CN112016820B - Patrol robot scheduling method, system and device and computer equipment - Google Patents
Patrol robot scheduling method, system and device and computer equipment Download PDFInfo
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Abstract
The application relates to the field of power systems, and provides a method, a system and a device for dispatching an inspection robot, computer equipment and a storage medium. The method and the device can improve interaction between different power systems when the transformer substation patrols and examines, and improve the dispatching efficiency of the patrol robot. The method comprises the following steps: the method comprises the steps of obtaining information of equipment to be detected sent by an external power software system, obtaining at least one type of inspection robot corresponding to a transformer substation according to the information of the equipment to be detected, obtaining an observation position of the equipment to be detected and a physical position of the inspection robot, determining an inspection plan corresponding to the transformer substation according to the observation position and the physical position, and sending the inspection plan to a local monitoring system of the transformer substation.
Description
Technical Field
The application relates to the field of power systems, in particular to a method, a system, a device, computer equipment and a storage medium for dispatching an inspection robot.
Background
With the continuous development of the power industry, the number of substations governed by each power unit is increased, and the complexity of a power system is improved. The transformer substation inspection robot is increasingly applied to the daily inspection business of the transformer substation, and the working intensity of inspection personnel is reduced.
In the prior art, a local monitoring system deployed in a substation is used for routing inspection planning and control of an inspection robot, inspection data and control are used in the local monitoring system, and information interaction with other power systems is lacked.
Disclosure of Invention
Based on this, it is necessary to provide a method, a system, a device, a computer device and a storage medium for dispatching an inspection robot, aiming at the technical problem that the inspection data between power systems are lack of interaction in the prior art.
A routing inspection robot scheduling method is applied to a centralized scheduling system, and comprises the following steps:
acquiring information of equipment to be detected, which is sent by an external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs;
acquiring at least one type of inspection robot corresponding to the transformer substation;
acquiring a prestored observation position of the equipment to be detected and a prestored physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation;
determining a patrol plan corresponding to the transformer substation according to the observation position and the physical position; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot;
and sending the patrol plan to a local monitoring system of the transformer substation.
In one embodiment, the types of the inspection robot comprise a fixed point robot and a movable robot; the method for acquiring the inspection robot of at least one type corresponding to the transformer substation comprises the following steps:
obtaining a fixed point robot corresponding to the transformer substation from an auxiliary control system and/or the local monitoring system;
and/or acquiring the movable robot corresponding to the transformer substation from the local monitoring system.
In one embodiment, the determining a patrol plan corresponding to the substation according to the observed position and the physical position includes:
determining a theoretical path of the at least one type of inspection robot when the inspection robot covers the equipment to be detected according to the observation position and the physical position;
processing the theoretical path according to a preset algorithm model, and determining equipment to be detected and a patrol path corresponding to each type of patrol robot;
and acquiring a patrol plan corresponding to the transformer substation by the equipment to be detected and the patrol route which are respectively corresponding to the at least one type of patrol robot.
In one embodiment, the processing the theoretical path according to a preset algorithm model to determine the to-be-detected device and the patrol path corresponding to each type of patrol robot includes:
inputting the theoretical path into a neural network model trained in advance, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot according to the output of the neural network model; the neural network model is obtained by training as a training sample set according to a theoretical path of the inspection robot, an actual inspection path corresponding to the theoretical path and an actual corresponding relation between the inspection robot and the equipment to be detected.
In one embodiment, the obtaining of the patrol plan corresponding to the substation by the equipment to be detected and the patrol route corresponding to each of the at least one type of patrol robot includes:
taking the shortest path of the at least one type of inspection robot when inspecting the corresponding equipment to be inspected as the inspection path of the at least one type of inspection robot;
and obtaining a patrol plan corresponding to the transformer substation according to the equipment to be detected and the patrol path corresponding to the at least one type of patrol robot in the transformer substation.
In one embodiment, the method further comprises:
acquiring equipment data obtained by the local monitoring system executing the patrol plan; the equipment data is encrypted and transmitted in the local monitoring system through a security module;
and after external firewall detection is carried out on the equipment data, the equipment data are sent to the external power software system.
A scheduling system for inspection robots, the system comprising: a centralized dispatching system and a local monitoring system of the transformer substation; the centralized scheduling system is in communication connection with the local monitoring system; wherein, the first and the second end of the pipe are connected with each other,
the centralized scheduling system is used for executing the routing inspection robot scheduling method in any embodiment;
the local monitoring system is used for sending the physical position of at least one type of inspection robot corresponding to the transformer substation to the centralized scheduling system; and the inspection robot is used for controlling the inspection robot of at least one type to inspect the corresponding equipment to be detected according to the inspection plan of the transformer substation sent by the centralized scheduling system.
The utility model provides a patrol and examine robot scheduling device, is applied to centralized scheduling system, the device includes:
the device information acquisition module is used for acquiring the information of the device to be detected, which is sent by the external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs;
the robot acquisition module is used for acquiring at least one type of inspection robot corresponding to the transformer substation;
the position acquisition module is used for acquiring the pre-stored observation position of the equipment to be detected and the physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation;
the inspection plan acquisition module is used for determining an inspection plan corresponding to the transformer substation according to the observation position and the physical position; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot;
and the sending module is used for sending the patrol plan to a local monitoring system of the transformer substation.
A computer device comprising a memory storing a computer program and a processor implementing the following steps when the computer program is executed:
acquiring information of equipment to be detected, which is sent by an external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs; acquiring at least one type of inspection robot corresponding to the transformer substation; acquiring a prestored observation position of the equipment to be detected and a prestored physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation; determining a patrol plan corresponding to the transformer substation according to the observation position and the physical position; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot; and sending the patrol plan to a local monitoring system of the transformer substation.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring information of equipment to be detected, which is sent by an external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs; acquiring at least one type of inspection robot corresponding to the transformer substation; acquiring a prestored observation position of the equipment to be detected and a prestored physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation; determining a patrol plan corresponding to the transformer substation according to the observation position and the physical position; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot; and sending the patrol plan to a local monitoring system of the transformer substation.
According to the dispatching method, the dispatching system, the dispatching device, the computer equipment and the storage medium of the inspection robot, the centralized dispatching system acquires the information of the equipment to be detected sent by the external power software system, acquires at least one type of inspection robot corresponding to the transformer substation according to the information of the equipment to be detected, acquires the observation position of the equipment to be detected and the physical position of the inspection robot, determines the inspection plan corresponding to the transformer substation according to the observation position and the physical position, and sends the inspection plan to the local monitoring system of the transformer substation.
Drawings
FIG. 1 is a diagram of an exemplary environment in which a method for scheduling inspection robots is implemented;
FIG. 2 is a schematic flow chart of a method for scheduling an inspection robot according to an embodiment;
FIG. 3 is a block diagram of a scheduling system of a multi-type inspection robot in one embodiment;
FIG. 4 is a flow diagram illustrating a method for scheduling a multi-type inspection robot in accordance with one embodiment;
FIG. 5 is a schematic diagram of an inspection robot scheduling system in one embodiment;
FIG. 6 is a block diagram of the inspection robot scheduling device according to an embodiment;
FIG. 7 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The routing inspection robot scheduling method provided by the application can be applied to the application environment shown in fig. 1, and comprises a centralized regulation and control system 102, an external power software system 104 and a local monitoring system 106. The external power software system 102 is a demand side of the device information, and a plurality of external power software systems 102 may be connected to the centralized control system 102 through a network. The local monitoring system 106 may include monitoring terminals of a plurality of substations, and the plurality of local monitoring systems 106 may be connected to the centralized regulation system 102 via a network. The centralized control system 102 acquires information of equipment to be detected from the external power software system 104, and determines at least one type of inspection robot of the substation according to the information of the equipment to be detected, including but not limited to inspection robots, indoor robots, valve hall robots, fixed point cameras, and the like. The centralized control system 10 can obtain the physical position of the inspection robot from the local monitoring system 106, determine the inspection plan of the substation according to the physical position of the inspection robot and the observation position of the device to be detected, and send the inspection plan to the local monitoring system 106, so as to implement scheduling of the inspection robot. The centralized control system 102, the external power software system 104, and the local monitoring system 106 may be terminals, including but not limited to various personal computers, laptops, smartphones, tablets, and portable wearable devices. The centralized control system 102, the external power software system 104, and the local monitoring system 106 may also be servers, and may be implemented by independent servers or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, a routing inspection robot scheduling method is provided, which is described by taking the method as an example applied to the centralized control system 102 in fig. 1, and includes the following steps:
step S201, acquiring information of the equipment to be detected, which is sent by an external power software system.
The information of the equipment to be detected can comprise the equipment to be detected and a transformer substation to which the equipment to be detected belongs, and the information of the equipment to be detected can be set to be in a corresponding data format. The equipment in the substation may include transformers, wires, insulators, disconnectors, cables, relay protection devices, etc. The corresponding relation exists between the transformer substation and the equipment contained in the transformer substation, and after the equipment to be detected is determined, the transformer substation information to which the equipment belongs can also be determined. The external power software system 104 may determine the devices to be detected and the substation to which the devices belong as needed, and send the devices and the substation to the centralized scheduling system 102. The centralized scheduling system 102 may obtain information of the device to be detected sent by the external power software system 104, so as to obtain the device to be detected and the substation to which the device belongs.
And S202, acquiring at least one type of inspection robot corresponding to the transformer substation.
The transformer substation can be provided with various types of inspection robots, and each type of inspection robot executes inspection tasks according to a corresponding inspection plan.
In specific implementation, the centralized scheduling system 102 may obtain at least one type of inspection robot preconfigured in the substation from a storage module of the centralized scheduling system 102 according to the obtained equipment to be detected and the substation to which the equipment to be detected belongs.
And step S203, acquiring the pre-stored observation position of the equipment to be detected and the pre-stored physical position of the inspection robot.
The equipment type and the equipment installation site in the transformer substation are greatly different, a proper observation position also needs to be set for observation of the equipment so as to obtain equipment data meeting requirements, and the inspection robot can detect the equipment from the observation position. The centralized scheduling system 102 may pre-store the observed locations of the substation devices. When the inspection robot executes a task in the substation, the physical position changes, the centralized scheduling system 102 needs to acquire the current physical position of the inspection robot for making an inspection plan, and the physical position can be reported by a local monitoring system of the substation.
In a specific implementation, the centralized scheduling system 102 may obtain the observation position of the pre-stored device according to the information of the device to be detected, and obtain the physical position of at least one type of inspection robot corresponding to the substation from the information reported by the local monitoring system of the substation.
And step S204, determining a patrol plan corresponding to the transformer substation according to the observation position and the physical position.
Wherein, the observation position of the equipment to be detected in the transformer substation can be a preset fixed position. At least one type of patrol robot physical location in the substation may be a variable location. The inspection plan comprises the equipment to be detected corresponding to each type of inspection robot. The centralized scheduling system determines the equipment to be detected corresponding to the inspection robot, and the equipment to be detected can be determined through one or more indexes of relative distance, traversal paths and the type of the inspection robot.
In the concrete implementation, the centralized scheduling system can determine the equipment to be detected corresponding to at least one type of inspection robot according to the observation position of the equipment to be detected and the physical position of the inspection robot, and determine the inspection plan of the transformer substation according to the combination of a plurality of inspection robots and the corresponding equipment to be detected.
And step S205, sending the patrol plan to a local monitoring system of the transformer substation.
In specific implementation, the centralized scheduling system can send the determined patrol plans of the substations to the local monitoring systems of the corresponding substations.
In the routing inspection robot scheduling method, the centralized scheduling system 102 acquires information of equipment to be detected sent by the external power software system, acquires at least one type of routing inspection robot corresponding to the substation according to the information of the equipment to be detected, acquires the observation position of the equipment to be detected and the physical position of the routing inspection robot, determines a routing inspection plan corresponding to the substation according to the observation position and the physical position, and sends the routing inspection plan to the local monitoring system of the substation.
In one embodiment, the types of the inspection robots include a fixed-point robot and a movable robot, and the step of determining to acquire at least one type of inspection robot corresponding to the substation in step S202 includes:
acquiring a fixed point robot corresponding to the transformer substation from the auxiliary control system and/or the local monitoring system;
and/or acquiring the movable robot corresponding to the transformer substation from the local monitoring system.
In this embodiment, the inspection robot may include a fixed point robot and a movable robot. The fixed point robot can be a fixed point camera in a local monitoring system or an auxiliary control system, and can be preferentially selected to take a tour task in at least one type of robot due to the fixed position of the fixed point robot. The movable robot can be a patrol robot, an indoor robot, a valve hall robot and the like of each transformer substation. The centralized scheduling system 102 may obtain the corresponding movable robot and fixed point robot from the local monitoring system and obtain the corresponding fixed point robot from the auxiliary control system according to the equipment to be detected and the substation to which the equipment to be detected belongs. The local monitoring system may allocate a fixed-point robot of the local monitoring system to execute the patrol task according to the received patrol plan of the centralized scheduling system 102, and interact with the auxiliary control system according to the patrol plan, so that the fixed-point robot in the auxiliary control system executes the patrol task. The local monitoring system may include monitoring terminals of a plurality of substations, and the centralized scheduling system 102 may obtain inspection robots respectively corresponding to the plurality of substations from the local monitoring system.
According to the scheme of the embodiment, the centralized dispatching system 102 obtains the corresponding inspection robots from the local monitoring system and the auxiliary control system of the transformer substation, and interaction among different power equipment is improved.
In one embodiment, the step of determining the patrol plan corresponding to the substation according to the observed position and the physical position in step S204 includes:
determining a theoretical path of at least one type of inspection robot when the inspection robot covers the equipment to be detected according to the observation position and the physical position; processing the theoretical path according to a preset algorithm model, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot; and acquiring a patrol plan corresponding to the transformer substation by the equipment to be detected and the patrol path corresponding to at least one type of patrol robot.
In this embodiment, the internal structure of transformer substation is complicated, and the barrier is more. When making a patrol plan, a route through which the patrol robot can pass needs to be planned. The theoretical path may be a path through which the inspection robot can avoid an obstacle and pass when performing a task inside the substation, and may be a set of a plurality of paths. The algorithm model can obtain the equipment to be detected and the inspection path corresponding to the feasible inspection robot according to the input information. The path of the equipment to be detected corresponding to the patrol inspection robot can be selected by more than one path, and can be selected according to indexes such as patrol inspection time, patrol inspection path length, patrol inspection path repeatability and the like, and can also be determined according to historical patrol inspection records of the transformer substation, so that the patrol inspection path which meets the basic patrol inspection requirement of the transformer substation or is higher than the basic patrol inspection requirement is determined.
The centralized scheduling system 102 may determine a passable theoretical path of each inspection robot in the power transformation when traversing all the devices to be detected according to the observation position of the devices to be detected and the physical position of the inspection robot. The centralized scheduling system 102 may process the theoretical path according to a preset algorithm model to obtain detection devices and inspection paths corresponding to each type of inspection robot in the substation, and determine an inspection plan meeting inspection requirements of the substation according to the to-be-detected devices and the inspection paths corresponding to the inspection robots.
In some embodiments, the number of each of the at least one type of inspection robot may be more than one. And acquiring the equipment to be detected and the patrol path corresponding to each patrol robot through a preset algorithm model.
According to the scheme of the embodiment, the centralized scheduling system 102 determines the theoretical path which can avoid the obstacle and can pass through according to the observation position of the equipment to be detected of the transformer substation and the physical position of the inspection robot, determines the equipment to be detected and the inspection path of the inspection robot according to the preset algorithm model, finally obtains the inspection plan of the transformer substation, and improves the feasibility of the inspection plan.
In one embodiment, the step of determining the equipment to be detected and the patrol route corresponding to each type of patrol robot according to the theoretical route processed by the preset algorithm model comprises the following steps:
and inputting the theoretical path into a pre-trained neural network model, and determining the equipment to be detected and the patrol path corresponding to each type of patrol robot according to the output of the neural network model.
In this embodiment, the neural network model is an abstract mathematical model that reflects the structure and function of the human brain, and processes continuous or intermittent input information. Structurally, a neural network model can be divided into an input layer, an output layer and a hidden layer, the neural network comprises a plurality of neuron nodes, each node of the neural network is connected with a plurality of nodes in front, the weight corresponding to each connection is determined and adjusted during neural network training, and the change rule of an influence variable in a training set influenced by a predictive variable is described according to the neural network model obtained after training of the training set is completed. Neural network models can be used for path-optimized combining and robot control. The centralized scheduling system 102 may train a neural network model according to a set training data set including a theoretical path of the inspection robot, an actual inspection path corresponding to the theoretical path, and an actual correspondence between the inspection robot and the device under inspection. When the patrol plan of the substation is customized, the centralized scheduling system 102 may input the theoretical path of the patrol robot into the neural network model for information processing, and determine the to-be-detected equipment and the patrol path corresponding to each type of patrol robot in the substation according to the result output by the model.
In some embodiments, the patrol plan and the trained neural network model may be stored in a storage module of the centralized scheduling system 102, and the neural network model may be updated according to the newly generated patrol plan.
In some embodiments, the centralized scheduling system 102 may perform neural network model training according to the physical layout of the equipment and the plant of the substation, the observation position of the equipment to be detected, the physical position of the inspection robot, and the actual inspection equipment and the actual inspection path corresponding to the inspection robot as a training sample set. The centralized scheduling system 102 may input the obtained observation position of the device to be inspected and the physical position of the inspection robot into the neural network model, so as to determine the device to be inspected and the inspection path corresponding to each type of inspection robot according to the output of the neural network model.
In the scheme of the embodiment, the centralized scheduling system 102 inputs the theoretical path into the neural network model trained in advance, and determines the to-be-detected equipment and the patrol path corresponding to each type of patrol robot according to the output of the neural network model, so that the accuracy of determining the patrol path of the patrol robot is improved.
In one embodiment, the method for obtaining the patrol plan corresponding to the substation by the equipment to be detected and the patrol route corresponding to at least one type of patrol robot comprises the following steps:
the shortest path of at least one type of inspection robot when inspecting the corresponding equipment to be inspected is used as the inspection path of at least one type of inspection robot; and obtaining a patrol plan corresponding to the transformer substation according to the to-be-detected equipment and the patrol route which are respectively corresponding to at least one type of patrol robot in the transformer substation.
In this embodiment, the patrol route may include a route that the patrol robot needs to pass through to perform the patrol task, and the patrol route may include a travel route of the patrol robot and an observation position of the device on the patrol route. In order to save resources and improve inspection efficiency, the centralized scheduling system 102 may determine, according to at least one type of inspection robot, that each type of inspection robot corresponds to the equipment to be inspected and the inspection path, a shortest path when the inspection robot can detect the corresponding equipment to be inspected, as the inspection path of the inspection robot. The centralized dispatching system 102 may use the inspection equipment to be detected and the inspection path corresponding to each type of inspection robot in the substation as the inspection plan corresponding to the substation, that is, the inspection plan corresponding to the substation may include a plurality of inspection robots corresponding to the inspection equipment to be detected and the inspection path. When the local monitored control system control of transformer substation patrolled and examined the robot and patrolled according to the plan execution of patrolling, can patrol and examine the tour route that the robot corresponds according to each and go on to avoid missing the inspection, patrol and equipment detection according to the shortest path simultaneously, improve and patrol efficiency.
In some embodiments, each inspection robot type may include a plurality of inspection robots belonging to the same type, and the centralized scheduling system 102 may further determine the inspection equipment and the inspection path corresponding to each inspection robot.
According to the scheme of the embodiment, the centralized scheduling system 102 can use the shortest path of the inspection robot when inspecting the corresponding equipment to be detected as the inspection path of the inspection robot, and obtain the inspection plan corresponding to the transformer substation according to the inspection path, so that the acquisition efficiency of the inspection plan is improved, and the inspection detection efficiency is also improved.
In one embodiment, the method further comprises:
acquiring equipment data obtained by executing a patrol plan by a local monitoring system; and after the device data is subjected to external firewall detection, sending the device data to an external power software system.
In this embodiment, the device data may include device result data and device defect result data. After the local monitoring equipment acquires the patrol plans sent by the centralized scheduling system, patrol paths in the patrol plans corresponding to the patrol robots of the transformer substation can be allocated, patrol tasks are executed, and equipment data are obtained. In order to improve the safety of communication between the local monitoring system and the transformer substation and between the local monitoring system and the private power network, the equipment data can be encrypted and transmitted through a safety module in the local monitoring system. After the centralized scheduling system acquires the equipment data, the data can be sent to the external power software system after being detected by an external firewall, so that the safety of communication between the power intranet and the external power software system is ensured.
In the scheme in the above embodiment, the centralized scheduling system 102 obtains the device data transmitted by the security encryption module in the local monitoring system, and sends the data to the external power software system, so that the security of data transmission in the power network is improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In order to more clearly illustrate the scheme provided by the present application, the following describes that the inspection robot scheduling method provided by the above embodiments of the present application is applied to a scheduling system of multiple types of inspection robots, and as shown in fig. 3, the scheduling system includes a centralized management system and a local monitoring system.
The centralized management system comprises an external firewall, an external communication server, a scheduling analysis processing server, a scheduling data storage server, a scheduling communication server and a scheduling switch. And the external firewall is responsible for ensuring the network security of the centralized management system accessing the power intranet. The external communication server is responsible for building data into an external power software system and carrying out data interaction with the centralized management system. The dispatching analysis processing server dispatches a plurality of robots of various types to finish the patrol detection of the equipment according to the geographical position of the equipment to be detected. And the dispatching data storage server is responsible for storing the dispatching subsystem inspection model and the inspection data. The patrol model comprises an equipment model and a patrol plan model. The dispatching communication server is responsible for the analysis and the construction of the interaction protocol of the dispatching analysis processing server and the local monitoring system. And the dispatching switch is responsible for dispatching the network connection between the analysis processing server and the local monitoring system.
The local monitoring system comprises a local monitoring end firewall, a local monitoring end analysis processing server, a local monitoring end storage server, a local monitoring end safety device, a wireless communication module, a robot safety device and an inspection robot, wherein the inspection robot can comprise a fixed point robot and a movable robot. The local monitoring end firewall is responsible for ensuring the security of the local monitoring end system accessing the private power network. The local monitoring terminal analysis processing server is responsible for receiving the command issued by the centralized management system and issuing the command to the inspection robot to execute the command; and receiving the data transmitted by the inspection robot, analyzing and processing the data, and then transmitting the analysis result to the centralized management system. And the local monitoring end storage server is responsible for storing the routing inspection model and data of the local monitoring end. The inspection model comprises an equipment model and a task model. The local monitoring end safety device is responsible for encrypting a command issued by the local monitoring end analysis processing server, sending the encrypted command to the wireless communication module, decrypting information received from the wireless communication module and sending the decrypted information to the local monitoring end analysis processing server. The wireless communication module is responsible for information interaction between the analysis processing server of the local monitoring terminal and the inspection robot. The interactive information comprises a control command, the position of the robot, a patrol picture and the like. The robot safety device is responsible for decrypting data received from the wireless communication module and sending the data to the robot, encrypting information received from the inspection robot and sending the information to the wireless communication module. The inspection robot is responsible for executing inspection tasks and uploading inspection picture data.
The steps of scheduling the inspection robots on the scheduling system of the multiple types of inspection robots are as shown in fig. 4, and specifically include:
the method comprises the following steps: and an external communication server of the centralized management system receives the equipment information to be detected, which is sent by the external power software system and is detected by an external firewall, packages the equipment information into a communication message and sends the communication message to the scheduling analysis processing server. The device information may be transmitted in the form of a device list.
Step two: after receiving the equipment list message, the dispatching analysis processing server of the centralized management system groups the equipment according to the transformer substation, and each group searches for the nearest robot in the transformer substation to which the equipment belongs. Each transformer substation forms a patrol plan comprising a plurality of robots, and the patrol plan is stored in the scheduling data storage server. And meanwhile, the patrol plan is sent to the dispatching communication server through a local monitoring end firewall.
Step three: and after receiving the patrol plan, the dispatching communication server of the centralized management system analyzes the transformer substation information in the plan, packages the command into a communication message and sends the communication message to the local monitoring terminal analysis processing server of each transformer substation.
Step four: after receiving the patrol plan message, the local monitoring end analysis processing server of the local monitoring system generates a patrol task of each robot according to patrol contents of each robot in the patrol plan in the command message, and the local monitoring end storage server simultaneously issues to the local monitoring end safety device for data encryption and distributes to the wireless communication module of the corresponding robot.
Step five: and after receiving the encrypted data, the wireless communication module of the local monitoring system forwards the encrypted data to the robot safety device for data decryption, and sends the decrypted inspection task instruction to the inspection robot for equipment inspection.
Step six: each robot at the substation end sequentially reaches the equipment observation position according to the inspection route in the inspection task to acquire equipment detection data, the acquired data are encrypted by the robot safety device and then sent to the wireless communication module, the wireless communication module forwards the received encrypted data to the local monitoring end safety device, the local monitoring end safety device decrypts the data into inspection data, and the inspection data are forwarded to the local monitoring end analysis processing server.
Step seven: and after receiving the acquired data, the local monitoring end analysis processing server of the local monitoring system performs data analysis to obtain a detection result and alarm information of the equipment, stores the detection result and the alarm information into the local monitoring storage server, performs message encapsulation through the scheduling communication server, and forwards the information to the scheduling analysis processing server through the firewall security detection of the local monitoring end.
Step eight: and the dispatching analysis processing server of the centralized management system receives the patrol result, stores the equipment patrol result into the dispatching data storage server and forwards the equipment patrol result to the external communication server, the external communication server constructs a communication message with the received data and forwards the communication message to an external firewall, and the external firewall forwards the communication message to an external power software system after detection.
In one embodiment, as shown in fig. 5, there is provided an inspection robot scheduling system, the system 500 includes a centralized scheduling system 501 and a local monitoring system 502 of a substation, the centralized scheduling system 501 is connected to the local monitoring system 502 in communication, wherein:
a centralized scheduling system 501, configured to execute the inspection robot scheduling method according to any of the embodiments;
the local monitoring system 502 is used for sending the physical position of at least one type of inspection robot corresponding to the transformer substation to the centralized scheduling system; and the inspection robot is used for controlling at least one type of inspection robot to inspect the corresponding equipment to be detected according to the inspection plan of the transformer substation sent by the centralized scheduling system.
Above-mentioned inspection robot scheduling system can acquire the equipment information of waiting to detect through concentrated regulation and control system 501, according to waiting to detect equipment information acquisition wait to detect the physical position of at least one type of inspection robot that equipment's observation position and local monitored control system 502 uploaded, and according to observation position and physical position, confirm the tour plan that the transformer substation corresponds, send the local monitored control system 502 for the transformer substation, obtain the equipment data that the tour robot obtained after carrying out the tour plan from local monitored control system 502, the interaction between different electric power systems when having promoted the transformer substation and patrolling and examining, make at least one type of inspection robot carry out the tour plan, further improved the efficiency of patrolling and examining robot scheduling.
In one embodiment, as shown in fig. 6, there is provided an inspection robot scheduling apparatus applied to a centralized scheduling system, the apparatus 600 including:
the device information acquiring module 601 is configured to acquire device information to be detected, which is sent by an external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs;
the robot acquiring module 602 is configured to acquire at least one type of inspection robot corresponding to the substation;
the position acquisition module 603 is used for acquiring the pre-stored observation position of the equipment to be detected and the physical position of the inspection robot; the physical position is reported by a local monitoring system of the transformer substation;
the patrol plan obtaining module 604 is configured to determine a patrol plan corresponding to the substation according to the observation position and the physical position; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot;
and a sending module 605, configured to send the patrol plan to the local monitoring system of the substation.
In one embodiment, the types of inspection robots include fixed-point robots and mobile robots; the robot obtaining module 602 is further configured to obtain a fixed point robot corresponding to the substation from the secondary control system and/or the local monitoring system; and/or acquiring the movable robot corresponding to the transformer substation from the local monitoring system.
In one embodiment, the patrol plan obtaining module 604 is further configured to determine a theoretical path when at least one type of patrol robot covers the device to be detected according to the observed position and the physical position; processing the theoretical path according to a preset algorithm model, and determining equipment to be detected and a patrol path corresponding to each type of patrol robot; and acquiring a patrol plan corresponding to the transformer substation by the equipment to be detected and the patrol path corresponding to at least one type of patrol robot.
In one embodiment, the patrol plan obtaining module 604 is further configured to input the theoretical path into a pre-trained neural network model, and determine the to-be-detected device and the patrol path corresponding to each type of patrol robot according to the output of the neural network model; the neural network model is obtained by training as a training sample set according to a theoretical path of the inspection robot, an actual inspection path corresponding to the theoretical path and an actual corresponding relation between the inspection robot and the equipment to be detected.
In one embodiment, the patrol plan obtaining module 604 is further configured to use a shortest path when at least one type of patrol robots patrol the respective corresponding devices to be detected as a patrol path of at least one type of patrol robots; and obtaining a patrol plan corresponding to the transformer substation according to the to-be-detected equipment and the patrol route which are respectively corresponding to at least one type of patrol robots in the transformer substation.
In one embodiment, the apparatus 600 further comprises: acquiring equipment data obtained by executing a patrol plan by a local monitoring system; the equipment data is encrypted and transmitted in the local monitoring system through the security module; and after the device data is subjected to external firewall detection, sending the device data to an external power software system.
The specific definition of the patrol robot scheduling device can be referred to the definition of the patrol robot scheduling method, and is not described in detail here. All or part of each module in the routing inspection robot scheduling device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The routing inspection robot scheduling method can be applied to computer equipment, the computer equipment can be a server, and the internal structure diagram can be shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the acquired application system configuration data and the operation module. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of scheduling inspection robots.
It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the above method embodiments when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A routing inspection robot scheduling method is applied to a centralized scheduling system, and comprises the following steps:
acquiring information of equipment to be detected, which is sent by an external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs;
acquiring at least one type of inspection robot corresponding to the transformer substation;
acquiring a prestored observation position of the equipment to be detected and a prestored physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation;
determining a patrol plan corresponding to the transformer substation according to the observation position and the physical position; the method comprises the following steps: determining a theoretical path of the at least one type of inspection robot when the inspection robot covers the equipment to be detected according to the observation position and the physical position; the theoretical path is a path which can avoid obstacles and can pass through when the inspection robot executes tasks in the transformer substation, and the theoretical path is a set of a plurality of paths; processing the theoretical path according to a preset algorithm model, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot; acquiring a patrol plan corresponding to the transformer substation by the equipment to be detected and the patrol path corresponding to the at least one type of patrol robot; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot;
and sending the patrol plan to a local monitoring system of the transformer substation.
2. The method according to claim 1, wherein the types of the inspection robot include a fixed point robot and a movable robot; the method for acquiring the inspection robot of at least one type corresponding to the transformer substation comprises the following steps:
obtaining a fixed point robot corresponding to the transformer substation from an auxiliary control system and/or the local monitoring system;
and/or acquiring the movable robot corresponding to the transformer substation from the local monitoring system.
3. The method according to claim 1, wherein the step of processing the theoretical path according to a preset algorithm model to determine the equipment to be detected and the patrol path corresponding to each type of patrol robot comprises the following steps:
inputting the theoretical path into a pre-trained neural network model, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot according to the output of the neural network model;
the neural network model is obtained by training as a training sample set according to a theoretical path of the inspection robot, an actual inspection path corresponding to the theoretical path and an actual corresponding relation between the inspection robot and equipment to be detected.
4. The method according to claim 1, wherein the obtaining of the patrol plan corresponding to the substation from the equipment to be detected and the patrol route corresponding to each of the at least one type of patrol robot comprises:
taking the shortest path of the at least one type of inspection robot when inspecting the equipment to be inspected corresponding to the at least one type of inspection robot as an inspection path of the at least one type of inspection robot;
and obtaining a patrol plan corresponding to the transformer substation according to the equipment to be detected and the patrol path corresponding to the at least one type of patrol robot in the transformer substation.
5. The method according to any one of claims 1 to 4, further comprising:
acquiring equipment data obtained by the local monitoring system executing the patrol plan; the equipment data is encrypted and transmitted in the local monitoring system through a security module;
and after external firewall detection is carried out on the equipment data, the equipment data are sent to the external power software system.
6. A scheduling system for inspection robots, the system comprising: a centralized dispatching system and a local monitoring system of the transformer substation; the centralized scheduling system is in communication connection with the local monitoring system; wherein, the first and the second end of the pipe are connected with each other,
the centralized scheduling system is used for executing the inspection robot scheduling method of any one of claims 1 to 5;
the local monitoring system is used for sending the physical position of at least one type of inspection robot corresponding to the transformer substation to the centralized scheduling system; and the inspection robot is used for controlling the inspection robot of at least one type to inspect the corresponding equipment to be detected according to the inspection plan of the transformer substation sent by the centralized scheduling system.
7. The utility model provides a scheduling device of robot patrols and examines, its characterized in that is applied to centralized dispatch system, the device includes:
the device information acquisition module is used for acquiring the information of the device to be detected, which is sent by the external power software system; the information of the equipment to be detected comprises the equipment to be detected and a transformer substation to which the equipment to be detected belongs;
the robot acquisition module is used for acquiring at least one type of inspection robot corresponding to the transformer substation;
the position acquisition module is used for acquiring the pre-stored observation position of the equipment to be detected and the pre-stored physical position of the inspection robot; the physical location is reported by a local monitoring system of the substation;
the inspection plan acquisition module is used for determining an inspection plan corresponding to the transformer substation according to the observation position and the physical position; the system is further used for determining a theoretical path when the inspection robot of at least one type covers the equipment to be detected according to the observation position and the physical position; the theoretical path is a path which can avoid obstacles and can pass through when the inspection robot executes tasks in the transformer substation, and the theoretical path is a set of a plurality of paths; processing the theoretical path according to a preset algorithm model, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot; acquiring a patrol plan corresponding to the transformer substation by the equipment to be detected and the patrol path corresponding to the at least one type of patrol robot; the inspection plan comprises equipment to be detected corresponding to each type of inspection robot;
and the sending module is used for sending the patrol plan to a local monitoring system of the transformer substation.
8. The apparatus of claim 7, wherein the patrol plan acquisition module is further configured to: inputting the theoretical path into a neural network model trained in advance, and determining equipment to be detected and an inspection path corresponding to each type of inspection robot according to the output of the neural network model; the neural network model is obtained by training as a training sample set according to a theoretical path of the inspection robot, an actual inspection path corresponding to the theoretical path and an actual corresponding relation between the inspection robot and equipment to be detected.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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| CN114358329A (en) * | 2021-11-29 | 2022-04-15 | 深圳供电局有限公司 | Substation inspection management method and device, computer equipment and storage medium |
| CN114362357A (en) * | 2021-12-10 | 2022-04-15 | 深圳供电局有限公司 | Monitoring method of transformer substation |
| CN114741454B (en) * | 2022-06-10 | 2022-09-13 | 成都秦川物联网科技股份有限公司 | Industrial Internet of things for routing inspection data processing and control method thereof |
| CN115395661B (en) * | 2022-09-28 | 2023-06-09 | 国家电投集团广西电力有限公司运营服务分公司 | New energy remote centralized control center communication system constructed based on power private network |
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