CN114310889B - Intelligent robot inspection system of transformer substation and access operation method thereof - Google Patents
Intelligent robot inspection system of transformer substation and access operation method thereof Download PDFInfo
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Abstract
The application relates to the field of robot technology, in particular to a substation intelligent robot inspection system and an access operation method thereof, wherein the method comprises the steps of obtaining inspection information; acquiring electric quantity value information and position information of each robot; determining robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robot 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 inspection information, the electric quantity value information and the position information of each robot, and determining a main selection robot based on the robots meeting preset conditions, wherein the electric quantity value of the main selection robot is larger than the second preset electric quantity value; sending the inspection information to any main robot; and allocating a wireless frequency band corresponding to the position information of any main selection robot for any main selection robot. The application can facilitate the selection of a more suitable robot for inspection.
Description
Technical Field
The application relates to the field of robot technology, in particular to a substation intelligent robot inspection system and an access operation method thereof.
Background
The transformer substation is an important hub in the power system, and often has a large amount of power equipment, so that the transformer substation needs to be patrolled and inspected in order to know the working condition of the transformer substation in time, and the running state of the equipment is monitored. However, the general transformer substation has a large inspection range, many risk factors and high manpower inspection cost.
At present, an existing transformer substation starts to use a plurality of intelligent robots to carry out inspection, when the intelligent robots receive an inspection task, the intelligent robots arrive at an inspection destination according to a formulated route of the inspection task, take photos of a designated place, and return to an initial position. The intelligent robot has a large inspection range, and the electric energy is consumed all the time in the inspection process.
In the process of realizing the application, the inventor considers that the condition of failed inspection caused by insufficient electric quantity can occur after the intelligent robot receives the inspection task, so how to select a more suitable robot for inspection becomes a key problem.
Disclosure of Invention
In order to facilitate selection of 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 present application provides a substation intelligent robot access operation method, which adopts the following technical scheme:
An intelligent robot access operation method of a transformer substation comprises the following steps:
acquiring inspection information;
acquiring electric quantity value information and position information of each robot;
determining robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robot 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 inspection information, the electric quantity value information and the position information of each robot, and determining a main selection robot based on the robots meeting preset conditions, wherein the electric quantity value of the main selection robot is larger than the second preset electric quantity value;
sending the inspection information to any main selection robot;
and allocating a wireless frequency band corresponding to the position information of any main selection robot for any main selection robot.
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 the preliminary screening of all the robots is realized, and the robots with electric quantity larger than the first preset electric quantity value are screened out; determining a second preset electric quantity value, determining a robot with electric quantity larger than the second preset electric quantity value from robots meeting preset conditions by the electronic equipment, and determining the robot as a main selection robot, so that the electric quantity of the screened main selection robot is enough to finish tasks according to the inspection information, further, after the electronic equipment sends the inspection information to the main selection robot and distributes wireless frequency bands for the main selection robot, the main selection robot can always receive the inspection information in the inspection process, and the main selection robot can smoothly finish the inspection task, so that the possibility of inspection failure caused by insufficient electric quantity of the main selection robot is reduced, and the more suitable robot is selected to execute the inspection task.
In another possible implementation manner, the acquiring the information of the electric quantity value of each robot includes:
acquiring acquisition data of each sensor installed in any robot, wherein the acquisition data comprises: an initial voltage value and an initial current value;
acquiring first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprises: 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 acquired 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, reduce data respectively, based on initial voltage value and initial current value, first change data, second change data, obtain electric quantity value change curve, can estimate the electric quantity value information of each robot according to electric quantity value change curve, so that the staff in time knows the electric quantity value of each robot, thereby the staff of being convenient for 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 electrical quantity value information and the position information of each robot, a second preset electrical 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 an electric quantity value required by the main selection robot to reach an inspection destination according to the inspection information;
a second preset electrical quantity value is determined based on the first preset electrical quantity value and the destination electrical quantity value.
Through adopting above-mentioned technical scheme, based on the information of patrolling and examining, confirm the required electric quantity value that consumes of main robot from current position to the destination of patrolling and examining, based on purpose electric quantity value and first default electric quantity value again, confirm the second default electric quantity value promptly, confirm the electric quantity value and satisfy the robot of the electric quantity value that the route consumed of patrolling and examining to confirm comparatively suitable robot.
In another possible implementation manner, if it is determined, based on the electrical quantity value information of each robot, that the robot does not meet the preset condition, the method further includes:
determining that the robot which does not meet the preset condition is an alternative robot;
and controlling the standby of the alternative robot.
By adopting the technical scheme, the robots which do not meet the preset conditions are determined to be the alternative robots, namely the electric quantity values of the alternative robots are insufficient for executing the inspection task, the standby of the alternative robots is controlled, and the electric energy loss of the alternative robots when the alternative robots do not work can be reduced.
In another possible implementation manner, the sending the inspection information to the master robot includes:
acquiring identity information of the main selection robot, and judging whether the identity information of the main selection robot is legal or not;
if the identity information of the main selection robot is legal, accessing the main selection robot;
and sending the inspection information to the main selection robot.
By adopting the technical scheme, the identity information of the main selection robot is firstly judged, the main selection robot is accessed only when the identity information of the main selection robot is legal, and the inspection information is sent to the main selection robot, so that the possibility that the main selection robot is illegally controlled and deviates from the inspection route is reduced.
In another possible implementation manner, the allocating a radio 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 inspection information;
And acquiring an idle frequency range, and determining a wireless frequency range matched with the position information and the routing inspection information of the main robot.
Through adopting above-mentioned technical scheme, according to the position information and the information of patrolling and examining of main selection robot, can confirm the range of patrolling and examining of main selection robot, confirm the wireless frequency channel that matches with the information of patrolling and examining from idle frequency channel scope to make main selection robot in the process of patrolling and examining, 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 access operation device of a transformer substation, comprising:
the first acquisition module is used for acquiring the 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 robots meeting preset conditions based on the electric quantity value information of each robot, and the electric quantity value of the robot meeting the first condition is larger than a 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 inspection information, the electric quantity value information and the position information of each robot;
A third determining module, configured to determine a main selection robot based on the robots meeting a preset condition, where an electric quantity value of the main selection robot is greater than the second preset electric quantity value;
the sending module is used for sending the inspection information to any main selection robot;
and the allocation module is used for allocating the wireless frequency band corresponding to the position information of any main selection robot for any main selection robot.
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 preliminary screening of all the robots is realized, and robots with electric quantity larger than the first preset electric quantity value are screened out; determining a second preset electric quantity value, determining a robot with electric quantity larger than the second preset electric quantity value from robots meeting preset conditions by a second determining module, determining the robot as a main selecting robot by a third determining module, wherein the electric quantity of the screened main selecting robot is enough to finish tasks according to inspection information, sending inspection information to the main selecting robot by a sending module, and after the wireless frequency band is distributed to the main selecting robot by a distributing module, enabling the main selecting robot to always receive the inspection information in the inspection process, and enabling the main selecting robot to smoothly finish the inspection task so as to reduce the possibility of failure in inspection caused by insufficient electric quantity of the main selecting robot, thereby selecting a more suitable robot to execute the inspection task.
In another possible implementation manner, the second obtaining module is specifically configured to, when obtaining the electrical quantity value information of each robot:
acquiring acquisition data of each sensor installed in any robot, wherein the acquisition data comprises: an initial voltage value and an initial current value;
acquiring first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprises: 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 acquired 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, based on the inspection information, the electrical quantity value information and the position information of each robot, a second preset electrical quantity value corresponding to each robot:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is an electric quantity value required by a main robot corresponding to the inspection information;
A second preset electrical quantity value is determined based on the first preset electrical quantity value and the destination electrical quantity value.
In another possible implementation, the apparatus further includes: a fourth determination module and a control module, wherein,
a fourth determining module, configured to determine that the robot that does not meet the preset condition is an alternative robot;
and the control module is used for controlling the alternative robot to sleep.
In another possible implementation manner, the sending module is specifically configured to, when sending the inspection information to the master robot:
acquiring identity information of the main selection robot, and judging whether the identity information of the main selection robot is legal or not;
if the identity information of the main selection robot is legal, accessing the main selection robot;
and sending the inspection information to the main selection robot.
In another possible implementation manner, when the sending module obtains the identity information of the master selection machine and determines whether the identity information of the master selection machine is legal, the sending module is specifically configured to:
acquiring equipment identification information of the main selection robot, and sending an identity verification request to the main selection robot;
and receiving the identity information returned by the main selection robot and judging whether the corresponding identity information is legal or not.
In another possible implementation manner, when the allocation module allocates the radio 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 inspection information;
and acquiring an idle frequency range, and determining a wireless frequency range matched with the position information and the routing inspection information of the main robot.
In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:
an electronic device, the electronic device comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to: a substation intelligent robot access operation method according to any one of the possible implementation manners of the first aspect is performed.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer-readable storage medium, comprising: a computer program capable of being loaded and executed by a processor implementing a substation intelligent robot access operation method as shown in any possible implementation manner of the first aspect is stored.
In a fifth aspect, the application provides a 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, the user executes the intelligent robot access operation method of the transformer substation, which is 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 electric quantity value information of each robot, and determining robots meeting preset conditions, so that all robots are subjected to preliminary screening, and robots with electric quantity larger than a first preset electric quantity value are screened; determining a robot with electric quantity larger than a second preset electric quantity value from robots meeting preset conditions, determining the robot as a main selection robot, wherein the electric quantity of the main selection robot screened out from the robot is larger than the first preset electric quantity value and is also larger than the second preset electric quantity value, and sending inspection information to the main selection robot so as to reduce the possibility of inspection failure of the main selection robot due to insufficient electric quantity; the wireless frequency band is allocated to 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 suitable robot to execute the inspection task;
2. The method comprises the steps of monitoring robots in a charging process and a routing inspection process in real time, respectively obtaining increasing and decreasing data of voltages and currents of the robots, obtaining an electric quantity value change curve based on an initial voltage value, an initial current value, first change data and second change data, and estimating electric quantity value information of each robot according to the electric quantity value change curve so as to facilitate workers to know the electric quantity values of each robot in time, and facilitate the workers to distribute the robots more appropriately according to the electric quantity value information of each robot.
Drawings
Fig. 1 is a schematic flow chart of an intelligent robot access operation method of a transformer substation according to an embodiment of the application.
Fig. 2 is a schematic structural diagram of an intelligent robot access operation device 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
Embodiments of the present application are described in further detail below with reference to figures 1-3 of the drawings.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
With the rapid development of intelligent equipment, a substation starts to use a method for inspecting the substation by using an inspection robot. However, the substation inspection range is large, the inspection robots consume electric energy all the time in the inspection process, workers are inconvenient to know the electric quantity condition of each robot, and the inspection robot may fail in the inspection process due to the fact that the electric energy is consumed, so that the inspection robot is required to be selected appropriately, and the failure rate of the inspection task execution is reduced.
In order to solve the technical problems, the embodiment of the application provides an intelligent robot access operation method for a transformer substation, which can acquire electric quantity value information of each robot, and perform preliminary screening on all robots to screen out robots with electric quantity values larger than a first preset electric quantity value. And screening out robots with electric quantity values larger than the second preset electric quantity value from the robots with electric quantity values larger than the first preset electric quantity value, determining the robots with electric quantity values larger than the second preset electric quantity value as main selection robots, wherein the electric quantity values of the main selection robots can support the main selection robots to execute inspection tasks, so that the possibility of failure of the inspection tasks caused by insufficient electric energy of the robots is reduced.
In order to better implement the substation intelligent robot access operation method, the following description is made by specific embodiments and with reference to the accompanying drawings.
The embodiment of the application provides a substation intelligent robot access operation method which is applied to a substation intelligent robot inspection system. The intelligent robot access operation method of the 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 a 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, etc., but is not limited thereto, and the embodiment of the present application is not limited thereto.
Further, the embodiment of the application provides a substation intelligent robot access operation method, as shown in fig. 1, an example is given to execute the substation intelligent robot access operation method, which is specifically as follows:
step S101, patrol information is acquired.
For the embodiment of the application, the inspection information can comprise an inspection destination, an inspection route, inspection time and the like. The electronic equipment can acquire the inspection information input in advance by the staff and related information such as numbers, inspection destinations, inspection routes, inspection time and the like corresponding to the inspection information. The electronic equipment can acquire an equipment distribution structure diagram of the transformer substation, and then a routing inspection route reaching an inspection destination is determined based on the equipment distribution structure diagram and the routing inspection information of the transformer substation.
Step S102, acquiring electric quantity value information and position information of each robot.
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 the interval duration, acquire the electric quantity value information and the electric quantity value information of each robot at intervals so as to save the electric energy loss. Specifically, the electronic device may acquire position information of each robot through a GPS positioning module installed in the robot.
Further, after the electronic equipment acquires the electric quantity value information and the position information of the robots, the acquired electric quantity value information and position information can be stored in a real-time updated information table form, so that workers can know the condition of each robot conveniently. The information table may include a number, an electric quantity value, acquired electric quantity value information, and position information of each robot.
Step S103, determining the robots meeting the 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 can be an electric quantity value preset by a user, or the required electric quantity values corresponding to a plurality of farthest routes in the transformer substation can be counted in advance, and the 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 larger than a first preset electric quantity value or not, namely, all robots are subjected to preliminary screening, and the robots with the electric quantity value larger than the first preset electric quantity value are screened out, so that the possibility that the robots which execute the inspection task 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.
Step S104, determining a 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, and determining the main robot based on the robots meeting preset conditions.
The electric quantity value of the main selection robot meeting the preset condition is larger than the second preset electric quantity value.
For the embodiment of the application, the second preset electric quantity value is the electric quantity value required by the robot to reach the inspection destination from the current position. The electronic device may determine the second preset electrical value by determining a distance value between the current position of the robot and the inspection destination, based on the electrical power consumption per unit distance and the distance value between the current position and the inspection destination. The electronic equipment determines that the robot with the electric quantity value larger than a second preset electric quantity value is a main selection robot from at least one robot meeting preset conditions, so that the possibility that the main selection robot cannot reach a patrol destination due to insufficient electric quantity value is reduced. For example, if the electric quantity value of the robot meeting the preset condition is greater than 80%, the inspection destination is far, 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 main robot.
Step S105, sending inspection information to any master robot.
For the embodiment of the application, when the main selection robots comprise at least two, the electronic equipment sends the inspection information to any main selection robot. The electronic equipment connects the main selection robots and the inspection system through a wireless local area network, and then sends inspection information to any main selection robot, so that the main selection robot is connected to the inspection system.
Step S106, wireless frequency bands corresponding to the position information of the main selection robot are allocated to any selection robot.
For the embodiment of the application, the wireless frequency band is a frequency value of wireless communication, and the wireless frequency band totally 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. The distances from the current position of the main selection robot to the inspection destination are different, so that the wireless frequency bands required to be used by the main selection 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 main selection robot; when the distance from the current position of the inspection robot to the inspection destination is far, the electronic equipment can allocate a wireless frequency band with a long communication distance for the main selection robot.
Specifically, in the embodiment of the present application, the step S102 of acquiring the electric quantity value information of each robot may specifically include a step S1021 (not shown in the figure), a step S1022 (not shown in the figure), a step S1023 (not shown in the figure), and a step S1024 (not shown in the figure), where,
step S1021, acquiring acquisition data of each sensor installed in any one robot.
Wherein, the data acquisition includes: 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 the inspection. Each robot has a voltage sensor and a current sensor mounted therein. The voltage sensor and the current sensor are respectively sensors capable of sensing the measured voltage and the measured current and converting the sensed voltage and the measured current into electric signals or outputting the electric signals in other needed forms.
The initial voltage value and the initial current value are obtained, and the electronic equipment can also obtain the current value and the voltage value of a battery installed in the robot by connecting the robot with the electronic equipment in a communication way.
Step S1022, acquiring the first change data in the charging process and the second change data in the inspection process of any robot.
Wherein the first variation data includes: the voltage increase rate and the current increase rate, the second change data includes: voltage reduction rate and current reduction rate.
For the embodiment of the application, in the process of charging and inspection of the robot, the electronic device acquires data of an ADC (Analog-to-Digital Converter, analog-to-digital converter or Analog-to-digital converter) installed in the robot in real time, wherein 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 length of the robot, divides the charging voltage value and the charging current value by the charging time length respectively according to the charging voltage value, the charging current value and the charging time length, and determines the data of the increase of the voltage value and the current value in unit time, so as to acquire first change data. The electronic equipment analyzes the power consumption voltage value and the power consumption current value, acquires the power consumption time length of the robot, divides the power consumption voltage value and the power consumption current value by the power consumption time length respectively, and determines data reduced in unit time of the voltage value and the current value to obtain second change data.
Specifically, the first change data and the second change data may be change data of the electric quantity of the robot, or may be percentage data of the electric quantity of the robot in the total electric quantity value. For example, the power is increased by 10% in the charging process of the robot, and the charging time is 10 minutes, so that the power increase rate of the robot is 1 minute and the power is increased by 1%, and thus the first change data of the robot is 1%/min.
Step S1023, determining an electric quantity value change curve based on the acquired 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 electrical quantity value change curve comprises a voltage change curve and a current change curve. A profile of the change in the electrical quantity over time is determined based on the first change data and the second change data and based on the initial current value, the initial voltage value, and the rate value.
The electric quantity value change curve can be generated 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 increment value and a voltage increment value in unit time as increment rate values, and taking a current consumption value and a voltage consumption value in unit time as decrement rate values.
Step 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 can be obtained by obtaining the state information of each robot, wherein the state information comprises a patrol state and a charging state, the patrol state corresponds to the electric quantity reduction, the charging state corresponds to the electric quantity increase, 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 a patrol state, the electric quantity is reduced at this time, the patrol state has been continued for 30 minutes, and if the initial electric quantity percentage value of the robot is 90% and the electric power consumption percentage per unit time is 1%, the current electric quantity percentage value of the robot 1 is estimated to be 60%.
In another possible implementation manner, if the determination of the robots that do not meet the preset condition is based on the electrical quantity value information of each robot, the method specifically may include the following steps:
and determining that the robot which does not meet the preset condition is an alternative robot.
For the embodiment of the application, when the electric quantity value of the robot is smaller than the first preset electric quantity value, namely the electric quantity value of the robot cannot meet the minimum requirement of 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 of failure of the inspection task of the inspection robot due to insufficient electric quantity is reduced.
And controlling the preparation and selection robot to stand by.
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, the alternative robot is controlled to sleep in order to reduce the electric energy loss of the alternative robot, so that the alternative robot does not execute the inspection task.
Further, after controlling the candidate robot to sleep, the worker can wake up the operation of the candidate robot by triggering, so that the candidate robot can be determined as the main robot in the case that the candidate robot satisfies the main robot.
Further, in the embodiment of the present application, the step S104 of determining the second preset electrical value corresponding to each robot based on the inspection information, the electrical value information of each robot, and the position information may specifically include a step S1041 (not shown in the figure) and a step S1042 (not shown in the figure), where,
step S1041, determining the destination power value based on the inspection information.
The target electric quantity value is the electric quantity value required by the main selection robot to reach 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 inspection information and the position information of the main selection robot. The electronic equipment firstly determines a route of the main selection robot from the current position to the inspection destination and route information corresponding to the route, acquires power consumption information of the robot in unit distance, multiplies the route information and the power consumption information in unit distance based on the route information and the power consumption information in unit distance, and further obtains a required electric quantity value of the main selection robot reaching 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 the embodiment of the application, the second preset electric quantity value is the electric quantity value required by the inspection robot to reach the inspection destination from the current position. The second preset electric quantity value is determined, and 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 preset electric quantity value is 80% and the target electric quantity value is 75%, the second preset electric quantity value is 80%; when the first preset electric quantity value is 80%, the target electric quantity value is 90%, and the second preset electric quantity value is 90%.
Specifically, in the embodiment of the present application, the step S105 sends the inspection information to any selected robot, which may specifically include a step S1051 (not shown in the figure), a step S1052 (not shown in the figure), and a step S1053 (not shown in the figure), where,
step S1051, the identity information of the main selection robot is obtained, and whether the identity information of the main selection robot is legal or not is judged.
For the embodiment of the application, the identity information of the master robot is acquired, and an identity verifier which can be mutually communicated with the electronic equipment can be arranged in the master robot in advance. Firstly, a communication link between the main selection robot and the electronic equipment in the terminal control room is established, verification interaction is carried out through the electronic equipment and the main selection robot, and the identity verifier analyzes identity information sent by the main selection robot and carries out identity verification judgment.
Step S1052, if the identity information of the master robot is legal, the master robot is accessed.
For the embodiment of the application, if the identity information of the main selection robot is legal, the inspection robot can be in communication connection with the terminal control room, and the main selection robot is accessed into the terminal control room. For example, when it is determined that the identity information of the master robot is the robot of the substation and can be in communication connection with the electronic equipment of the terminal control room in the substation, it is determined that the identity information of the master robot is legal.
Step S1053, sending inspection information to the master robot.
For the embodiment of the application, the electronic equipment sends the inspection information to the main selection robot, and the main selection robot receives the inspection information and analyzes the inspection information to generate the inspection task, wherein the inspection task comprises an inspection route, an inspection destination and the like, so that the main selection robot can inspect the transformer substation according to the inspection information.
Specifically, in the embodiment of the present application, step S1051 acquires the identity information of the master robot, and determines whether the identity information of the master robot is legal, which may specifically include step S10511 (not shown in the figure) and step S10512 (not shown in the figure), where,
Step S10511, acquire device identification information of the master robot, and send an authentication request to the master robot.
For the embodiment of the application, the electronic equipment acquires the equipment identification information of the main selection robot, the identification information of the main selection robot can comprise the factory number and the robot number of the main selection robot, the equipment identification information is analyzed, and when the similarity between the factory number of all robots and the factory number of the main selection robot is found to be 100%, the electronic equipment sends an identity verification request to the main selection robot. And after receiving the authentication request sent by the electronic equipment, the main selection robot sends equipment identification information to the electronic equipment.
Step S10512, it is determined whether the identity information corresponding to the authentication request is legal.
For the embodiment of the application, the identity information returned by the main selection robot is authenticated, and when the identity information of the main selection robot is confirmed to be a robot which is connected with a terminal control room and can be controlled by the terminal control room, the identity information of the main selection robot is determined to be legal; if the main selection robot is controlled by other terminals, the identity information of the robot is determined to be 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, in step S106, the radio frequency band corresponding to the position information of the master robot is allocated to the master robot, which may specifically include step S1061 (not shown in the figure) and step S1062 (not shown in the figure), where,
step S1061, obtaining a cellular network frequency band corresponding to the inspection information.
For the embodiment of the application, the electronic equipment acquires the inspection information and determines the inspection range corresponding to the inspection information. The cellular network frequency band corresponding to the inspection information is acquired, and the corresponding cellular network frequency band can be determined based on the size of the inspection range. For example, the patrol range corresponding to the patrol information is larger, and the transmission distance of the cellular network frequency band of 5G is long, so that the cellular network frequency band corresponding to the patrol information is the 5G frequency band.
Step S1062, the idle frequency range is acquired, and the wireless frequency range matched with the position information and the inspection information of the main robot is determined.
For the embodiment of the application, the electronic equipment acquires the idle frequency band range, and can determine the idle frequency band range according to the network resource frequency band by acquiring the network resource request, and determine the wireless frequency band capable of enabling the main selection robot to reach the inspection destination from the current position from the idle frequency band range.
Further, when the position information of the main selection robot is changed, the wireless frequency band corresponding to the main selection robot is also changed, and the corresponding wireless frequency band needs to be allocated to the main selection robot again.
The following embodiment introduces an intelligent robot access operation device of a transformer substation from the view point of device structure, and specifically comprises the following steps:
the embodiment of the application provides an intelligent robot access operation device for a transformer substation, as shown in fig. 2, the intelligent robot access operation device 20 for the transformer substation specifically may include:
a first obtaining module 201, configured to obtain inspection information;
a second obtaining module 202, configured to obtain electrical value information and position information of each robot;
a first determining module 203, configured to determine, based on the electrical quantity value information of each robot, that the electrical quantity value of the robot that satisfies the preset condition is greater than a first preset electrical quantity value;
a second determining module 204, configured to determine a second preset electrical quantity value corresponding to each robot based on the inspection information, the electrical quantity value information and the position information of each robot;
a third determining module 205, configured to determine, based on the robots that meet a preset condition, a main selection robot, where an electric quantity value of the main selection robot is greater than the second preset electric quantity value;
A sending module 206, configured to send inspection information to any master robot;
the allocation module 207 is configured to allocate a radio frequency band corresponding to the location information of any master robot to any master robot.
In another possible implementation manner of the embodiment of the present application, when the second obtaining module 202 obtains the electrical quantity value information of each robot, the second obtaining module is specifically configured to:
acquiring acquisition data of each sensor installed in any robot, wherein the acquisition data comprises: an initial voltage value and an initial current value;
acquiring first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprises: 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 acquired 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 present application, when determining, based on the inspection information, the electrical quantity value information and the position information of each robot, the second determining module 204 is specifically configured to:
Determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is an electric quantity value required by a main robot corresponding to the inspection information;
a second preset electrical quantity value is determined based on the first preset electrical quantity value and the destination electrical quantity value.
Another possible implementation manner of the embodiment of the present application, the apparatus further includes: a fourth determination module and a control module, wherein,
a fourth determining module, configured to determine that the robot that does not meet the preset condition is an alternative robot;
and the control module is used for controlling the alternative robot to sleep.
In another possible implementation manner of the embodiment of the present application, when the sending module 206 sends the inspection information to the master robot, the sending module is specifically configured to:
acquiring identity information of the main selection robot, and judging whether the identity information of the main selection robot is legal or not;
if the identity information of the main selection robot is legal, accessing the main selection robot;
and sending the inspection information to the main selection robot.
In another possible implementation manner of the embodiment of the present application, when the sending module 206 obtains the identity information of the master selection machine and determines whether the identity information of the master selection robot is legal, the sending module is specifically configured to:
Acquiring equipment identification information of the main selection robot, and sending an identity verification request to the main selection robot;
and receiving the identity information returned by the main selection 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 the allocation module 207 allocates a radio frequency band corresponding to the location 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 inspection information;
and acquiring an idle frequency range, and determining a wireless frequency range matched with the position information and the routing inspection information of the main robot.
Further, it should be noted that: the first acquisition module 201 and the second acquisition module 202 may be the same acquisition module, may be different acquisition modules, or may be partially the same acquisition module; the first determining module 203, the second determining module 204, and the third determining module 205 may be the same determining module, may be different determining modules, or may be partially the same determining module, which is not limited in the embodiment of the present application.
The embodiment of the application provides an intelligent robot access operation device of a transformer substation, which adopts the technical scheme, a second acquisition module acquires electric quantity value information of each robot, and a first determination module determines robots meeting preset conditions, so that preliminary screening of all robots is realized, and robots with electric quantity larger than a first preset electric quantity value are screened out; the second determining module determines that the electric quantity is larger than a second preset electric quantity value from robots meeting preset conditions, the third determining module determines the robots as main selection robots, the electric quantity of the screened main selection robots is larger than the first preset electric quantity value and also larger than the second preset electric quantity value, and the sending module sends inspection information to the main selection robots so as to reduce the possibility of inspection failure of the main selection robots due to insufficient electric quantity; the distribution module distributes wireless frequency bands for the main selection robots, so that the main selection robots can always receive inspection information in the inspection process, and therefore the main selection robots are selected as more suitable robots to execute inspection tasks.
In an embodiment of the present application, as shown in fig. 3, an electronic device is provided, where the electronic device 30 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein the processor 301 is coupled to the memory 303, such as via a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that, in practical applications, the transceiver 304 is not limited to one, 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 ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. Processor 301 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 302 may include a path to transfer information between the components. Bus 302 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.
The Memory 303 may be, but is not limited to, 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, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, 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.
The memory 303 is used for storing application program codes for executing the inventive arrangements and is controlled to be executed by the processor 301. The processor 301 is configured to execute the application code stored in the memory 303 to implement what is shown in the foregoing method embodiments.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and stationary terminals such as digital TVs, desktop computers, and the like, and servers and the like. The electronic device shown in fig. 3 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the application.
Embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. 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 the preliminary screening of all the robots is realized, and the robots with electric quantity larger than the first preset electric quantity value are screened out; determining a robot with electric quantity larger than a second preset electric quantity value from robots meeting preset conditions, determining the robot as a main selection robot, wherein the electric quantity of the main selection robot screened out from the robot is larger than the first preset electric quantity value and is also larger than the second preset electric quantity value, and sending inspection information to the main selection robot so as to reduce the possibility of inspection failure of the main selection robot due to insufficient electric quantity; the wireless frequency band is allocated to 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 suitable robot to execute the inspection task.
The embodiment of the application provides an intelligent robot inspection system of a transformer substation, which comprises the following components:
the robot is used for sending the electric quantity value information and the position information;
the electronic equipment is used for executing the intelligent robot access operation method 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, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.
Claims (9)
1. The intelligent robot access operation method for the transformer substation is characterized by comprising the following steps of:
acquiring inspection information;
acquiring electric quantity value information and position information of each robot;
determining robots meeting preset conditions based on the electric quantity value information of each robot, wherein the electric quantity value of the robot 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 inspection information, the electric quantity value information and the position information of each robot, and determining a main selection robot based on the robots meeting preset conditions, wherein the electric quantity value of the main selection robot is larger than the second preset electric quantity value;
sending the inspection information to any main selection robot;
assigning a wireless frequency band corresponding to the position information of the main selection robot to any main selection robot;
the acquiring the electric quantity value information of each robot comprises the following steps:
acquiring acquisition data of each sensor installed in any robot, wherein the acquisition data comprises: an initial voltage value and an initial current value;
acquiring first change data in the charging process of any robot and second change data in the inspection process, wherein the first change data comprises: 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 acquired 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.
2. The substation intelligent robot access operation method according to claim 1, wherein determining the second preset electrical value corresponding to each robot based on the inspection information, the electrical value information and the position information of each robot includes:
determining a target electric quantity value based on the inspection information, wherein the target electric quantity value is an electric quantity value required by the main selection robot to reach an inspection destination according to the inspection information;
a second preset electrical quantity value is determined based on the first preset electrical quantity value and the destination electrical quantity value.
3. The substation intelligent robot access operation method according to claim 1, wherein if a robot that does not meet a preset condition is determined based on the power value information of the respective robots, the method further comprises:
determining that the robot which does not meet the preset condition is an alternative robot;
and controlling the standby of the alternative robot.
4. The substation intelligent robot access operation method according to claim 1, wherein the sending the inspection information to any one of the master robots includes:
acquiring identity information of the main selection robot, and judging whether the identity information of the main selection robot is legal or not;
if the identity information of the main selection robot is legal, accessing the main selection robot;
and sending the inspection information to the main selection robot.
5. The method for operating the intelligent robot in the transformer substation according to claim 4, wherein the steps of obtaining the identity information of the master robot and judging whether the identity information of the master robot is legal, include:
acquiring equipment identification information of the main selection robot, and sending an identity verification request to the main selection robot;
and receiving the identity information returned by the main selection robot and judging whether the corresponding identity information is legal or not.
6. The method for operating the intelligent robot in the transformer substation according to claim 1, wherein the assigning the wireless frequency band corresponding to the location information of the master robot to any one of the master robots includes:
acquiring a cellular network frequency band corresponding to the inspection information;
And acquiring an idle frequency range, and determining a wireless frequency range matched with the position information and the routing inspection information of the main robot.
7. An electronic device, comprising:
at least one processor;
a memory;
at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a substation intelligent robot access operation method according to any one of claims 1 to 6 is performed.
8. A computer readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a substation intelligent robot access operation method according to any of claims 1-6.
9. An intelligent robot inspection system for a transformer substation, comprising:
the robot is used for sending the electric quantity value information and the position information;
electronic equipment for executing a substation intelligent robot access operation method according to any one of claims 1-6.
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