof.
In a first aspect, the application provides a method for accessing and operating an intelligent robot of a transformer substation, which adopts the following technical scheme:
a transformer substation intelligent robot access operation method comprises the following steps:
acquiring polling information;
acquiring the electric quantity value information and the position information of each robot;
determining the robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robots meeting the preset conditions is larger than a first preset electric quantity value;
determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information and the position information of each robot, and determining a master robot based on the robots meeting preset conditions, wherein the electric quantity value of the master robot is larger than the second preset electric quantity value;
sending the routing inspection information to any of the master robots;
and distributing a wireless frequency band corresponding to the position information of any one of the master robots to any one of the master robots.
By adopting the technical scheme, the electronic equipment acquires the electric quantity value information of each robot and determines the robots meeting the preset conditions, so that all the robots are preliminarily screened, and the robots with the electric quantity larger than a first preset electric quantity value are screened out; and determining a second preset electric quantity value, determining the robot with the electric quantity larger than the second preset electric quantity value from the robots meeting preset conditions by the electronic equipment, determining the robot as a master robot, wherein the electric quantity of the screened master robot is enough to complete tasks according to the polling information, sending the polling information to the master robot by the electronic equipment, and distributing a wireless frequency band for the master robot, so that the master robot can always receive the polling information in the polling process, and smoothly complete the polling tasks, thereby reducing the possibility of polling failure caused by insufficient electric quantity of the master robot, and selecting a more suitable robot to execute the polling tasks.
In another possible implementation manner, the acquiring the electric quantity value information of each robot includes:
acquiring collected data of each sensor installed in any robot, wherein the collected data comprises: an initial voltage value and an initial current value;
the method comprises the following steps of obtaining first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprise: a voltage increase rate and a current increase rate, the second variation data including: a voltage reduction rate and a current reduction rate;
determining an electric quantity value change curve based on the collected data, the first change data, the charging time of the robot, the second change data and the inspection time of the robot;
and acquiring the electric quantity value information of each robot based on the electric quantity value change curve.
Through adopting above-mentioned technical scheme, electronic equipment can be to the robot real-time supervision of charging process and inspection process, obtain the increase of robot voltage and electric current respectively, the reduction data, based on initial voltage value and initial current value, first change data, the second change data, obtain the electric quantity value change curve, can be according to electric quantity value change curve, estimate out the electric quantity value information of each robot, so that the staff in time knows the electric quantity value of each robot, thereby be convenient for the staff distributes comparatively suitable robot according to the electric quantity value information of each robot.
In another possible implementation manner, the determining, based on the inspection information, the electric quantity value information of each robot, and the position information, a second preset electric quantity value corresponding to each robot includes:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is the electric quantity value required by the main selection robot to reach an inspection destination according to the inspection information;
and determining a second preset electric quantity value based on the first preset electric quantity value and the target electric quantity value.
By adopting the technical scheme, the electric quantity value required to be consumed by the main selection robot from the current position to the inspection destination is determined based on the inspection information, and then the second preset electric quantity value is determined based on the target electric quantity value and the first preset electric quantity value, namely the robot with the electric quantity value meeting the electric quantity value consumed by the inspection route is determined, so that the more suitable robot is determined.
In another possible implementation manner, if a robot that does not satisfy a preset condition is determined based on the electric quantity value information of each robot, the method further includes:
determining the robot which does not meet the preset condition as an alternative robot;
and controlling the standby of the alternative robot.
By adopting the technical scheme, the robot which does not meet the preset conditions is determined as the alternative robot, namely the electric quantity value of the alternative robot is not enough to execute the inspection task, the standby of the alternative robot is controlled, and the electric energy loss of the alternative robot when the alternative robot does not work can be reduced.
In another possible implementation manner, the sending the patrol information to the master robot includes:
acquiring identity information of the master robot, and judging whether the identity information of the master robot is legal or not;
if the identity information of the master robot is legal, accessing the master robot;
and sending the routing inspection information to the master robot.
By adopting the technical scheme, the identity information of the main selection robot is judged firstly, and the main selection robot is accessed and routing inspection information is sent to the main selection robot only when the identity information of the main selection robot is legal, so that the possibility that the main selection robot is illegally controlled and deviates from a routing inspection route is reduced.
In another possible implementation manner, the allocating a wireless frequency band corresponding to the location information of the master robot to the master robot includes:
acquiring a cellular network frequency band corresponding to the routing inspection information;
and acquiring the range of the idle frequency band, and determining the wireless frequency band matched with the position information and the routing inspection information of the main selection robot.
Through adopting above-mentioned technical scheme, according to the positional information of the main selection robot and the information of patrolling and examining, can determine the scope of patrolling and examining of main selection robot, follow the idle frequency channel scope and determine and patrol and examine the wireless frequency channel that the information matches to make the main selection robot patrol and examine the in-process, can be connected with the wireless frequency channel of matching, guarantee that information communication is online.
In a second aspect, the application provides an intelligent robot access operation device for a transformer substation, which adopts the following technical scheme:
an intelligent robot of transformer substation inserts running device includes:
the first acquisition module is used for acquiring the routing inspection information;
the second acquisition module is used for acquiring the electric quantity value information and the position information of each robot;
the first determining module is used for determining the robots meeting the preset conditions based on the electric quantity value information of each robot, and the electric quantity value of the robots meeting the first conditions is larger than the first preset electric quantity value;
the second determining module is used for determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information of each robot and the position information;
the third determining module is used for determining a master robot based on the robot meeting the preset condition, and the electric quantity value of the master robot is larger than the second preset electric quantity value;
the transmission module is used for transmitting the inspection information to any master robot;
and the allocation module is used for allocating a wireless frequency band corresponding to the position information of any one of the master robots to any one of the master robots.
By adopting the technical scheme, the second acquisition module acquires the electric quantity value information of each robot, and the first determination module determines the robots meeting the preset conditions, so that all the robots are preliminarily screened, and the robots with the electric quantity larger than the first preset electric quantity value are screened out; the method comprises the steps that a second preset electric quantity value is determined, then, from robots meeting preset conditions, a second determining module determines the robots with the electric quantities larger than the second preset electric quantity value, a third determining module determines the robots as main selection robots, therefore, the electric quantities of the selected main selection robots are enough to finish tasks according to polling information, a sending module sends the polling information to the main selection robots, and after a distribution module distributes wireless frequency bands for the main selection robots, the main selection robots can always receive the polling information in the polling process, the main selection robots can smoothly finish the polling tasks, the possibility that the main selection robots fail to patrol due to insufficient electric quantities is reduced, and therefore, the more suitable robots are selected to execute the polling tasks.
In another possible implementation manner, the second obtaining module, when obtaining the electric quantity value information of each robot, is specifically configured to:
acquiring collected data of each sensor installed in any robot, wherein the collected data comprises: an initial voltage value and an initial current value;
the method comprises the following steps of obtaining first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprise: a voltage increase rate and a current increase rate, the second variation data including: a voltage reduction rate and a current reduction rate;
determining an electric quantity value change curve based on the collected data, the first change data, the charging time of the robot, the second change data and the inspection time of the robot;
and acquiring the electric quantity value information of each robot based on the electric quantity value change curve.
In another possible implementation manner, the second determining module is specifically configured to, when determining the second preset electric quantity value corresponding to each robot based on the inspection information, the electric quantity value information of each robot, and the position information:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is the electric quantity value required by the master robot corresponding to the inspection information;
and determining a second preset electric quantity value based on the first preset electric quantity value and the target electric quantity value.
In another possible implementation manner, the apparatus further includes: a fourth determination module and a control module, wherein,
the fourth determination module is used for determining that the robot which does not meet the preset condition is the alternative robot;
and the control module is used for controlling the standby robot to sleep.
In another possible implementation manner, when sending the patrol information to the master robot, the sending module is specifically configured to:
acquiring identity information of the master robot, and judging whether the identity information of the master robot is legal or not;
if the identity information of the master robot is legal, accessing the master robot;
and sending the routing inspection information to the master robot.
In another possible implementation manner, when acquiring the identity information of the master robot and determining whether the identity information of the master robot is legal, the sending module is specifically configured to:
acquiring equipment identification information of a master robot, and sending an identity verification request to the master robot;
and receiving the identity information returned by the master robot, and judging whether the corresponding identity information is legal or not.
In another possible implementation manner, when allocating the wireless frequency band corresponding to the position information of the master robot to the master robot, the allocation module is specifically configured to:
acquiring a cellular network frequency band corresponding to the routing inspection information;
and acquiring the range of the idle frequency band, and determining the wireless frequency band matched with the position information and the routing inspection information of the main selection robot.
In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:
an electronic device, comprising:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to: and executing the access operation method of the intelligent robot of the transformer substation shown in any one of the possible implementation manners of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, comprising: a computer program capable of being loaded by a processor and executing the substation intelligent robot access operation method according to any one of the possible implementation manners of the first aspect is stored.
In a fifth aspect, the application provides a transformer substation intelligent robot inspection system, which adopts the following technical scheme:
the robot is used for sending the electric quantity value information and the position information;
and the electronic equipment and the user execute the access operation method of the intelligent robot of the transformer substation shown in any possible implementation manner of the first aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. acquiring the electric quantity value information of each robot, and determining the robots meeting preset conditions, so as to realize preliminary screening of all the robots and screen out the robots with electric quantity larger than a first preset electric quantity value; determining a robot with the electric quantity larger than a second preset electric quantity value from the robots meeting the preset conditions, determining the robot as a master robot, sending routing inspection information to the master robot when the electric quantity of the screened master robot is larger than the first preset electric quantity value and also larger than the second preset electric quantity value, and reducing the possibility of routing inspection failure of the master robot due to insufficient electric quantity; distributing a wireless frequency band for the master robot, so that the master robot can always receive polling information in the polling process, and the master robot is selected as a more appropriate robot to execute a polling task;
2. the robot real-time supervision to the charging process and the process of patrolling and examining obtains the increase of robot voltage and electric current respectively, reduce data, based on initial voltage value and initial current value, first change data and second change data, obtain electric quantity value change curve, can be according to electric quantity value change curve, estimate out the electric quantity value information of each robot, so that the staff in time knows the electric quantity value of each robot, thereby be convenient for the staff according to the comparatively suitable robot of electric quantity value information distribution of each robot.
Drawings
Fig. 1 is a schematic flow chart of a method for accessing and operating an intelligent robot of a transformer substation according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an access operation device of an intelligent robot of a transformer substation according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The embodiments of the present application will be described in further detail with reference to the accompanying drawings 1-3.
The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
With the rapid development of intelligent equipment, the transformer substation starts to use the inspection robot to inspect the transformer substation. However, the inspection range of the transformer substation is large, the inspection robots consume electric energy all the time in the inspection process, workers cannot know the electric quantity condition of each robot conveniently, the inspection task failure condition caused by the fact that the electric energy is exhausted in the inspection process of the inspection robots may occur, and therefore the inspection robots which are suitable are required to be selected, and the failure rate of the inspection task execution is reduced.
In order to solve the technical problem, an embodiment of the application provides an access operation method for an intelligent robot of a transformer substation, which can acquire electric quantity value information of each robot, perform preliminary screening on all the robots, and screen out the robots with electric quantity values larger than a first preset electric quantity value. And then screening out the robots with the electric quantity value larger than the second preset electric quantity value from the robots with the electric quantity value larger than the first preset electric quantity value, determining the robots with the electric quantity value larger than the second preset electric quantity value as the master robots, wherein the electric quantity value of the master robots can support the master robots to execute the inspection tasks, so that the possibility of inspection task failure caused by insufficient electric energy of the robots is reduced.
In order to better implement the access operation method of the intelligent robot of the transformer substation, the following description is made by using specific embodiments and with reference to the accompanying drawings.
The embodiment of the application provides an access operation method of a transformer substation intelligent robot, which is applied to a transformer substation intelligent robot inspection system. An access operation method of an intelligent robot of a transformer substation is executed by electronic equipment, the electronic equipment can be arranged in a terminal control room of the transformer substation, the electronic equipment can be a server or terminal equipment, wherein the server can be an independent physical server or a server cluster or distributed system formed by a plurality of physical servers. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto, and the embodiment of the present application is not limited thereto.
Further, an embodiment of the present application provides a substation intelligent robot access operation method, and as shown in fig. 1, an example is given to implement the substation intelligent robot access operation method, which is specifically as follows:
and step S101, acquiring the inspection information.
To this application embodiment, the information of patrolling and examining can include patrolling and examining the destination, patrolling and examining the route and patrolling and examining time etc.. The electronic equipment can acquire routing inspection information input by a worker in advance and related information such as a serial number, a routing inspection destination, a routing inspection route and routing inspection time corresponding to the routing inspection information. The electronic equipment can acquire the equipment distribution structure diagram of the transformer substation, and then determines a routing inspection route reaching a routing inspection destination based on the equipment distribution structure diagram of the transformer substation and the routing inspection information.
Step S102, electric quantity value information and position information of each robot are obtained.
For the embodiment of the application, the electronic equipment can acquire the electric quantity value information and the position information of each robot in real time, and the electronic equipment can also preset interval duration, and acquire the electric quantity value information and the electric quantity value information of each robot every interval duration so as to save electric energy loss. Specifically, the electronic device may acquire the position information of each robot through a GPS positioning module installed in the robot.
Furthermore, after the electronic equipment acquires the electric quantity value information and the position information of the robot, the acquired electric quantity value information and the acquired position information can be stored in a form of a real-time updated information table, so that the working personnel can know the condition of each robot conveniently. The information table may include the number, the electric quantity value, the acquired electric quantity value information, and the position information of each robot.
And step S103, determining the robots meeting preset conditions based on the electric quantity value information of each robot.
The electric quantity value of the robot meeting the first condition is larger than a first preset electric quantity value.
For the embodiment of the application, the first preset electric quantity value may be a preset electric quantity value set by a user, or a required electric quantity value corresponding to a plurality of farthest routes in the transformer substation may be counted in advance, and an average electric quantity value is taken as the first preset electric quantity value.
The electronic equipment judges whether the electric quantity value of each robot is greater than a first preset electric quantity value or not, namely, all the robots are preliminarily screened, and the robots with the electric quantity values greater than the first preset electric quantity values are screened out, so that the possibility that the robots executing inspection tasks cannot finish inspection due to insufficient electric quantity is reduced. For example, the first preset electric quantity value may be 80%, and a robot having an electric quantity value greater than 80% is determined as a robot satisfying the preset condition.
And step S104, determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information and the position information of each robot, and determining a master robot based on the robots meeting preset conditions.
And the electric quantity value of the master robot meeting the preset condition is greater than a second preset electric quantity value.
For the embodiment of the application, the second preset electric quantity value is a required electric quantity value when the robot reaches the inspection destination from the current position. The electronic device may calculate and determine the second preset electric quantity value based on the electric power consumption per unit distance and the distance value between the current position and the inspection destination by determining the current position of the robot and the distance value between the inspection destination and the current position. The electronic equipment determines the robot with the electric quantity value larger than the second preset electric quantity value as a main selection robot from at least one robot meeting the preset condition so as to reduce the possibility that the main selection robot cannot reach the inspection destination due to insufficient electric quantity value. For example, if the electric quantity value of the robot meeting the preset condition is greater than 80%, the inspection destination is far away, and the second preset electric quantity value corresponding to the inspection destination is 90%, the robot with the electric quantity value greater than 90% is determined as the master robot.
And step S105, sending the inspection information to any master robot.
For the embodiment of the application, when the master robots include at least two master robots, the electronic equipment sends routing inspection information to any master robot. The electronic equipment connects the master robot with the inspection system through a wireless local area network, and then sends inspection information to any master robot, so that the master robot is accessed to the inspection system.
And step S106, distributing a wireless frequency band corresponding to the position information of the main selected robot to any selected robot.
For the embodiment of the application, the wireless frequency band is a frequency value of wireless communication, and the wireless frequency band comprises 2.4G, low frequency 5G and high frequency 5G, wherein the communication distance corresponding to the 2.4G wireless frequency band is short; the communication distance corresponding to the 5G wireless frequency band is long. And if the distances from the current position of the master robot to the routing inspection destination are different, the wireless frequency bands required by the master robot are also different. For example, when the distance from the current position of the inspection robot to the inspection destination is short, the electronic device may allocate a wireless frequency band with a short communication distance to the master robot; when the current position of the inspection robot is far away from the inspection destination, the electronic equipment can allocate a wireless frequency band with long communication distance to the master robot.
Specifically, in the embodiment of the present application, the acquiring of the electric quantity value information of each robot in step S102 may specifically include step S1021 (not shown in the figure), step S1022 (not shown in the figure), step S1023 (not shown in the figure), and step S1024 (not shown in the figure), wherein,
step S1021, acquiring data collected by each sensor installed in any robot.
Wherein, gather data and include: an initial voltage value and an initial current value.
For the embodiment of the application, the initial voltage value and the initial current value refer to the voltage value and the current value when the robot does not start to inspect. Each robot is provided with a voltage sensor and a current sensor. The voltage sensor and the current sensor are respectively sensors capable of sensing a measured voltage and a measured current and converting the sensed voltage and the measured current into an electric signal or outputting the electric signal in other required forms.
The initial voltage value and the initial current value are acquired, and the electronic device may acquire the current value and the voltage value of a battery mounted in the robot by connecting the robot and the electronic device in communication.
Step S1022, first change data in the charging process of any robot and second change data in the inspection process are acquired.
Wherein the first variation data includes: a voltage increase rate and a current increase rate, the second variation data including: a voltage reduction rate and a current reduction rate.
For the embodiment of the application, in the charging and inspection processes of the robot, the electronic device obtains data of an Analog-to-Digital Converter (ADC) installed in the robot in real time, where the data of the ADC includes a charging voltage value, a charging current value, a power consumption voltage value, and a power consumption current value. The electronic equipment analyzes the charging voltage value and the charging current value, acquires the charging time of the robot, divides the charging voltage value and the charging current value by the charging time according to the charging voltage value, the charging current value and the charging time, and determines data of the increase of the voltage value and the current value in unit time to obtain first change data. The electronic equipment analyzes the power consumption voltage value and the power consumption current value, acquires the power consumption duration of the robot, divides the power consumption voltage value and the power consumption current value by the power consumption duration respectively, and determines the reduced data of the voltage value and the current value in unit time to obtain second change data.
Specifically, the first variation data and the second variation data may be robot electric quantity variation data or data of percentage of the robot electric quantity to the total electric quantity value. For example, if the power amount increases by 10% during the charging process of the robot and the charging time is 10 minutes, the power amount increase rate of the robot is 1 minute and the power amount increases by 1%, and therefore the first variation data of the robot is 1%/min.
And S1023, determining an electric quantity value change curve based on the collected data, the first change data, the charging time of the robot, the second change data and the inspection time of the robot.
For the embodiment of the application, the change curve of the electric quantity value comprises a voltage change curve along with time and a current change curve along with time. And determining a curve of the change of the electric quantity with time based on the first change data and the second change data and based on the initial current value, the initial voltage value and the speed value.
The electric quantity value change curve can be determined by establishing a coordinate system, taking time as an abscissa, taking a current value or a voltage value as an ordinate, taking an initial current value or an initial voltage value as an initial value, taking a current increase value and a voltage increase value in unit time as increase rate values, and taking a power consumption current value and a power consumption voltage value in unit time as decrease rate values, so as to generate the electric quantity value change curve.
And S1025, acquiring the electric quantity value information of each robot based on the electric quantity value change curve.
For the embodiment of the application, the electric quantity value information of each robot is obtained, the state information of each robot can be obtained, the state information comprises an inspection state and a charging state, the inspection state corresponds to the reduction of electric quantity, the charging state corresponds to the increase of electric quantity, the electric quantity condition corresponding to the state information of each robot is determined, the interval duration of each robot in the current state is obtained, and the electric quantity value information of each robot is estimated based on the state information, the interval duration and the electric quantity value change curve.
For example, the robot 1 is currently in the inspection state, the power consumption is reduced at this time, the inspection state lasts for 30 minutes, and if the percentage value of the initial power consumption of the robot is 90%, and the percentage value of the power consumption in unit time is 1%, the percentage value of the current power consumption of the robot 1 is estimated to be 60%.
In another possible implementation manner, if the robot that does not satisfy the preset condition is determined based on the electric quantity value information of each robot, the method may specifically include the following steps:
and determining the robot which does not meet the preset condition as the alternative robot.
For the embodiment of the application, when the electric quantity value of the robot is smaller than a first preset electric quantity value, namely the electric quantity value of the robot cannot meet the minimum required electric quantity of the inspection, the robot which does not meet the preset condition is determined as the alternative robot, namely the alternative robot does not execute the inspection task, so that the possibility that the inspection task fails due to insufficient electric quantity of the inspection robot is reduced.
And controlling the standby of the alternative robot.
For the embodiment of the application, standby of the alternative robot comprises controlling the alternative robot to charge and controlling the alternative robot to shut down and sleep. After the alternative robot is determined, in order to reduce the electric energy loss of the alternative robot, the alternative robot is controlled to sleep, so that the alternative robot does not execute the inspection task.
Further, after the standby robot is controlled to sleep, the staff can wake up the standby robot through triggering, so that the standby robot can be determined as the main robot under the condition that the standby robot meets the main robot.
Further, in the embodiment of the present application, the determining, in step S104, a second preset electric quantity value corresponding to each robot based on the inspection information, the electric quantity value information of each robot, and the position information may specifically include step S1041 (not shown in the figure) and step S1042 (not shown in the figure), wherein,
and step S1041, determining a target electric quantity value based on the inspection information.
The target electric quantity value is the required electric quantity value when the master robot reaches the inspection destination according to the inspection information.
For the embodiment of the application, the electronic equipment can determine the target electric quantity value based on the patrol inspection information and the position information of the master robot. The electronic equipment firstly determines a route from the current position to the inspection destination of the main selection robot and route information corresponding to the route, acquires power consumption information of the robot in unit distance, and multiplies the power consumption information of the main selection robot and the power consumption information in unit distance based on the route information and the power consumption information in unit distance to obtain a required electric quantity value for the main selection robot to reach the inspection destination.
In step S1042, a second preset electric quantity value is determined based on the first preset electric quantity value and the target electric quantity value.
For this application embodiment, the second preset electric quantity value is the required electric quantity value that patrols and examines the robot and arrive at the destination of patrolling and examining from the present position. And determining a second preset electric quantity value, wherein the maximum value between the first preset electric quantity value and the target electric quantity value can be determined as the second preset electric quantity value by judging the magnitude relation between the first preset electric quantity value and the target electric quantity value. For example, when the first predetermined electric quantity value is 80% and the target electric quantity value is 75%, the second predetermined electric quantity value is 80%; when the first preset electric quantity value is 80% and the target electric quantity value is 90%, the second preset electric quantity value is 90%.
Specifically, in the embodiment of the present application, the sending of the patrol information to any master robot in step S105 may specifically include step S1051 (not shown in the figure), step S1052 (not shown in the figure), and step S1053 (not shown in the figure), wherein,
and step S1051, acquiring the identity information of the master robot, and judging whether the identity information of the master robot is legal or not.
For the embodiment of the application, the identity information of the master robot is acquired, and an identity verifier capable of communicating with the electronic device can be installed in the master robot in advance. Firstly, a communication link between a master robot and electronic equipment in a terminal control room is established, then verification interaction is carried out between the electronic equipment and the master robot, and an identity verifier analyzes identity information sent by the master robot to carry out identity verification judgment.
And step S1052, if the identity information of the master robot is legal, accessing the master robot.
For the embodiment of the application, if the identity information of the master robot is legal, the inspection robot can be in communication connection with the terminal control room, and the master robot is accessed into the terminal control room. For example, when the identity information of the master robot is determined to be the robot of the substation and can be in communication connection with the electronic device of the terminal control room in the substation, the identity information of the master robot is determined to be legal.
And step S1053, routing inspection information is sent to the master robot.
To this application embodiment, electronic equipment sends the information of patrolling and examining to the primary robot, and the primary robot receives the information of patrolling and examining and analyzes the information of patrolling and examining, generates the task of patrolling and examining, and wherein the task of patrolling and examining includes patrolling and examining route and patrols and examines destination etc. for the primary robot can be based on patrolling and examining the information and patrolling and examining to the transformer substation.
Specifically, in the embodiment of the present application, the step S1051 of acquiring the identity information of the master robot and determining whether the identity information of the master robot is legal may specifically include a step S10511 (not shown in the figure) and a step S10512 (not shown in the figure), wherein,
step S10511, obtaining the equipment identification information of the master robot, and sending an identity authentication request to the master robot.
For the embodiment of the application, the electronic device obtains the device identification information of the master robot, the identification information of the master robot may include the factory number of the master robot and the robot number, the device identification information is analyzed, and when the similarity between the factory number of all the robots and the factory number of the master robot is found to be 100%, the electronic device sends an identity verification request to the master robot. And after receiving the identity verification request sent by the electronic equipment, the master robot sends the equipment identification information to the electronic equipment.
Step S10512, determining whether the identity information corresponding to the identity authentication request is legal.
For the embodiment of the application, the identity information returned by the master robot is authenticated, and when the identity information of the master robot is proved to be the robot which is connected with the terminal control room and can be controlled by the terminal control room, the identity information of the master robot is determined to be legal; and if the master robot is controlled by other terminals, determining that the identity information of the robot is illegal.
Further, in order to improve the security of the inspection system, the electronic device may encrypt the authentication request to the master robot and the information returned by the master robot.
Specifically, in the embodiment of the present application, the step S106 of allocating the wireless frequency band corresponding to the position information of the master robot to the master robot may specifically include a step S1061 (not shown in the figure) and a step S1062 (not shown in the figure), wherein,
step S1061, acquiring the cellular network frequency band corresponding to the polling information.
For the embodiment of the application, the electronic equipment acquires the patrol inspection information and determines the patrol inspection range corresponding to the patrol inspection information. And acquiring the cellular network frequency band corresponding to the polling information, and determining the corresponding cellular network frequency band based on the size of the polling range. For example, the polling range corresponding to the polling information is large, and the transmission distance of the cellular network frequency band of 5G is long, so that the cellular network frequency band corresponding to the polling information is the 5G frequency band.
And step S1062, acquiring the range of the idle frequency band, and determining the wireless frequency band matched with the position information and the routing inspection information of the master robot.
For the embodiment of the application, the electronic device acquires the idle frequency range, determines the idle frequency range according to the network resource frequency range by acquiring the network resource request, and determines the wireless frequency range which can enable the master robot to reach the inspection destination from the current position from the idle frequency range.
Further, when the position information of the master robot is changed, the wireless frequency band corresponding to the master robot is also changed, and the corresponding wireless frequency band needs to be allocated to the master robot again.
The following embodiments introduce a substation intelligent robot access operation device from the perspective of device structure, as follows:
the embodiment of the present application provides an intelligent robot of transformer substation inserts running device, as shown in fig. 2, this intelligent robot of transformer substation inserts running device 20 specifically can include:
a first obtaining module 201, configured to obtain routing inspection information;
a second obtaining module 202, configured to obtain electric quantity value information and position information of each robot;
the first determining module 203 is configured to determine, based on the electric quantity value information of each robot, a robot meeting a preset condition, where an electric quantity value of the robot meeting the first condition is greater than a first preset electric quantity value;
the second determining module 204 is configured to determine a second preset electric quantity value corresponding to each robot based on the inspection information, the electric quantity value information of each robot, and the position information;
a third determining module 205, configured to determine a master robot based on the robot meeting the preset condition, where an electric quantity value of the master robot is greater than the second preset electric quantity value;
a sending module 206, configured to send polling information to any of the master robots;
and the allocating module 207 is used for allocating a wireless frequency band corresponding to the position information of any one of the master robots to any one of the master robots.
In another possible implementation manner of the embodiment of the application, when the second obtaining module 202 obtains the electric quantity value information of each robot, it is specifically configured to:
acquiring collected data of each sensor installed in any robot, wherein the collected data comprises: an initial voltage value and an initial current value;
the method comprises the following steps of obtaining first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprise: a voltage increase rate and a current increase rate, the second variation data including: a voltage reduction rate and a current reduction rate;
determining an electric quantity value change curve based on the collected data, the first change data, the charging time of the robot, the second change data and the inspection time of the robot;
and acquiring the electric quantity value information of each robot based on the electric quantity value change curve.
In another possible implementation manner of the embodiment of the application, the second determining module 204 is specifically configured to, when determining the second preset electric quantity value corresponding to each robot based on the inspection information, the electric quantity value information and the position information of each robot:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is the electric quantity value required by the master robot corresponding to the inspection information;
and determining a second preset electric quantity value based on the first preset electric quantity value and the target electric quantity value.
In another possible implementation manner of the embodiment of the present application, the apparatus further includes: a fourth determination module and a control module, wherein,
the fourth determination module is used for determining that the robot which does not meet the preset condition is the alternative robot;
and the control module is used for controlling the standby robot to sleep.
In another possible implementation manner of the embodiment of the application, when the sending module 206 sends the patrol information to the master robot, the sending module is specifically configured to:
acquiring identity information of the master robot, and judging whether the identity information of the master robot is legal or not;
if the identity information of the master robot is legal, accessing the master robot;
and sending the routing inspection information to the master robot.
In another possible implementation manner of this embodiment, when the sending module 206 acquires the identity information of the master robot and determines whether the identity information of the master robot is legal, the sending module is specifically configured to:
acquiring equipment identification information of a master robot, and sending an identity verification request to the master robot;
and receiving the identity information returned by the master robot, and judging whether the corresponding identity information is legal or not.
In another possible implementation manner of the embodiment of the present application, when allocating the wireless frequency band corresponding to the position information of the master robot to the master robot, the allocating module 207 is specifically configured to:
acquiring a cellular network frequency band corresponding to the routing inspection information;
and acquiring the range of the idle frequency band, and determining the wireless frequency band matched with the position information and the routing inspection information of the main selection robot.
Further, it should be noted that: the first obtaining module 201 and the second obtaining module 202 may be the same obtaining module, may be different obtaining modules, or may be partially the same obtaining module; the first determining module 203, the second determining module 204, and the third determining module 205 may be the same determining module, may also be different determining modules, or may be partially the same determining module, which is not limited in this embodiment of the application.
By adopting the technical scheme, the second acquisition module acquires the electric quantity value information of each robot, and the first determination module determines the robots meeting the preset conditions, so that all the robots are preliminarily screened, and the robots with the electric quantity larger than the first preset electric quantity value are screened out; then from the robots meeting the preset conditions, the second determining module determines the robot with the electric quantity larger than a second preset electric quantity value, the third determining module determines the robot as a master robot, the electric quantity of the screened master robot is larger than the first preset electric quantity value and also larger than the second preset electric quantity value, and the sending module sends routing inspection information to the master robot so as to reduce the possibility of routing inspection failure of the master robot due to insufficient electric quantity; the distribution module distributes wireless frequency bands for the main selection robot, so that the main selection robot can always receive the inspection information in the inspection process, and the main selection robot is selected as a more appropriate robot to execute the inspection task.
In an embodiment of the present application, there is also provided an electronic device, as shown in fig. 3, where the electronic device 30 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein processor 301 is coupled to memory 303, such as via bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that the transceiver 304 is not limited to one in practical applications, and the structure of the electronic device 30 is not limited to the embodiment of the present application.
The Processor 301 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 301 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
The Memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 303 is used for storing application program codes for executing the scheme of the application, and the processor 301 controls the execution. The processor 301 is configured to execute application program code stored in the memory 303 to implement the aspects illustrated in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a car terminal (e.g., car navigation terminal), etc., and a fixed terminal such as a digital TV, a desktop computer, etc., may also be a server, etc. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the related art, the electronic equipment can acquire the electric quantity value information of each robot and determine the robots meeting the preset conditions, so that all the robots are preliminarily screened, and the robots with the electric quantity larger than the first preset electric quantity value are screened; determining a robot with the electric quantity larger than a second preset electric quantity value from the robots meeting the preset conditions, determining the robot as a master robot, sending routing inspection information to the master robot when the electric quantity of the screened master robot is larger than the first preset electric quantity value and also larger than the second preset electric quantity value, and reducing the possibility of routing inspection failure of the master robot due to insufficient electric quantity; and distributing a wireless frequency band for the master robot, so that the master robot can always receive the inspection information in the inspection process, and the master robot is selected as a more appropriate robot to execute the inspection task.
The embodiment of the application provides a transformer substation's intelligent robot system of patrolling and examining, includes:
the robot is used for sending the electric quantity value information and the position information;
and the electronic equipment is used for executing the access operation method of the intelligent robot of the transformer substation.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. A transformer substation intelligent robot access operation method is characterized by comprising the following steps:
acquiring polling information;
acquiring the electric quantity value information and the position information of each robot;
determining the robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robots meeting the preset conditions is larger than a first preset electric quantity value;
determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information and the position information of each robot, and determining a master robot based on the robots meeting preset conditions, wherein the electric quantity value of the master robot is larger than the second preset electric quantity value;
sending the routing inspection information to any of the master robots;
and distributing a wireless frequency band corresponding to the position information of any one of the master robots to any one of the master robots.
2. The access operation method for the intelligent substation robot according to claim 1, wherein the acquiring of the electric quantity value information of each robot includes:
acquiring collected data of each sensor installed in any robot, wherein the collected data comprises: an initial voltage value and an initial current value;
the method comprises the following steps of obtaining first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprise: a voltage increase rate and a current increase rate, the second variation data including: a voltage reduction rate and a current reduction rate;
determining an electric quantity value change curve based on the collected data, the first change data, the charging time of the robot, the second change data and the inspection time of the robot;
and acquiring the electric quantity value information of each robot based on the electric quantity value change curve.
3. The access operation method for the intelligent substation robot according to claim 1, wherein the determining a second preset electric quantity value corresponding to each robot based on the routing inspection information, the electric quantity value information of each robot and the position information comprises:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is the electric quantity value required by the main selection robot to reach an inspection destination according to the inspection information;
and determining a second preset electric quantity value based on the first preset electric quantity value and the target electric quantity value.
4. The substation intelligent robot access operation method according to claim 1, wherein if a robot that does not satisfy a preset condition is determined based on the electric quantity value information of each robot, the method further comprises:
determining the robot which does not meet the preset condition as an alternative robot;
and controlling the standby of the alternative robot.
5. The substation intelligent robot access operation method according to claim 1, wherein the sending the patrol information to the master robot comprises:
acquiring identity information of the master robot, and judging whether the identity information of the master robot is legal or not;
if the identity information of the master robot is legal, accessing the master robot;
and sending the routing inspection information to the master robot.
6. The substation intelligent robot access operation method according to claim 5, wherein the acquiring identity information of the master robot and determining whether the identity information of the master robot is legal comprises:
acquiring equipment identification information of a master robot, and sending an identity verification request to the master robot;
and receiving the identity information returned by the master robot, and judging whether the corresponding identity information is legal or not.
7. The access operation method for the intelligent substation robot according to claim 1, wherein the allocating a wireless frequency band corresponding to the position information of the master robot to the master robot comprises:
acquiring a cellular network frequency band corresponding to the routing inspection information;
and acquiring the range of the idle frequency band, and determining the wireless frequency band matched with the position information and the routing inspection information of the main selection robot.
8. An electronic device, comprising:
at least one processor;
a memory;
at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: the access operation method of the intelligent substation robot according to any one of claims 1 to 7 is implemented.
9. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements a substation intelligent robot access operation method according to any one of claims 1 to 7.
10. The utility model provides a transformer substation's intelligent robot system of patrolling and examining which characterized in that includes:
the robot is used for sending the electric quantity value information and the position information;
the electronic equipment is used for executing the access operation method of the intelligent robot of the transformer substation according to any one of claims 1-7.
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