CN106078806B - Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring - Google Patents
Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring Download PDFInfo
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- CN106078806B CN106078806B CN201610628740.9A CN201610628740A CN106078806B CN 106078806 B CN106078806 B CN 106078806B CN 201610628740 A CN201610628740 A CN 201610628740A CN 106078806 B CN106078806 B CN 106078806B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 50
- 238000012545 processing Methods 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000003993 interaction Effects 0.000 claims description 9
- 238000011946 reduction process Methods 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 4
- 230000005236 sound signal Effects 0.000 claims description 4
- 238000013144 data compression Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims 1
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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- Telephonic Communication Services (AREA)
Abstract
The invention discloses a kind of Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring, including：Pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility being respectively arranged inside several substations；Pick up facility and teller machines communicate respectively with voice frequency terminal equipment, and voice frequency terminal equipment communicates with the first voiceband facility；Respectively by the second video service equipment and centralized Control client communication, the voice frequency terminal equipment inside each substation passes through the second voiceband facility and centralized Control client communication respectively for the first video service equipment inside each substation.Advantageous effect of the present invention：The limitation of video must be carried, and processing speed is made to be improved due to reducing the work that the front end of video and audio encodes and rear end decoding shunts by breaching audio data, nor there are the adaptation work of different manufacturers data encoding and decoding.
Description
Technical field
The present invention relates to inspecting substation equipment field more particularly to a kind of substation inspection machines based on Centralized Monitoring
People's monitoring system and method.
Background technology
With the fast development of electronic technology, computer technology, network technology, electric power scheduling automatization system it is continuous complete
Kind, the unattended or few man on duty of substation is into being increasingly becoming reality.The appearance of Mobile Robot for Substation Equipment Inspection, even more
Strong guarantee is provided to the safe operation of substation equipment, manual patrol is replaced with robot, significantly reduces electric power
The live load of attendant reduces the probability that personnel hazard may occur, and reduces the maintenance cost of power equipment, and
There has also been very big promotions in inspection precision.
Live sound when substation duty personnel wishes that robot inspection can be listened to by crusing robot；It can
The sound of the equipment of detection is acquired, analyze, is stored；It can realize and carry out two-way intercommunication with robot site；It can lead to
It crosses robot and realizes broadcast of audio etc..
At present, above-mentioned function is essentially all to be realized by coding and decoding video module or video server, such as Fig. 1 institutes
Show, video and audio-frequency information are transmitted in a manner of mixed flow, have been arrived client needs and have been decoded, then by video and sound
Frequency is detached, and finally carries out respective application processing.Audio data must be mounted on video data when in this way,
When therefore not having video data, audio can not be transmitted；In addition, such mode is relatively complicated the step of needs, processing speed
It is not very high, and the difference of the coding and decoding methods due to different video producer, is adapted in application.
Also, the video service equipment in the video service equipment and substation at existing collection control end must be same producer
Equipment, otherwise will appear because each producer encoding and decoding stipulations difference and cause situation about can not parse.
Invention content
The purpose of the present invention is exactly to solve the above-mentioned problems, it is proposed that a kind of substation inspection machine based on Centralized Monitoring
Device people monitoring system and method detach the processing logic of video and audio by hardware, reduce video and audio
Front end encodes and the work of rear end decoding shunting, simplifies the workflow of collection control end crusing robot monitoring system.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including：It is respectively arranged at several substations
Internal pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility；
The pick up facility and teller machines communicate respectively with voice frequency terminal equipment, and voice frequency terminal equipment and the first audio pass
Transfer device communicates；
Voice frequency terminal equipment inside each described substation passes through the second voiceband facility and centralized Control respectively
Client communication.
The voice frequency terminal equipment by pick up facility obtain audio data be respectively sent to the first voiceband facility and
The audio data of second voiceband facility, substation's client and centralized Control client feedback passes through the first audio respectively
Transmission device and the second voiceband facility are sent to voice frequency terminal equipment, and pass through teller machines and play out.
First voiceband facility and the second voiceband facility keep communicating with multiple voice frequency terminal equipments respectively,
Corresponding audio data is selected by substation's client or centralized Control client according to demand.
The voice frequency terminal equipment includes：
First communication module：For carrying out data interaction with voiceband facility；
First processing module：It is used to implement the chauvent's criterion to audio signal, noise reduction process and other operations；
First power module：For providing power supply for whole equipment；
Coding/decoding module：It is used to implement the coding and decoding operation of audio data；
Power amplifier module：It is used to implement the signal amplification of audio data；
First communication module and first processing module two-way communication, first processing module respectively with coding/decoding module and
Power amplifier module connection communication.
The voice frequency terminal equipment further includes：First power interface, the first communication interface, audio collection interface and audio are broadcast
Put interface；
First communication interface is connect with the first communication module, and the first communication module passes through the first communication interface and audio
Transmission device communicates；First power interface is connect with the first power module, and the first power interface is also connected with external power supply；Sound
Frequency acquisition interface is connect with coding/decoding module, and audio frequency play interface is connect with power amplifier module.
First voiceband facility and the second voiceband facility structure are identical, include：
Second communication module：For carrying out data interaction with voice frequency terminal equipment；
Second processing module：It is used to implement the chauvent's criterion to audio signal, noise reduction process and other operations；
Second source module：For providing power supply for whole equipment；
And second communication interface and second source interface；
Second communication module and Second processing module two-way communication, the second communication module by the second communication interface with
Voice frequency terminal equipment communicates, and second source module is connect with second source interface, second source interface connection external power supply.
The voice frequency terminal equipment and the first voiceband facility or the second voiceband facility by wireless into
Row data transmission.
The wireless includes：Any one of WiFi, COFDM, GPRS or Zigbee.
A kind of method of the Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including：
Audio and video data that a substation is acquired carry out centralized Control, and by the place of video data and audio data
Reason logic is detached, specially：
Video service equipment only obtains video data from video capture device, and the Video Applications for being sent to client are regarded
The processing of frequency evidence；
Audio data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility is obtained from voice frequency terminal equipment
The voice applications that audio data is sent to substation's client is taken to carry out the processing of video data, the second voiceband facility is from sound
Frequency terminal equipment obtains the processing that audio data is sent to the voice applications progress video data of centralized Control client, and will become
The audio data of power station client or centralized Control client is sent to voice frequency terminal equipment, is broadcast by teller machines
It puts.
Processing procedure to audio data is specially：
Operation is reversibly encoded to the audio data of pick up facility acquisition, the data of coding are subjected to chauvent's criterion, drop
It makes an uproar and performs compression after handling, the data are then respectively sent to the first voiceband facility and the second voiceband facility,
After first voiceband facility and the second voiceband facility are decoded the data received, it is sent to respective client
Complete corresponding application；
For the voice data of client feedback, the first voiceband facility and the second voiceband facility are respectively to data
Compression is performed after carrying out chauvent's criterion, noise reduction process, is then forwarded to voice frequency terminal equipment, voice frequency terminal equipment carries out data
After decoding, using power amplification, audio data is played out.
The beneficial effects of the invention are as follows：
The invention enables robot video and audio application of function more rationally efficiently, by hardware measure to video
It is detached with the processing logic of audio, video service equipment only handles video data, and it is necessary thus to breach audio data
The limitation of video is carried, and makes place due to reducing the work that the front end of video and audio encodes and rear end decoding shunts
Reason speed is improved, nor there are the adaptation work of different manufacturers data encoding and decoding..
Description of the drawings
Fig. 1 is traditional audio frequency process logical schematic；
Fig. 2 is the Intelligent Mobile Robot audio frequency and video separating treatment schematic diagram the present invention is based on Centralized Monitoring；
Fig. 3 is voice frequency terminal equipment structure chart of the present invention；
Fig. 4 is voiceband facility structure chart of the present invention.
Specific embodiment：
The present invention will be further described with embodiment below in conjunction with the accompanying drawings：
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including：It is respectively arranged at several substations
Internal, pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility；
Pick up facility and teller machines communicate respectively with voice frequency terminal equipment, and voice frequency terminal equipment is set with the first audio transmission
Standby communication；
Voice frequency terminal equipment inside each substation passes through the second voiceband facility and centralized Control client respectively
End communication.
Voice frequency terminal equipment obtains audio data by pick up facility and is respectively sent to the first voiceband facility and second
The audio data of voiceband facility, substation's client and centralized Control client feedback passes through the first audio transmission respectively
Equipment and the second voiceband facility are sent to voice frequency terminal equipment, and pass through teller machines and play out.
As shown in Figure 2, the logic by the acquisition of the video of robot and audio and processing is detached.
Original video service equipment retains, but only handles video data, i.e., obtains video data from video capture device,
Then the Video Applications that compression is sent to client are carried out.Due to not having the input of audio and output, there is no need to be compiled again
Code and decoded operation.
And for audio data, increase voice frequency terminal equipment and voiceband facility.Voice frequency terminal equipment is mainly used for
Audio data is obtained, and audio data can be played on teller machines from pick up facility.Voiceband facility can be with audio
Terminal device carries out data interaction, it can receive the audio data that terminal sends over and be then forwarded at client
Reason, and the audio data of client can be issued terminal and played out.
During deployment, at station end and concentrate monitoring client that one voiceband facility, i.e. the first voiceband facility are set respectively
With the second voiceband facility, it is allowed to communicate with the voice frequency terminal equipment in station；First voiceband facility and substation
Client carries out data exchange, and the second voiceband facility carries out data exchange with centralized Control client.
It to be set since there may be more robots, there may be multiple voice frequency terminals in substation in a substation
Standby, voiceband facility can keep the link to multiple terminals, and audio data is grasped according to the demand of oneself by client
Make.
As shown in Figure 3, voice frequency terminal equipment includes：
First communication module：For carrying out data interaction with voiceband facility；
First processing module：Inside there is embedded OS, chauvent's criterion, noise reduction etc. mainly are carried out to voice signal
Reason, and by embedded OS development and application program realize the various operations about audio.
First power module：For providing power supply for whole equipment；
Coding/decoding module：It is used to implement the coding and decoding operation of audio data；
Power amplifier module：It is used to implement the signal amplification of audio data；
First communication module and first processing module two-way communication, first processing module respectively with coding/decoding module and power amplifier
Module connection communication.
Voice frequency terminal equipment shares 4 interfaces, including：First power interface is connected with outer power supply source, passes through the first power supply
Module is powered to whole equipment；First communication interface realizes that voice frequency terminal equipment is set with audio transmission by communication module
Data interaction between standby；Audio collection interface, is connected with pick up facility, and the audio data that pick up facility acquires is passed through encoding and decoding
Module carries out encoding and decoding, and the data of encoding and decoding are sent to data processing module and are handled；Audio frequency play interface is played with audio
Equipment is connected, and processed audio data is sent to audio-frequence player device by power amplifier.
As shown in Figure 4, voiceband facility includes：
Second communication module：For carrying out data interaction with voice frequency terminal equipment；
Second processing module：Inside there is embedded OS, chauvent's criterion, noise reduction etc. mainly are carried out to voice signal
Reason, and by embedded OS development and application program realize the various operations about audio.
Second source module：For providing power supply for whole equipment；
Second communication module and Second processing module two-way communication, the second communication module pass through the second communication interface and audio
Terminal device communicates, and second source module is connect with second source interface, second source interface connection external power supply.
Voiceband facility shares 2 interfaces, including：Second source interface is connected with outer power supply source, passes through second source
Module is powered to whole equipment；Second communication interface realizes that voice frequency terminal equipment is passed with audio by the second communication module
Data interaction between transfer device；
Because robot needs to move, voice frequency terminal equipment with voiceband facility by being wirelessly transmitted, Ke Yiwei
The wireless telecommunications of WiFi or COFDM or GPRS or Zigbee or other forms.
Voiceband facility is carried out data transmission with client by wired forms or wireless.Wired forms include：
Coaxial cable, twisted-pair feeder or optical fiber.
The method of Intelligent Mobile Robot audio frequency processing system, including：
Audio and video data that a substation is acquired carry out centralized Control, and by the place of video data and audio data
Reason logic is detached, specially：
Video service equipment only obtains video data from video capture device, and the Video Applications for being sent to client are regarded
The processing of frequency evidence；
Audio data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility is obtained from voice frequency terminal equipment
The voice applications that audio data is sent to substation's client is taken to carry out the processing of video data, the second voiceband facility is from sound
Frequency terminal equipment obtains the processing that audio data is sent to the voice applications progress video data of centralized Control client, and will become
The audio data of power station client or centralized Control client is sent to voice frequency terminal equipment, is broadcast by teller machines
It puts.
Processing procedure to audio data is specially：
Operation is reversibly encoded to the audio data of pick up facility acquisition, the data of coding are subjected to chauvent's criterion, drop
It makes an uproar and performs compression after handling, the data are then respectively sent to the first voiceband facility and the second voiceband facility,
After first voiceband facility and the second voiceband facility are decoded the data received, it is sent to respective client
Complete corresponding application；
For the voice data of client feedback, the first voiceband facility and the second voiceband facility are respectively to data
Compression is performed after carrying out chauvent's criterion, noise reduction process, is then forwarded to voice frequency terminal equipment, voice frequency terminal equipment carries out data
After decoding, using power amplification, audio data is played out.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (8)
1. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, it is characterized in that, including：It is respectively arranged at several
Pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility inside substation；
The pick up facility and teller machines communicate respectively with voice frequency terminal equipment, and voice frequency terminal equipment is set with the first audio transmission
Standby communication；
Voice frequency terminal equipment inside each described substation passes through the second voiceband facility and centralized Control client respectively
End communication；
The voice frequency terminal equipment and the first voiceband facility or the second voiceband facility are by wireless into line number
According to transmission；
The voice frequency terminal equipment obtains audio data by pick up facility and is respectively sent to the first voiceband facility and second
The audio data of voiceband facility, substation's client and centralized Control client feedback passes through the first audio transmission respectively
Equipment and the second voiceband facility are sent to voice frequency terminal equipment, and pass through teller machines and play out.
2. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring as described in claim 1, it is characterized in that, institute
It states the first voiceband facility and the second voiceband facility keeps communicating with multiple voice frequency terminal equipments respectively, by power transformation standee
Family end or centralized Control client select corresponding audio data according to demand.
3. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring as described in claim 1, it is characterized in that, institute
Voice frequency terminal equipment is stated to include：
First communication module：For carrying out data interaction with voiceband facility；
First processing module：It is used to implement the chauvent's criterion to audio signal, noise reduction process and other operations；
First power module：For providing power supply for whole equipment；
Coding/decoding module：It is used to implement the coding and decoding operation of audio data；
Power amplifier module：It is used to implement the signal amplification of audio data；
First communication module and first processing module two-way communication, first processing module respectively with coding/decoding module and power amplifier
Module connection communication.
4. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring as claimed in claim 3, it is characterized in that, institute
Voice frequency terminal equipment is stated to further include：First power interface, the first communication interface, audio collection interface and audio frequency play interface；
First communication interface is connect with the first communication module, and the first communication module passes through the first communication interface and audio transmission
Equipment communicates；First power interface is connect with the first power module, and the first power interface is also connected with external power supply；Audio is adopted
Collection interface is connect with coding/decoding module, and audio frequency play interface is connect with power amplifier module.
5. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring as described in claim 1, it is characterized in that, institute
It states the first voiceband facility and the second voiceband facility structure is identical, include：
Second communication module：For carrying out data interaction with voice frequency terminal equipment；
Second processing module：It is used to implement the chauvent's criterion to audio signal, noise reduction process and other operations；
Second source module：For providing power supply for whole equipment；
And second communication interface and second source interface；
Second communication module and Second processing module two-way communication, the second communication module pass through the second communication interface and audio
Terminal device communicates, and second source module is connect with second source interface, second source interface connection external power supply.
6. a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring as described in claim 1, it is characterized in that, institute
Wireless is stated to include：Any one of WiFi, COFDM, GPRS or Zigbee.
7. a kind of method of the Intelligent Mobile Robot monitoring system based on Centralized Monitoring as described in claim 1, special
Sign is, including：
The audio and video data that a substation is acquired carry out centralized Control, and the processing of video data and audio data is patrolled
It collects and is detached, specially：
Video service equipment only obtains video data from video capture device, and the Video Applications for being sent to client carry out video counts
According to processing；
Audio data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility obtains sound from voice frequency terminal equipment
Frequency carries out the processing of video data according to the voice applications for being sent to substation's client, and the second voiceband facility is whole from audio
End equipment, which obtains audio data and is sent to the voice applications of centralized Control client, carries out the processing of video data, and by substation
The audio data of client or centralized Control client is sent to voice frequency terminal equipment, is played out by teller machines.
8. a kind of method of the Intelligent Mobile Robot monitoring system based on Centralized Monitoring as claimed in claim 7, special
Sign is that the processing procedure to audio data is specially：
Operation is reversibly encoded to the audio data of pick up facility acquisition, at the data progress chauvent's criterion of coding, noise reduction
Compression is performed after reason, the data are then respectively sent to the first voiceband facility and the second voiceband facility, first
After voiceband facility and the second voiceband facility are decoded the data received, it is sent to respective client and completes
Corresponding application；
For the voice data of client feedback, the first voiceband facility and the second voiceband facility respectively carry out data
Compression is performed after chauvent's criterion, noise reduction process, is then forwarded to voice frequency terminal equipment, voice frequency terminal equipment is decoded data
Afterwards, using power amplification, audio data is played out.
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| CN201610628740.9A CN106078806B (en) | 2016-08-03 | 2016-08-03 | Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring |
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| CN201610628740.9A CN106078806B (en) | 2016-08-03 | 2016-08-03 | Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring |
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| CN106078806B true CN106078806B (en) | 2018-06-19 |
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| CN111385911B (en) * | 2018-12-27 | 2022-06-28 | 深圳市优必选科技有限公司 | Inspection robot and voice communication method thereof |
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| CN201114259Y (en) * | 2007-09-13 | 2008-09-10 | 王祥贵 | Audio signal transmission system |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN202178515U (en) * | 2011-07-30 | 2012-03-28 | 山东鲁能智能技术有限公司 | Transformer station intelligent robot inspection system |
| CN104123939A (en) * | 2014-06-06 | 2014-10-29 | 国家电网公司 | Substation inspection robot based voice interaction control method |
| CN104167207A (en) * | 2014-06-20 | 2014-11-26 | 国家电网公司 | Equipment sound identification method based on transformer substation patrol inspection robot |
| CN205950777U (en) * | 2016-08-03 | 2017-02-15 | 国网江西省电力公司检修分公司 | Transformer station inspection robot monitor system based on centralized monitoring |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6378387B1 (en) * | 2000-08-25 | 2002-04-30 | Aerobotics, Inc. | Non-destructive inspection, testing and evaluation system for intact aircraft and components and method therefore |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201114259Y (en) * | 2007-09-13 | 2008-09-10 | 王祥贵 | Audio signal transmission system |
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN202178515U (en) * | 2011-07-30 | 2012-03-28 | 山东鲁能智能技术有限公司 | Transformer station intelligent robot inspection system |
| CN104123939A (en) * | 2014-06-06 | 2014-10-29 | 国家电网公司 | Substation inspection robot based voice interaction control method |
| CN104167207A (en) * | 2014-06-20 | 2014-11-26 | 国家电网公司 | Equipment sound identification method based on transformer substation patrol inspection robot |
| CN205950777U (en) * | 2016-08-03 | 2017-02-15 | 国网江西省电力公司检修分公司 | Transformer station inspection robot monitor system based on centralized monitoring |
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