CN111176176A - Remote control system and method for X-ray detection robot of power equipment - Google Patents
Remote control system and method for X-ray detection robot of power equipment Download PDFInfo
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- CN111176176A CN111176176A CN202010006852.7A CN202010006852A CN111176176A CN 111176176 A CN111176176 A CN 111176176A CN 202010006852 A CN202010006852 A CN 202010006852A CN 111176176 A CN111176176 A CN 111176176A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The application discloses remote control system and method of power equipment X ray detection robot, the system includes: the remote control base station is used for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnostic system. The problems that under the current communication network condition, due to the limitation of data transmission speed, network delay, image distortion and low efficiency exist, the remote control and detection work of the robot is assisted by a remote technology, time and labor are wasted, and the like are solved.
Description
Technical Field
The application relates to a remote control system and a method thereof, in particular to a remote control system and a method thereof for an X-ray detection robot of electrical equipment.
Background
At present, an X-ray detection robot is adopted in X-ray detection equipment, and a plurality of problems caused by manual carrying of the X-ray detection equipment can be solved.
The currently used X-ray intelligent detection robot does not realize remote control over 200m, and because the shooting system does not have the functions of shooting, judging, identifying and defect diagnosing, the remote control system is required to be used for control and image data transmission in the range (200m) of a transformer substation during detection. However, when the remote control system needs to perform remote control and image data transmission within a distance range of more than 200m in actual situations, under the current communication network conditions, due to the limitation of data transmission speed, there are problems of network delay, image distortion, low efficiency, time and labor waste due to the remote technical assistance of the robot remote control and detection work, and the like.
Therefore, how to provide a remote control system and a method for an electric power equipment X-ray detection robot capable of realizing remote control and high-fidelity image data transmission has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application provides a remote control system and a remote control method for an X-ray detection robot of power equipment, which aim to solve the problems that under the condition of the current communication network, due to the limitation of data transmission speed, network delay, image distortion and low efficiency exist, the robot remote control and detection work remote technology assists in time and labor waste and the like.
In one aspect, the present application provides a remote control system of an X-ray detection robot for an electrical device, including:
the remote control base station is used for remotely controlling the X-ray detection robot;
the X-ray detection robot is used for detecting the power equipment;
a first 5G base station, the first 5G base station being proximate to the remote control base station;
a second 5G base station, the second 5G base station being proximate to the X-ray detection robot;
a main network;
the remote control base station includes a defect diagnosis subsystem.
Optionally, the remote control base station includes a first communication interface based on 5G communication;
the X-ray detection robot comprises a second communication interface based on 5G communication.
Optionally, the remote control base station includes a first data interface based on 5G communication;
the X-ray detection robot comprises a second data interface based on 5G communication.
Optionally, the X-ray detection robot further includes at least one stereo camera, an X-ray machine, a navigation positioning subsystem, a body control subsystem, and a controller;
the navigation positioning subsystem comprises a drawing module, a positioning module and a navigation module.
In another aspect, the present application provides a remote control method for an X-ray detection robot of an electrical device, including:
starting the X-ray detection robot according to a starting signal instruction sent to the X-ray detection robot by a remote control base station;
the starting of the X-ray detection robot is realized according to a starting signal instruction sent by the remote control base station to the X-ray detection robot, and the starting method comprises the following steps:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station;
the first 5G base station sends the starting signal instruction to a main network;
the main network sends the starting signal instruction to a second 5G base station;
the second 5G base station sends the starting signal instruction to the X-ray detection robot;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started;
enabling the X-ray detection robot to move to the position of the electric power equipment according to the position information of the electric power equipment, which is sent to the X-ray detection robot by the remote control base station;
enabling the X-ray detection robot to detect the power equipment according to a detection operation instruction sent to the X-ray detection robot by the remote control base station;
according to the detection of the X-ray detection robot on the electric power equipment, obtaining related data and images of the electric power equipment;
according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot, enabling a defect diagnosis subsystem to carry out defect diagnosis on the relevant data and images of the electric power equipment to obtain a defect diagnosis result;
the defect diagnosis method for the defect diagnosis subsystem to perform defect diagnosis on the relevant data and images of the electric power equipment according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot to obtain a defect diagnosis result comprises the following steps:
the X-ray detection robot sends the related data and images of the power equipment to the second 5G base station;
the second 5G base station sends the related data and images of the power equipment to the main network;
the main network sends the related data and images of the power equipment to the first 5G base station;
the first 5G base station transmits the related data and the image of the power equipment to the remote control base station;
the defect diagnosis subsystem carries out defect diagnosis on the relevant data and images of the electric power equipment received by the remote control base station to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data and images of the electric equipment, whether defects exist or not and relevant information of the defects;
according to the defect diagnosis result, enabling the remote control base station to make a detection ending instruction or a detection adjusting instruction;
and enabling the X-ray detection robot to perform corresponding actions according to the detection ending instruction or the detection adjusting instruction sent by the remote control base station to the X-ray detection robot.
Optionally, the remote control base station sends a start signal instruction for starting the X-ray detection robot to the first 5G base station, including:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station through a first communication interface based on 5G communication;
the X ray detection robot receives the starting signal instruction, and the X ray detection robot is started, including:
through a second communication interface based on 5G communication, the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started.
Optionally, the X-ray detection robot sends the relevant data and image of the power device to the second 5G base station, including:
the X-ray detection robot sends related data and images of the power equipment to the second 5G base station through a second data interface based on 5G communication;
the defect diagnosis subsystem carries out defect diagnosis on the related data and images of the electric power equipment received by the remote control base station to obtain a defect diagnosis result, and the defect diagnosis result comprises the following steps:
the remote control base station receives related data and images of the power equipment through a first data interface based on 5G communication;
and the defect diagnosis subsystem carries out defect diagnosis on the related data and images of the electric power equipment to obtain a defect diagnosis result.
Optionally, the obtaining of the relevant data and image of the electrical equipment according to the detection of the X-ray detection robot on the electrical equipment includes:
shooting the electric power equipment through at least one stereo camera to obtain an image of the electric power equipment;
and scanning and detecting the power equipment through an X-ray machine to obtain related data of the power equipment.
Optionally, the causing a remote control base station to generate a detection ending instruction or the detection adjusting instruction according to the defect diagnosis result, and send the detection ending instruction or the detection adjusting instruction to the X-ray detection robot includes:
according to the defect diagnosis result, the defect diagnosis subsystem judges whether the related data and the image of the electric power equipment have defects;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have no defects, the remote control base station generates a detection ending instruction and sends the detection ending instruction to the X-ray detection robot;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have defects, the remote control base station generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to the X-ray detection robot;
the method for enabling the X-ray detection robot to perform corresponding actions according to the detection finishing instruction or the detection adjusting instruction sent by the remote control base station to the X-ray detection robot comprises the following steps:
according to a detection ending instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is made to end the detection of the power equipment;
according to the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is enabled to carry out detection action adjustment;
when the X-ray detection robot finishes the adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
according to the detection of the X-ray detection robot on the electric power equipment, obtaining related data and images of the electric power equipment;
according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot, enabling a defect diagnosis subsystem to carry out defect diagnosis on the relevant data and images of the electric power equipment to obtain a defect diagnosis result;
according to the defect diagnosis result, enabling the remote control base station to make a detection ending instruction or a detection adjusting instruction;
and enabling the X-ray detection robot to finish the detection of the power equipment until the remote control base station makes a detection finishing instruction.
Optionally, the moving the X-ray detection robot to the location of the electrical device according to the location information of the electrical device sent by the remote control base station to the X-ray detection robot includes:
the remote control base station sends position information of the power equipment to the X-ray detection robot;
according to the position information of the power equipment and the position information of the X-ray detection robot, a navigation positioning subsystem of the X-ray detection robot plans a moving path of the X-ray detection robot to obtain a planned moving path;
the step of planning the moving path of the X-ray detection robot by the navigation positioning subsystem of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot to obtain a planned moving path includes:
according to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by a navigation positioning subsystem of the X-ray detection robot through a drawing module, and a target map is obtained;
according to the target map and the position information of the electric power equipment, the navigation positioning subsystem calibrates the position of the electric power equipment in the target map through a positioning module to obtain a target position;
according to the target position and the position information of the X-ray detection robot, the navigation positioning subsystem plans the moving path of the X-ray detection robot through a navigation module to obtain a planned moving path;
and according to the planned moving path, the X-ray detection robot is moved to the position of the power equipment through the control of the body control subsystem of the X-ray detection robot on the controller and the control of the controller on the X-ray detection robot.
According to the technical scheme, the application provides a remote control system and a method for an X-ray detection robot of power equipment, and the method comprises the following steps: the remote control base station is used for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnosis subsystem. The remote control system and the method for the X-ray detection robot of the power equipment are provided. By adopting the 5G communication mode, the data transmission and signal control with high capacity, low time delay and high reliability can be satisfied. The problems that under the current communication network condition, due to the limitation of data transmission speed, network delay, image distortion and low efficiency exist, the remote control and detection work of the robot is assisted by a remote technology, time and labor are wasted, and the like can be solved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic structural diagram of a remote control system of an X-ray detection robot for electrical equipment;
FIG. 2 is a schematic diagram of a remote control base station;
FIG. 3 is a schematic structural diagram of an X-ray inspection robot;
FIG. 4 is a detailed structural diagram of the navigation positioning subsystem;
FIG. 5 is a flow chart of a remote control method of an X-ray inspection robot for an electrical apparatus;
fig. 6 is a detailed flowchart of step S1;
fig. 7 is a detailed flowchart of step S2;
fig. 8 is a detailed flowchart of step S22;
fig. 9 is a detailed flowchart of step S4;
fig. 10 is a detailed flowchart of step S5;
fig. 11 is a detailed flowchart of step S6;
fig. 12 is a detailed flowchart of step S7.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, an X-ray detection robot is adopted in X-ray detection equipment, and a plurality of problems caused by manual carrying of the X-ray detection equipment can be solved.
The currently used X-ray intelligent detection robot does not realize remote control over 200m, and because the shooting system does not have the functions of shooting, judging, identifying and defect diagnosing, the remote control system is required to be used for control and image data transmission in the range (200m) of a transformer substation during detection. However, when the remote control system needs to perform remote control and image data transmission within a distance range of more than 200m in actual situations, under the current communication network conditions, due to the limitation of data transmission speed, there are problems of network delay, image distortion, low efficiency, time and labor waste due to the remote technical assistance of the robot remote control and detection work, and the like.
In view of the above, in one aspect, fig. 1 is a schematic structural diagram of a remote control system of an X-ray inspection robot for an electrical device, as shown in fig. 1, the present application provides a remote control system 00 of an X-ray inspection robot for an electrical device, including:
the remote control base station 1 is used for remotely controlling the X-ray detection robot 2;
the X-ray detection robot 2 is used for detecting the power equipment;
optionally, fig. 2 is a schematic structural diagram of a remote control base station, fig. 3 is a schematic structural diagram of an X-ray detection robot, and as shown in fig. 2 and fig. 3, the remote control base station 1 includes a first communication interface 11 based on 5G communication;
the X-ray detection robot 2 comprises a second communication interface 21 based on 5G communication;
optionally, the remote control base station 1 includes a first data interface 12 based on 5G communication;
the X-ray detection robot 2 comprises a second data interface 22 based on 5G communication;
the first communication interface 11 and the second communication interface 21 are used for receiving or sending signals or instructions; the first data interface 12 and the second data interface 22 are used for receiving or transmitting data information. The description in this section is illustrative only and the present application is not limited to this description.
A first 5G base station 3, the first 5G base station 3 being close to the remote control base station 1;
a second 5G base station 4, wherein the second 5G base station 4 is close to the X-ray detection robot 2;
the first 5G base station 3 and the second 5G base station 4 each include a plurality of base station interfaces, and the plurality of base station interfaces may employ an eccri interface. The eCPRI interface follows the basic principles of statistical multiplexing, adaptive bandwidth change related to the eCPRI interface, a collaborative algorithm with high support performance gain, independence of interface flow and RRU antenna number, neutral air interface technology, RRS affiliation migration and the like.
In the case of remote control at a short distance (within 200m), only the second 5G base station 4 near the X-ray inspection robot 2 may be provided, or a common 5G base station near the X-ray inspection robot 2 may be used as it is. However, when the distance between the X-ray detection robot 2 and the remote control base station 1 is 200m or more, it is necessary to install a 5G base station in a work place close to each of the X-ray detection robot 2 and the remote control base station 1.
Alternatively, the first 5G base station 3 and the second 5G base station 4 may both employ 5GNR base stations.
The NR base station employs a new waveform technology (F-OFDM, Filtered-Orthogonal Frequency division multiplexing), the subcarrier length and symbol duration of the 4G OFDM (Orthogonal Frequency division multiplexing) waveform technology are fixed, and cannot meet the service application requirements of Low-latency, high-reliability remote control (urlclc, Ultra-Reliable Low-latency communications), high-speed transmission (eMBB, Enhanced mobile broadband) of detection data and images, and multi-user connection (mtc, passive Machine Type communication, i.e., large-scale internet of things) of an X-ray robot. The F-OFDM is a self-adaptive air interface waveform modulation technology with variable subcarrier bandwidth, is an improved scheme based on OFDM, can realize flexible resource multiplexing of frequency domain and time domain, provides different subcarrier bandwidths and CP configuration for different services, and can minimize a guard band between subcarriers with different bandwidths to one subcarrier bandwidth.
A main network 5;
the main network refers to a block chain network which is formally on-line and operates independently, and the transaction behavior on the network is approved by community members.
As shown in fig. 2, the remote control base station 1 includes a defect diagnosis subsystem 13.
Optionally, as shown in fig. 3, the X-ray detection robot 2 further includes at least one stereo camera 23, an X-ray machine 24, a navigation positioning subsystem 25, a body control subsystem 26, and a controller 27;
fig. 4 is a detailed structural diagram of the navigation positioning subsystem, and as shown in fig. 4, the navigation positioning subsystem 25 includes a drawing module 251, a positioning module 252, and a navigation module 253.
It should be noted that the X-ray inspection robot 2 of the present application may adopt a master-slave X-ray inspection robot. The main robot carries an imaging plate (not shown in fig. 3), the slave robot carries the X-ray machine 24, and the imaging plate is matched with the position of the X-ray machine 24 by adjusting the height and angle of the slave robot to ensure that the emission cone angle of the X-ray machine 24 is perpendicular to the imaging plate. The present application is not particularly limited.
As shown in fig. 3 and 4, the X-ray inspection robot 2 further includes at least one stereo camera 23, an X-ray machine 24, a navigation positioning subsystem 25, a body control subsystem 26, and a controller 27. The navigation positioning subsystem 25 includes a mapping module 251, a positioning module 252, and a navigation module 253. The X-ray detection robot 2 may further include a laser radar 28, a light sensor 29, an odometer 30, and a gyroscope 31.
The stereo camera 23 is used to photograph the appearance of the electric equipment to be inspected, the appearance of the lines, the work environment, the surrounding environment in which the X-ray inspection robot 2 is moving, and the like. When the X-ray detection robot 2 employs a master-slave robot, the number of the stereo cameras 23 may be two or more, and more stereo cameras 23 may be provided to more comprehensively capture a target image. The X-ray machine 24 is used for scanning and detecting the power equipment. The navigation positioning subsystem 25 is configured to acquire position information of the X-ray detection robot 2, and plan a movement path of the X-ray detection robot 2 according to the position information of the power device and the position information of the X-ray detection robot 2, so as to obtain a planned movement path. The body control subsystem 26 is configured to control the controller 27 according to the planned movement path, and the controller 27 controls the X-ray detection robot 2 to move the X-ray detection robot 2 to the position of the power equipment.
The laser radar 28 is used to locate an object or detect the moving speed of the object by using a laser beam, and may detect surrounding obstacles during the movement of the X-ray detection robot 2, or detect the specific position of the electric device, or the like. The light sensor 29 is used for carrying out relevant sensing by utilizing a light sensing device; the odometer 30 is used for recording the moving mileage data of the X-ray detection robot 2; the gyroscope 31 is used for sensing various parameters of the X-ray detection robot 2 in moving and stationary states. The present application is only illustrative of the structure of the X-ray inspection robot 2 and the use of each structure, and the present application is not particularly limited.
The navigation positioning subsystem 25 can run in a Windows environment, the body control subsystem 26 can run in a Beckhff real-time nuclear environment, the programming environment of the body control system can adopt TwinCat3 software of Beckhff, the TwinCat3 conforms to the IEC61131-3 standard, and five programming languages of the PLC are supported. This description is intended to be illustrative only and should not be taken as limiting the scope of the invention.
The X-ray inspection robot 2 further includes conventional components of the X-ray inspection robot 2, such as a work platform, a robot arm, and a tool system, which are not shown in fig. 3, and the present application is not particularly limited thereto.
As shown in fig. 2, the defect diagnosis subsystem 13 of the remote control base station 1 is configured to analyze and determine an image captured by at least one stereo camera 23 of the X-ray inspection robot 2, so as to obtain data related to the power equipment, whether the image has a defect, and related information of the defect; the defect diagnosis subsystem 13 is further configured to analyze and judge the relevant data of the electrical equipment obtained by scanning by the X-ray machine 24, so as to obtain whether the relevant data of the electrical equipment has a defect and relevant information of the defect;
the application provides a remote control of power equipment X ray inspection robot is based on 5G communication mode, will satisfy in data transmission and the signal control of large capacity, low time delay, high reliability. The method can solve the problems of network delay, image distortion, low efficiency and the like, time and labor waste and the like due to the limitation of data transmission speed under the current communication network condition.
On the other hand, fig. 5 is a flowchart of a remote control method for an X-ray detection robot of an electrical device, and with reference to fig. 1 and 5, the present application provides a remote control method for an X-ray detection robot of an electrical device, including:
s1: starting the X-ray detection robot 2 according to a starting signal instruction sent to the X-ray detection robot 2 by the remote control base station 1;
fig. 6 is a detailed flowchart of step S1, and as shown in fig. 1 and 6, step S1 is executed to start the X-ray inspection robot 2 according to a start signal command sent by the remote control base station 1 to the X-ray inspection robot 2, and includes:
s11: the remote control base station 1 sends a starting signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3;
optionally, as shown in fig. 2 and fig. 6, in S11, the remote control base station 1 sends a start signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3, where the start signal instruction includes:
s111: the remote control base station 1 sends a starting signal instruction for starting the X-ray detection robot 2 to the first 5G base station 3 through the first communication interface 11 based on 5G communication;
s12: the first 5G base station 3 sends a starting signal instruction to the main network 5;
s13: the main network 5 sends a starting signal instruction to the second 5G base station 4;
s14: the second 5G base station 4 sends a starting signal instruction to the X-ray detection robot 2;
s15: the X-ray detection robot 2 receives the starting signal instruction, and the X-ray detection robot 2 is started;
optionally, as shown in fig. 3 and fig. 6, in S15, when the X-ray inspection robot receives the start signal instruction, the X-ray inspection robot starts up, including:
s151: through a second communication interface 21 based on 5G communication, the X-ray detection robot 2 receives a starting signal instruction, and the X-ray detection robot 2 is started;
as shown in fig. 3, the second communication interface 21 based on 5G communication receives the start signal command and sends the start signal command to the main body control subsystem 26, and the main body control subsystem 26 controls the controller 27 to start the X-ray inspection robot 2.
S2: enabling the X-ray detection robot 2 to move to the position of the electric equipment according to the position information of the electric equipment, which is sent to the X-ray detection robot 2 by the remote control base station 1;
optionally, fig. 7 is a detailed flowchart of step S2, and with reference to fig. 1, 2, 3, and 7, the moving the X-ray detection robot 2 to the location of the electrical device according to the location information of the electrical device sent by the remote control base station to the X-ray detection robot 2 includes:
s21: the remote control base station 1 sends the position information of the power equipment to the X-ray detection robot 2;
the remote control base station 1 transmits the position information of the electric power equipment to the X-ray detection robot 2 through the first data interface 12 based on 5G communication.
It should be noted that the position information of the to-be-detected power equipment may be marked in the form of a two-dimensional code, or marked in the form of a simple number or a text, which is not specifically limited in this application. The location information may include map information, longitude and latitude numerical information, and the like, and the present application is not particularly limited.
S22: according to the position information of the power equipment and the position information of the X-ray detection robot 2, a navigation positioning subsystem 25 of the X-ray detection robot 2 plans the moving path of the X-ray detection robot 2 to obtain a planned moving path;
fig. 8 is a detailed flowchart of step S22, and with reference to fig. 4 and 8, S22, based on the position information of the power equipment and the position information of the X-ray inspection robot, the navigation positioning subsystem 25 of the X-ray inspection robot 2 plans the moving path of the X-ray inspection robot 2 to obtain a planned moving path, including:
s221: according to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by the navigation positioning subsystem 25 of the X-ray detection robot 2 through the drawing module 251 to obtain a target map;
s222: according to the target map and the position information of the electric power equipment, the navigation positioning subsystem 25 marks the position of the electric power equipment in the target map through the positioning module 252 to obtain a target position;
s223: according to the target position and the position information of the X-ray detection robot, the navigation positioning subsystem 25 plans the moving path of the X-ray detection robot 2 through the navigation module 253 to obtain a planned moving path;
s23: the X-ray inspection robot 2 is moved to the position of the electric power equipment by the control of the body control subsystem 26 of the X-ray inspection robot 2 to the controller 27 and the control of the X-ray inspection robot 2 by the controller 27 according to the planned movement path.
It should be noted that, during the movement of the X-ray detection robot, the cooperation of the laser radar, the optical sensor and the gyroscope may be used to enable the X-ray detection robot to avoid obstacles in the route or to cross a special terrain road. The accumulated distance of movement of the X-ray inspection robot may be recorded using an odometer.
S3: according to a detection operation instruction sent to the X-ray detection robot 2 by the remote control base station 1, the X-ray detection robot 2 detects the power equipment;
s4: according to the detection of the X-ray detection robot 2 on the power equipment, the related data and images of the power equipment are obtained;
optionally, fig. 9 is a detailed flowchart of step S4, and with reference to fig. 1, fig. 3, and fig. 9, the obtaining of the relevant data and image of the electrical equipment according to the detection of the electrical equipment by the X-ray detection robot 2 includes:
s41: shooting the power equipment through at least one stereo camera 23 to obtain an image of the power equipment;
s42: the power equipment is scanned and detected by the X-ray machine 24, and relevant data of the power equipment is obtained.
S5: according to the relevant data and images of the electric equipment sent to the remote control base station 1 by the X-ray detection robot 2, enabling the defect diagnosis subsystem 13 to carry out defect diagnosis on the relevant data and images of the electric equipment to obtain a defect diagnosis result;
fig. 10 is a detailed flowchart of step S5, and in conjunction with fig. 1 and 10, the method for making the defect diagnosis subsystem 13 perform defect diagnosis on the relevant data and images of the electrical equipment according to the relevant data and images of the electrical equipment sent by the X-ray detection robot 2 to the remote control base station 1, so as to obtain a defect diagnosis result includes:
s51: the X-ray detection robot 2 sends the related data and images of the power equipment to the second 5G base station 4;
optionally, as shown in fig. 1, fig. 3, and fig. 10, the X-ray detection robot 2 sends the relevant data and image of the power device to the second 5G base station 4, including:
s511: through a second data interface 22 based on 5G communication, the X-ray detection robot 2 sends the related data and images of the power equipment to a second 5G base station 4;
s52: the second 5G base station 4 sends the related data and images of the power equipment to the main network 5;
s53: the main network 5 sends the related data and images of the power equipment to the first 5G base station 3;
s54: the first 5G base station 3 transmits the relevant data and images of the power equipment to the remote control base station 1;
s55: the defect diagnosis subsystem 13 carries out defect diagnosis on the relevant data and images of the electric power equipment received by the remote control base station 1 to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data and images of the electric equipment, whether defects exist or not and relevant information of the defects;
it should be noted that, here, the related data and the image having the defect may include two cases that the related data and the image have the defect and the related data and the image do not satisfy the quality requirement. It is easy to understand that the defects of the related data and images can be the distortion or errors of the data and images; the relevant information of the corresponding defect is the specific location where the distortion and error exist or other information. The quality requirements of the relevant data and the image which do not meet the quality requirements can be that the angle, the definition, the exposure and the like of the image do not meet the requirements, an angle preset threshold, a definition preset threshold, an exposure preset threshold and the like can be set in the defect diagnosis subsystem, and the relevant data and the image are compared to judge whether the corresponding angle preset threshold, the definition preset threshold, the exposure preset threshold and the like can be reached; the corresponding defect-related information is the angle, sharpness, and exposure of the image, and the difference between the preset threshold and the like. The present application is not intended to be limited to the specific examples and embodiments described herein.
Optionally, as shown in fig. 1, fig. 2 and fig. 10, the defect diagnosing subsystem 13 performs defect diagnosis on the data and the image of the electrical equipment received by the remote control base station 1 to obtain a defect diagnosis result, including:
s551: the remote control base station 1 receives related data and images of the power equipment through a first data interface 12 based on 5G communication;
s552: the defect diagnosis subsystem 13 performs defect diagnosis on the relevant data and images of the electrical equipment to obtain a defect diagnosis result.
S6: according to the defect diagnosis result, the remote control base station 1 generates a detection ending instruction or the detection adjusting instruction and sends the detection ending instruction or the detection adjusting instruction to the X-ray detection robot 2;
optionally, fig. 11 is a detailed flowchart of step S6, and with reference to fig. 1, fig. 2, and fig. 11, S6, according to the defect diagnosis result, the remote control base station 1 generates an instruction to end detection or the instruction to adjust detection, and sends the instruction to the X-ray inspection robot 2, where the method includes:
s61: according to the defect diagnosis result, the defect diagnosis subsystem 13 judges whether the related data and the image of the electric power equipment have defects;
s62: when the defect diagnosis subsystem 13 judges that the related data and the image of the power equipment have no defects, the remote control base station 1 generates a detection ending instruction and sends the instruction to the X-ray detection robot 2;
it should be noted that, at this time, the absence of defects refers to that the related data and the image of the power equipment have no defects such as distortion or errors, and can satisfy quality requirements, such as that the angle, the definition, and the exposure of the image all satisfy preset thresholds, and the like.
S63: when the defect diagnosis subsystem 13 judges that the related data and the image of the power equipment have defects, the remote control base station 1 generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to the X-ray detection robot 2.
At this time, the defect refers to that the relevant data and image of the power equipment have defects such as distortion or error, or cannot meet the quality requirement, for example, the angle, definition and exposure of the image arbitrarily cannot meet the preset threshold value. In any case, whether the defect exists or the quality requirement is not met, if the related data and the image belonging to the power equipment have the defect, the remote control base station 1 generates an adjustment detection instruction according to the related information of the defect and sends the adjustment detection instruction to the X-ray detection robot 2.
S7: and enabling the X-ray detection robot 2 to perform corresponding actions according to a detection finishing instruction or a detection adjusting instruction sent by the remote control base station 1 to the X-ray detection robot.
Optionally, fig. 12 is a detailed flowchart of step S7, and as shown in fig. 12, S7 makes the X-ray inspection robot 2 perform corresponding operations according to the detection ending instruction or the detection adjusting instruction sent by the remote control base station 1 to the X-ray inspection robot 2, including:
s71: according to a detection ending instruction sent to the X-ray detection robot 2 by the remote control base station 1, enabling the X-ray detection robot 2 to end detection of the power equipment;
it should be noted that, as shown in fig. 1, fig. 2 and fig. 3, the remote control base station 1 sends an end detection instruction to the X-ray inspection robot 2 through the first communication interface 11 based on 5G communication, the X-ray inspection robot 2 receives the end detection instruction through the second communication interface 21 based on 5G communication and sends the end detection instruction to the main body control subsystem 26, and the main body control subsystem 26 controls the controller 27 to execute the end detection instruction. The end detection command may be the return of the imaging plate, robotic arm (not shown in fig. 3), etc. to the home position. The present application is not particularly limited.
S72: and according to the adjustment detection instruction sent to the X-ray detection robot 2 by the remote control base station 1, the X-ray detection robot 2 is enabled to carry out detection action adjustment.
It should be noted that, as shown in fig. 1, fig. 2 and fig. 3, the remote control base station 1 sends an adjustment detection instruction to the X-ray inspection robot 2 through the first communication interface 11 based on 5G communication, the X-ray inspection robot 2 receives the adjustment detection instruction through the second communication interface 21 based on 5G communication and sends the adjustment detection instruction to the body control subsystem 26, and the body control subsystem 26 controls the controller 27 to execute the adjustment detection instruction. The instruction to adjust the detection may be to adjust the position or angle of a robot arm (not shown in fig. 3) of the X-ray detection robot 2, the position or angle of the X-ray machine 24, the position or angle of an imaging plate (not shown in fig. 3), and the position, angle, exposure, focal length, and the like of the stereo camera 23.
S73: when the X-ray detection robot finishes the adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
s74: according to the detection of the X-ray detection robot on the power equipment, obtaining related data and images of the power equipment;
s75: according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot, enabling the defect diagnosis subsystem to carry out defect diagnosis on the relevant data and images of the electric power equipment to obtain a defect diagnosis result;
s76: according to the defect diagnosis result, enabling the remote control base station to make a detection ending instruction or a detection adjusting instruction;
s77: and (4) until the remote control base station makes a detection ending instruction, enabling the X-ray detection robot to end the detection of the power equipment.
The defect diagnosis subsystem is used for diagnosing whether related data and pictures obtained by detecting the power equipment through the X-ray junction detection robot have defects, the detection pose of the X-ray junction detection robot needs to be adjusted correspondingly when the defects exist, the X-ray junction detection robot after the detection pose is adjusted needs to detect the power equipment again, the related data and the pictures are obtained again, the defect diagnosis is continued, and the steps S73-S77 need to be carried out circularly before the defect diagnosis subsystem obtains defect diagnosis results without defects. It should be noted that the data and the image related to the electrical equipment have a defect that the image is not captured at the relevant part of the electrical equipment, or the image is captured at the relevant part of the electrical equipment, but the angle is not clear enough, the shooting angle needs to be converted or adjusted, or the image is blurred; the defects of the related data and the image of the power equipment may also be related data missing and the like, and are not described herein again.
The application provides a remote control method of an X-ray detection robot of electrical equipment. The remote control method for the X-ray detection robot of the power equipment provided by the application is a remote control method for controlling the distance to be more than 200 m; in the case where the control distance is within 200m, the communication control method of D2D (Device-to-Device) in the 5G communication mode may be adopted for the proximity control.
The X-ray detection robot is mainly applied to a transformer substation, when a detection person remotely controls the robot in a transformer substation control building, the distance is generally within 200m, a D2D communication mode under a 5G network is adopted, data of a session is directly transmitted between the robot and a control base station, the data does not need to be forwarded through the 5G base station, and related control instructions are still responsible for the 5G network. When the wireless communication infrastructure is damaged or the coverage blind area of the wireless network where the field is located is detected, the terminal can realize end-to-end communication by means of D2D and even access the 5G network. In a 5G network, D2D communication may be deployed in a licensed frequency band, or may be deployed in an unlicensed frequency band. Compared with the communication between the robot and the control base station through Bluetooth and WLAN, the D2D can be automatically connected without manual pairing and user configuration; D2D uses the authorized frequency band of the telecom operator, the interference environment is controllable, and remote control and data transmission have higher reliability.
In addition, before the method provided by the present application is implemented, it is necessary to perform modification of an interface, deployment of a 5GNR base station, and the like. New 5GNR base stations are deployed or common 5GNR base stations are used, which is not specifically limited in this application. And the original data and communication interface is changed into a data and communication interface based on 5G communication. Related communication and data transmission modules of the X-ray detection robot and the remote control base station are modified into modules based on 5G communication, a chip replacement mode and an embedded development mode can be adopted, the description in the section is only for example, and the application is not limited specifically.
The application provides a remote control system and a method of an X-ray detection robot of power equipment, wherein the method comprises the following steps: the remote control base station is used for remotely controlling the X-ray detection robot; the X-ray detection robot is used for detecting the power equipment; a first 5G base station, the first 5G base station being proximate to the remote control base station; a second 5G base station, the second 5G base station being proximate to the X-ray detection robot; a main network; the remote control base station includes a defect diagnosis subsystem.
The application provides a remote control system and a method for an X-ray detection robot of power equipment. By adopting the 5G communication mode, the data transmission and signal control with high capacity, low time delay and high reliability can be satisfied. The problems that under the condition of the current communication network, due to the limitation of data transmission speed, network delay, image distortion, low efficiency and the like exist, the robot remote control has delay, and the remote technology assists in time and labor waste and the like can be solved. The defect diagnosis subsystem diagnoses the related data and images of the electric power equipment to judge whether the related data and images of the electric power equipment detected by the X-ray detection robot have defects, and when the X-ray detection robot detects that the electric power equipment has faults, an electric power worker can directly see accurate fault data and pictures, so that the efficiency of the electric power worker in remote monitoring of the electric power equipment can be improved.
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, for the embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the description in the method embodiments.
Claims (10)
1. A remote control system of an X-ray detection robot for electric power equipment is characterized by comprising:
the remote control base station is used for remotely controlling the X-ray detection robot;
the X-ray detection robot is used for detecting the power equipment;
a first 5G base station, the first 5G base station being proximate to the remote control base station;
a second 5G base station, the second 5G base station being proximate to the X-ray detection robot;
a main network;
the remote control base station includes a defect diagnosis subsystem.
2. The system of claim 1, wherein the remote control base station comprises a first communication interface based on 5G communication;
the X-ray detection robot comprises a second communication interface based on 5G communication.
3. The system of claim 1, wherein the remote control base station comprises a first data interface based on 5G communication;
the X-ray detection robot comprises a second data interface based on 5G communication.
4. The system of claim 1, wherein the X-ray inspection robot further comprises at least one stereo camera, an X-ray machine, a navigation positioning subsystem, a body control subsystem, and a controller;
the navigation positioning subsystem comprises a drawing module, a positioning module and a navigation module.
5. A remote control method for an X-ray detection robot of a power device is characterized by comprising the following steps:
starting the X-ray detection robot according to a starting signal instruction sent to the X-ray detection robot by a remote control base station;
the starting of the X-ray detection robot is realized according to a starting signal instruction sent by the remote control base station to the X-ray detection robot, and the starting method comprises the following steps:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station;
the first 5G base station sends the starting signal instruction to a main network;
the main network sends the starting signal instruction to a second 5G base station;
the second 5G base station sends the starting signal instruction to the X-ray detection robot;
the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started;
enabling the X-ray detection robot to move to the position of the electric power equipment according to the position information of the electric power equipment, which is sent to the X-ray detection robot by the remote control base station;
enabling the X-ray detection robot to detect the power equipment according to a detection operation instruction sent to the X-ray detection robot by the remote control base station;
according to the detection of the X-ray detection robot on the electric power equipment, obtaining related data and images of the electric power equipment;
according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot, enabling a defect diagnosis subsystem to carry out defect diagnosis on the relevant data and images of the electric power equipment to obtain a defect diagnosis result;
the defect diagnosis method for the defect diagnosis subsystem to perform defect diagnosis on the relevant data and images of the electric power equipment according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot to obtain a defect diagnosis result comprises the following steps:
the X-ray detection robot sends the related data and images of the power equipment to the second 5G base station;
the second 5G base station sends the related data and images of the power equipment to the main network;
the main network sends the related data and images of the power equipment to the first 5G base station;
the first 5G base station transmits the related data and the image of the power equipment to the remote control base station;
the defect diagnosis subsystem carries out defect diagnosis on the relevant data and images of the electric power equipment received by the remote control base station to obtain a defect diagnosis result; the defect diagnosis result comprises relevant data and images of the electric equipment, whether defects exist or not and relevant information of the defects;
according to the defect diagnosis result, enabling the remote control base station to make a detection ending instruction or a detection adjusting instruction;
and enabling the X-ray detection robot to perform corresponding actions according to the detection ending instruction or the detection adjusting instruction sent by the remote control base station to the X-ray detection robot.
6. The method of claim 5, wherein the remote control base station sends a start signal instruction for starting the X-ray detection robot to the first 5G base station, and the method comprises the following steps:
the remote control base station sends a starting signal instruction for starting the X-ray detection robot to the first 5G base station through a first communication interface based on 5G communication;
the X ray detection robot receives the starting signal instruction, and the X ray detection robot is started, including:
through a second communication interface based on 5G communication, the X-ray detection robot receives the starting signal instruction, and the X-ray detection robot is started.
7. The method of claim 5, wherein the X-ray inspection robot sends data and images related to the power equipment to a second 5G base station, comprising:
the X-ray detection robot sends related data and images of the power equipment to the second 5G base station through a second data interface based on 5G communication;
the defect diagnosis subsystem carries out defect diagnosis on the related data and images of the electric power equipment received by the remote control base station to obtain a defect diagnosis result, and the defect diagnosis result comprises the following steps:
the remote control base station receives related data and images of the power equipment through a first data interface based on 5G communication;
and the defect diagnosis subsystem carries out defect diagnosis on the related data and images of the electric power equipment to obtain a defect diagnosis result.
8. The method of claim 5, wherein the obtaining of the relevant data and images of the electrical equipment according to the detection of the electrical equipment by the X-ray detection robot comprises:
shooting the electric power equipment through at least one stereo camera to obtain an image of the electric power equipment;
and scanning and detecting the power equipment through an X-ray machine to obtain related data of the power equipment.
9. The method according to claim 5, wherein the causing a remote control base station to generate and send an end detection instruction or an adjustment detection instruction to the X-ray inspection robot according to the defect diagnosis result comprises:
according to the defect diagnosis result, the defect diagnosis subsystem judges whether the related data and the image of the electric power equipment have defects;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have no defects, the remote control base station generates a detection ending instruction and sends the detection ending instruction to the X-ray detection robot;
when the defect diagnosis subsystem judges that the related data and the image of the power equipment have defects, the remote control base station generates an adjustment detection instruction according to the related information of the defects and sends the adjustment detection instruction to the X-ray detection robot;
the method for enabling the X-ray detection robot to perform corresponding actions according to the detection finishing instruction or the detection adjusting instruction sent by the remote control base station to the X-ray detection robot comprises the following steps:
according to a detection ending instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is made to end the detection of the power equipment;
according to the adjustment detection instruction sent by the remote control base station to the X-ray detection robot, the X-ray detection robot is enabled to carry out detection action adjustment;
when the X-ray detection robot finishes the adjustment of the detection action, the X-ray detection robot continues to detect the power equipment;
according to the detection of the X-ray detection robot on the electric power equipment, obtaining related data and images of the electric power equipment;
according to the relevant data and images of the electric power equipment sent to the remote control base station by the X-ray detection robot, enabling a defect diagnosis subsystem to carry out defect diagnosis on the relevant data and images of the electric power equipment to obtain a defect diagnosis result;
according to the defect diagnosis result, enabling the remote control base station to make a detection ending instruction or a detection adjusting instruction;
and enabling the X-ray detection robot to finish the detection of the power equipment until the remote control base station makes a detection finishing instruction.
10. The method of claim 5, wherein the moving the X-ray inspection robot to the location of the electrical device according to the location information of the electrical device sent to the X-ray inspection robot from the remote control base station comprises:
the remote control base station sends position information of the power equipment to the X-ray detection robot;
according to the position information of the power equipment and the position information of the X-ray detection robot, a navigation positioning subsystem of the X-ray detection robot plans a moving path of the X-ray detection robot to obtain a planned moving path;
the step of planning the moving path of the X-ray detection robot by the navigation positioning subsystem of the X-ray detection robot according to the position information of the power equipment and the position information of the X-ray detection robot to obtain a planned moving path includes:
according to the position information of the power equipment and the position information of the X-ray detection robot, a map is created by a navigation positioning subsystem of the X-ray detection robot through a drawing module, and a target map is obtained;
according to the target map and the position information of the electric power equipment, the navigation positioning subsystem calibrates the position of the electric power equipment in the target map through a positioning module to obtain a target position;
according to the target position and the position information of the X-ray detection robot, the navigation positioning subsystem plans the moving path of the X-ray detection robot through a navigation module to obtain a planned moving path;
and according to the planned moving path, the X-ray detection robot is moved to the position of the power equipment through the control of the body control subsystem of the X-ray detection robot on the controller and the control of the controller on the X-ray detection robot.
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