CN115685975A - No-signal off-line operation method and system for power transmission line inspection robot - Google Patents
No-signal off-line operation method and system for power transmission line inspection robot Download PDFInfo
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Abstract
The invention discloses a no-signal off-line operation method and a no-signal off-line operation system for a power transmission line inspection robot, which comprise the following steps of: 1) Judging the signal connection condition of the robot manual control machine and the background server, if the judgment result is weak signal or no signal connection, the robot manual control machine enters an offline running state, and entering the step 2); if not, entering a networking operation state; step 2) inquiring the electric quantity of the robot, judging whether the electric quantity of the robot can complete the task and returning to the mother port according to the task route and the remaining task mileage in the task instruction; if yes, entering step 3); if not, entering the step 4); step 3): executing the inspection task according to the offline autonomous operation strategy; and 4) sending an alarm signal to a background and standing by at the mother port. The invention ensures that the inspection image can be processed in time in weak signal or no-signal areas, and realizes the real-time analysis of the inspection image.
Description
Technical Field
The invention relates to the power grid inspection robot technology, in particular to a no-signal off-line operation method and a no-signal off-line operation system for a power transmission line inspection robot.
Background
The overhead transmission line is an important component of an electric power system, and the problem of partial defects is easy to occur in the operation process of the overhead transmission line, so that the safe and stable operation of the transmission line is influenced, and the overhead transmission line needs to be regularly inspected, faults are eliminated, and accidents are prevented. The traditional inspection mode that relies on artifical transmission line is big, inefficiency in operation intensity, and to the complicated even dangerous region of part topography, the manual work is patrolled and examined the degree of difficulty and is great, consequently patrols and examines the robot and is used widely gradually in actual engineering. The inspection robot device shoots an inspection image, the image is transmitted to a background through a wireless network, and the image is processed and target detection is carried out on the background, so that the defect identification and positioning are completed.
However, the transmission line has a wide coverage area, and weak signals or even no signals exist in a partial area. The inspection robot cannot transmit the image to the background, and the real-time performance of image detection is affected. Therefore, it is necessary to research a non-signal offline autonomous operation technology of the power transmission line inspection robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing a no-signal off-line operation method and a no-signal off-line operation system for a power transmission line inspection robot aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows: a power transmission line inspection robot no-signal off-line operation method is disclosed, wherein the power transmission line inspection robot comprises a robot manual controller and a robot image processing chip, wherein the robot manual controller is communicated with a background server;
the no-signal off-line operation method comprises the following steps:
step 1) judging the signal connection condition of the robot control machine and a background server, and if the judgment result is weak signal or no signal connection, the robot control machine enters an offline running state and enters step 2); if not, entering a networking operation state; when the network is in a running state, the robot manual control machine receives and executes the inspection task instruction sent by the background server, executes the inspection task and sends the inspection image to the background server; the task instruction comprises path planning, routing inspection path matching and navigation positioning;
step 2) inquiring the electric quantity of the robot, judging whether the electric quantity of the robot can complete the task and returning to the mother port according to the task route and the remaining task mileage in the task instruction; if yes, entering step 3); if not, entering step 4);
and step 3): executing a polling task according to an offline autonomous operation strategy, transmitting a polling image acquired by a robot camera to a robot chip for processing, temporarily storing a processing result, and transmitting the temporarily stored processing result to a background server after a wireless signal is normal;
when the inspection robot judges that the task can be completed in the offline autonomous operation state, the inspection task is executed according to the offline autonomous operation strategy, and the method specifically comprises the following steps:
step 3.1) judging whether the inspection tower arrives, and if not, entering step 3.2); if the judgment result is yes, entering the step 3.3);
step 3.2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 3.4); if the judgment result is negative, entering the step 3.5);
step 3.3) photographing according to the preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and if not, entering step 3.5); if the judgment result is yes, entering the step 3.6);
step 3.4), photographing and storing the ground wire, and entering step 3.6);
step 3.5) continuing to execute the routing inspection task according to the preset task route;
step 3.6), returning to the mother port, and closing the camera;
and 4) sending an alarm signal to a background and standing by at the mother port.
According to the scheme, the robot manual control machine is connected with the background server through wireless signals.
According to the scheme, the robot manual control machine is connected with the robot image processing chip through a data line.
A power transmission line inspection robot signal-free off-line operation system comprises a robot manual control machine and a robot image processing chip, wherein the robot manual control machine is communicated with a background server;
the no-signal off-line operation method comprises the following steps:
the signal detection module is used for judging the signal connection condition of the robot control machine and the background server in real time, if the judgment result is weak signal or no signal connection, the robot control machine enters an offline operation state, and otherwise, the robot control machine enters an online operation state;
the networked operation module is used for receiving and executing the inspection task instruction sent by the background server by the robot control machine, executing the inspection task and sending the inspection image to the background server; the task instruction comprises path planning, routing inspection path matching and navigation positioning;
the off-line operation detection module is used for judging whether the robot electric quantity can complete the task and returning to the mother port according to the inquired robot electric quantity, the task route and the remaining task mileage in the task instruction; if the judgment result is yes, an offline autonomous operation execution module is triggered; if not, sending an alarm signal to a background and standing by in the mother port;
the offline autonomous operation execution module is used for executing an inspection task according to an offline autonomous operation strategy, transmitting an inspection image acquired by the robot camera to the robot chip for processing, temporarily storing a processing result to the robot controller, and transmitting the temporarily stored processing result to the background server after the wireless signal is normal;
the inspection task is executed according to an offline autonomous operation strategy, and the method specifically comprises the following steps:
step 1) judging whether the tower reaches the inspection tower, and if the judgment result is negative, entering step 2); if the judgment result is yes, entering the step 3);
step 2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 4); if the judgment result is negative, entering the step 5);
step 3) photographing according to a preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and if not, entering step 5); if the judgment result is yes, entering step 6);
step 4), photographing and storing the ground wire, and entering step 6);
step 5), continuing to execute the routing inspection task according to the preset task route;
and 6) returning to the mother port, and closing the camera.
According to the scheme, the robot manual control machine is connected with the background server through wireless signals.
According to the scheme, the robot manual control machine is connected with the robot image processing chip through a data line.
The invention has the following beneficial effects:
the invention ensures that the execution of the polling task is not influenced in weak signal or no-signal areas, and meanwhile, the polling image can be processed in time, the real-time analysis of the polling image is realized, and the timeliness requirement of defect judgment is met; in addition, the technical scheme of the invention is designed aiming at the routing inspection of the power transmission line, and can meet the routing inspection requirement of the power transmission line.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
fig. 2 is a flowchart of an offline autonomous operation strategy of the power transmission line inspection robot according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, in the system and the method for operating the power transmission line inspection robot without the signal offline provided by the invention, in a weak signal or no signal area, the power transmission line inspection robot continues to execute tasks according to an offline autonomous operation strategy; after the signal is recovered, the inspection robot can automatically upload the processing result in the offline autonomous operation period to the background system.
The no-signal offline autonomous operation system of the power transmission line inspection robot comprises: the robot control machine is characterized by judging the signal connection state of the robot control machine and the background server, inquiring the state of the robot, executing a task instruction, temporarily storing an analysis result and an inspection task execution record when weak signal or no signal is connected, and transmitting temporarily stored data to the background server after waiting for the normal wireless signal.
The robot control machine is connected with the background server through wireless signals;
the robot control machine is connected with the robot chip through a data line;
when the signal connection between the robot manual control machine and the background server is normal, the robot manual control machine receives and executes an inspection task instruction sent by the background server, executes an inspection task and sends an inspection image to the background server;
the task instruction comprises path planning, routing inspection path matching and navigation positioning;
the flow of the no-signal offline autonomous operation method of the power transmission line inspection robot is shown in fig. 1, and the method specifically comprises the following steps:
step 1) judging the signal connection condition of the robot manual control machine and the background server, and if judging that the signal connection condition is weak or no signal connection, enabling the robot manual control machine to enter an offline running state, and entering step 2); if not, the network operation state is entered.
Step 2) inquiring the electric quantity of the robot, presetting a task route and remaining task mileage, judging whether the task can be completed or not, and returning to the mother port; if yes, entering step 3); if not, entering the step 4);
and 3) executing the polling task according to an offline autonomous operation strategy, transmitting the polling image acquired by the robot camera to a robot image processing chip for processing, temporarily storing the processing result, and transmitting the temporarily stored processing result to a background server after the wireless signal is normal.
And 4) sending an alarm signal to a background and standing by at the mother port.
The off-line inspection strategy of the transformer substation inspection robot is shown in fig. 2 and specifically comprises the following steps:
when the inspection robot judges that the task can be completed in the offline autonomous operation state, the inspection task is executed according to the following strategies:
step 3.1) judging whether the inspection tower arrives, and if not, entering step 3.2); if the judgment result is yes, entering the step 3.3);
step 3.2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 3.4); if the judgment result is negative, entering the step 3.5);
step 3.3) photographing according to the preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and if not, entering step 3.5); if the judgment result is yes, entering the step 3.6);
step 3.4), photographing and storing the ground wire, and entering step 3.6);
step 3.5) continuing to execute the routing inspection task according to the preset task route;
and 3.6) returning to the mother port, and closing the camera.
According to the method, the invention also provides a no-signal off-line operation system of the power transmission line inspection robot, wherein the power transmission line inspection robot comprises a robot manual controller and a robot image processing chip, wherein the robot manual controller is communicated with the background server;
the no-signal off-line operation method comprises the following steps:
the signal detection module is used for judging the signal connection condition of the robot control machine and the background server in real time, if the judgment result is weak signal or no signal connection, the robot control machine enters an offline operation state, and otherwise, the robot control machine enters a networking operation state;
the networked operation module is used for receiving and executing the inspection task instruction sent by the background server by the robot control machine, executing the inspection task and sending the inspection image to the background server; the task instruction comprises path planning, routing inspection path matching and navigation positioning;
the off-line operation detection module is used for judging whether the electric quantity of the robot can complete the task and returning to the mother port according to the electric quantity of the robot, the task route and the remaining task mileage in the task instruction; if the judgment result is yes, an offline autonomous operation execution module is triggered; if not, sending an alarm signal to a background and standing by in the mother port;
the offline autonomous operation execution module is used for executing an inspection task according to an offline autonomous operation strategy, transmitting an inspection image acquired by the robot camera to the robot chip for processing, temporarily storing a processing result to the robot controller, and transmitting the temporarily stored processing result to the background server after the wireless signal is normal;
the inspection task is executed according to an offline autonomous operation strategy, and the method specifically comprises the following steps:
step 1) judging whether the tower reaches the inspection tower, and if the judgment result is negative, entering step 2); if the judgment result is yes, entering the step 3);
step 2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 4); if the judgment result is negative, entering the step 5);
step 3) photographing according to a preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and if not, entering step 5); if the judgment result is yes, entering the step 6);
step 4), photographing and storing the ground wire, and entering step 6);
step 5), continuing to execute the routing inspection task according to the preset task route;
and 6) returning to the mother port, and closing the camera.
According to the system, the method and the strategy for the off-line autonomous operation of the power transmission line inspection robot, the power transmission line inspection robot can continuously execute tasks according to the off-line autonomous operation strategy in weak signal or no-signal areas; after the signals are recovered, the inspection robot can automatically upload the processing results during the offline autonomous operation period to a background system, so that the execution of inspection tasks is not influenced in weak signal or no-signal areas, inspection images can be processed in time, the real-time analysis of the inspection images is realized, and the timeliness requirement of defect judgment is met; in addition, the system, the method and the strategy provided by the invention are designed aiming at the power transmission line inspection, and can meet the inspection requirement of the power transmission line.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
1. A power transmission line inspection robot no-signal off-line operation method is disclosed, wherein the power transmission line inspection robot comprises a robot manual controller and a robot image processing chip, wherein the robot manual controller is communicated with a background server; it is characterized in that the preparation method is characterized in that,
the no-signal off-line operation method comprises the following steps:
step 1) judging the signal connection condition of the robot control machine and a background server, and if the judgment result is weak signal or no signal connection, the robot control machine enters an offline running state and enters step 2); if not, entering a networking operation state; when the network is in a running state, the robot manual control machine receives and executes the inspection task instruction sent by the background server, executes the inspection task and sends the inspection image to the background server; the task instruction comprises path planning, routing inspection path matching and navigation positioning;
step 2) inquiring the electric quantity of the robot, judging whether the electric quantity of the robot can complete the task and returning to the mother port according to the task route and the remaining task mileage in the task instruction; if yes, entering step 3); if not, entering the step 4);
step 3): executing a polling task according to an offline autonomous operation strategy, transmitting a polling image acquired by a robot camera to a robot chip for processing, temporarily storing a processing result, and transmitting the temporarily stored processing result to a background server after a wireless signal is normal;
when the inspection robot judges that the task can be completed in the offline autonomous operation state, the inspection task is executed according to the offline autonomous operation strategy, and the method specifically comprises the following steps:
step 3.1) judging whether the inspection tower arrives, and if not, entering step 3.2); if the judgment result is yes, entering the step 3.3);
step 3.2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 3.4); if the judgment result is negative, entering the step 3.5);
step 3.3) photographing according to the preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and entering step 3.5 if the judgment result is negative; if the judgment result is yes, entering the step 3.6);
step 3.4), photographing and storing the ground wire, and entering step 3.6);
step 3.5) continuing to execute the routing inspection task according to the preset task route;
step 3.6), returning to the mother port, and closing the camera;
and 4) sending an alarm signal to a background and standing by at the mother port.
2. The method for the signalless offline operation of the power transmission line inspection robot according to claim 1, wherein the robot controller is connected with the background server through wireless signals.
3. The transmission line inspection robot no-signal off-line operation method according to claim 1, wherein the robot controller is connected with the robot image processing chip through a data line.
4. A power transmission line inspection robot no-signal off-line operation system is disclosed, wherein the power transmission line inspection robot comprises a robot manual controller and a robot image processing chip, wherein the robot manual controller is communicated with a background server; it is characterized in that the preparation method is characterized in that,
the no-signal off-line operation method comprises the following steps:
the signal detection module is used for judging the signal connection condition of the robot control machine and the background server in real time, if the judgment result is weak signal or no signal connection, the robot control machine enters an offline operation state, and otherwise, the robot control machine enters a networking operation state;
the networked running module is used for receiving and executing the inspection task instruction sent by the background server by the robot control machine, executing the inspection task and sending the inspection image to the background server; the task instruction comprises path planning, routing inspection path matching and navigation positioning;
the off-line operation detection module is used for judging whether the robot electric quantity can complete the task and returning to the mother port according to the inquired robot electric quantity, the task route and the remaining task mileage in the task instruction; if yes, an offline autonomous operation execution module is triggered; if not, sending an alarm signal to a background and standing by in the mother port;
the offline autonomous operation execution module is used for executing an inspection task according to an offline autonomous operation strategy, transmitting an inspection image acquired by the robot camera to the robot chip for processing, temporarily storing a processing result to the robot controller, and transmitting the temporarily stored processing result to the background server after the wireless signal is normal;
the inspection task is executed according to an offline autonomous operation strategy, and the method specifically comprises the following steps:
step 1) judging whether the tower reaches the inspection tower, and if the judgment result is negative, entering step 2); if the judgment result is yes, entering the step 3);
step 2) judging whether the ground wire has foreign matters or broken strands, and if so, entering step 4); if the judgment result is negative, entering the step 5);
step 3) photographing according to a preset position, processing the photographed image in a robot image processing chip, storing the image and a processing result, judging whether the task is finished, and if not, entering step 5); if the judgment result is yes, entering step 6);
step 4), photographing and storing the ground wire, and entering step 6);
step 5), continuing to execute the routing inspection task according to the preset task route;
and 6) returning to the mother port, and closing the camera.
5. The transmission line inspection robot signal-free offline operation system according to claim 4, wherein the robot controller is connected with the background server through wireless signals.
6. The transmission line inspection robot no-signal off-line operation system according to claim 4, wherein the robot controller is connected with the robot image processing chip through a data line.
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