Disclosure of Invention
The invention provides a self-adaptive protocol analysis method for robots in the power industry, which is characterized in that the inspection robots in different communication protocol types are distributed according to different inspection tasks in a targeted manner by uniformly managing the inspection robots in multiple communication protocol types, so that the communication protocol self-adaptive analysis of the inspection robots is ensured in the operation and maintenance process of a centralized mountain photovoltaic station with severe environment and complex climate conditions, the communication instantaneity and the stability are ensured, and the robustness of the selective deployment of the inspection robots is improved.
The invention provides a self-adaptive protocol analysis method for a robot in the power industry, which comprises the following steps:
Analyzing a user demand instruction to obtain all inspection tasks, and determining a target type robot of the inspection robot according to inspection spans and inspection modes of all the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot;
according to the working states of the robots, determining all idle inspection robots corresponding to the target type robots, and screening the target inspection robots which accord with the communication protocol type from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements corresponding to all inspection tasks;
And issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to finish self-adaptive access, receiving inspection data corresponding to all inspection tasks from the target inspection robot, and analyzing the inspection data according to self-adaptive protocols of different communication protocol types to obtain inspection results.
According to the adaptive protocol analysis method for the power industry robot provided by the invention, the target type robot of the inspection robot is determined according to the inspection spans and inspection modes of all inspection tasks, and the method comprises the following steps:
determining a patrol place of each patrol task;
according to the sequence of the inspection tasks, determining each relative distance between adjacent inspection sites, and determining each relative distance as an inspection span corresponding to each inspection site;
Determining a routing inspection mode of each routing inspection task according to the routing inspection place of each routing inspection task, wherein the routing inspection mode comprises routing inspection of equipment to be inspected outside a first preset distance or routing inspection of the equipment to be inspected within a second preset distance, and the first preset distance is larger than the second preset distance;
and determining the target type robot of the inspection robot according to the inspection span corresponding to each inspection place and the inspection mode of each inspection task.
According to the adaptive protocol analysis method for the power industry robot provided by the invention, the target type robot of the inspection robot is determined according to the inspection span corresponding to each inspection place and the inspection mode of each inspection task, and the method comprises the following steps:
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take a value of 0 or 1, inWhen the value is 0, the target type robot is determined to be a wheeled robot, and whenWhen the value is 1, the target type robot is determined to be a stepping robot,In order to inspect the span of the tour,For the inspection span threshold value,In the inspection mode, the value is 0 or 1,The total number of inspection sites for all inspection tasks.
According to the self-adaptive protocol analysis method for the robot in the power industry, when any inspection task is to acquire infrared temperature measurement images or visible light images in a booster station and switch room equipment, an inspection mode of inspecting equipment to be inspected outside a first preset distance is adopted, and the value of the inspection mode is 0;
And under the condition that any inspection task is to acquire the switch state, the disconnecting link state, the indicator light state, the pressing plate state, the instrument reading, the SF6 gas leakage monitoring, the partial discharge monitoring, the transformer oil leakage condition, the transformer oil temperature reading, the transformer oil level reading, the lightning arrester meter reading or the SF6 gas density reading in the booster station and the switch room equipment, adopting an inspection mode for inspecting the equipment to be inspected within a second preset distance, wherein the value of the inspection mode is 1.
According to the self-adaptive protocol analysis method for the robots in the power industry, before the target patrol robots conforming to the communication protocol type are screened out from all idle patrol robots, the method further comprises the following steps:
presetting inspection robots with different communication protocol types according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements of the power industry on different preset tasks;
the communication protocol type of each inspection robot is determined according to different manufacturers when the inspection robots are produced;
The real-time requirements comprise ensuring that the inspection robot is controlled in real time, and the corresponding communication protocol types of the real-time requirements comprise an open communication protocol standard CANopen based on a CAN bus, a communication protocol Profinet used in the industrial automation field, a communication protocol PROFIBUS used in the industrial automation field, an industrial control network protocol DeviceNet based on the CAN bus or a power system communication protocol IEC 104;
The data transmission requirement comprises a data transmission rate and a data transmission quantity, and the communication protocol types corresponding to the data transmission requirement comprise industrial automation network standards Ethernet/IP based on Ethernet, communication protocol Modbus TCP, communication protocol Modbus RTU, person communication protocol Modbus ASCII, communication protocol Modbus TCP/IP and message transmission protocol MQTT;
The task cross-platform compatibility requirement comprises data exchange and connection of a plurality of cross-platform devices, and the communication protocol type corresponding to the task cross-platform compatibility requirement comprises an open cross-platform industrial communication protocol OPC UA or an application program interface API.
According to the method for analyzing the self-adaptive protocol of the robot in the power industry, the method for screening the target inspection robot conforming to the communication protocol type from all the idle inspection robots comprises the following steps:
Screening all the patrol robots to be allocated, which accord with the communication protocol type, from all the idle patrol robots;
Determining the relative distance between the inspection places corresponding to the first inspection task of each inspection robot to be allocated in the current state;
and determining the to-be-allocated inspection robot with the minimum relative distance as a target inspection robot.
According to the method for analyzing the self-adaptive protocol of the robot in the power industry, before issuing the user demand instruction to the target inspection robot, the method further comprises the following steps:
constructing a preset protocol converter architecture, wherein the preset protocol converter architecture comprises a protocol plug-in corresponding to each communication protocol type;
the protocol plug-in is in communication connection with a communication interface corresponding to each inspection robot;
The preset protocol converter architecture is used for converting data received from different inspection robots into a preset unified format, and the preset unified format is determined according to all communication protocol types and data fields corresponding to each communication protocol type so as to adapt to different communication protocol types and different data formats.
According to the self-adaptive protocol analysis method for the robot in the power industry, after the inspection result is obtained, the method further comprises the following steps:
extracting characteristic elements in the inspection pictures for each inspection picture in the inspection result, wherein the characteristic elements comprise a switch, a disconnecting link, an indicator light, a pressing plate, different fonts, the font size and the color of each font;
Determining each target device in the inspection task according to the characteristic elements in the inspection pictures, and obtaining device information of the target devices corresponding to each inspection picture, wherein the device information comprises a target state corresponding to the target devices or a target value corresponding to the target devices;
Under the condition that the target equipment is a switch, a disconnecting link, an indicator light or a pressing plate, inputting the inspection picture to a preset equipment state model, and acquiring a target state corresponding to the target equipment output by the preset equipment state model;
under the condition that the target equipment is equipment with characteristic elements with different fonts, processing the inspection picture by using a preset OCR recognition algorithm to obtain a target value corresponding to the target equipment;
the preset equipment state model is determined after training according to different sample pictures and sample states corresponding to target equipment in each sample picture.
According to the method for resolving the self-adaptive protocol of the robot in the power industry, after obtaining the equipment information of the target equipment corresponding to each inspection picture, the method further comprises the following steps:
And under the condition that the equipment information is determined to be abnormal, generating an alarm instruction, wherein the alarm instruction is used for indicating that the target state or the target value corresponding to the target equipment is abnormal, sending the alarm instruction to a management terminal, and indicating any inspection robot to recheck the target equipment again.
According to the method for analyzing the self-adaptive protocol of the robot in the power industry, before or after analyzing the user demand instruction to obtain all the inspection tasks, the method further comprises the following steps:
under the condition that the current moment is matched with any task execution time in a preset inspection form, determining a form task corresponding to the task execution time so as to determine an inspection result corresponding to the form task;
the preset inspection form is constructed by taking each week as a circulation period, and presetting corresponding different form tasks under different task execution time corresponding to each day.
The beneficial effects of the invention include:
Analyzing according to a user demand instruction to obtain all inspection tasks, determining a target type robot according to inspection spans and inspection modes of the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot, and ensuring that different inspection tasks are executed by selecting a proper robot, so that inspection efficiency and accuracy are improved;
Screening target inspection robots which accord with communication protocol types from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements, ensuring that different inspection tasks can perform data transmission and interaction through a proper communication protocol according to requirements, and realizing intelligent task scheduling by analyzing user demand instructions and considering the target type robots according to factors such as the span, the mode and the real-time requirements of the inspection tasks so as to improve inspection efficiency and accuracy;
Analyzing the inspection data according to the self-adaptive protocols of different communication protocol types, thereby obtaining an accurate inspection result and ensuring that the data collected from the robot can be effectively converted into a usable inspection result and equipment information;
Generating an alarm instruction and sending the alarm instruction to a management terminal under the condition that the equipment information is determined to be abnormal, indicating the robot to review, finding the equipment abnormality in time, taking corresponding measures, ensuring the running safety and stability of the equipment, and realizing the real-time monitoring and abnormality processing of the equipment state;
target equipment information is determined according to the characteristic elements of the inspection picture, the equipment state is analyzed according to a preset equipment state model, an inspection result is finally generated, and task execution and result analysis processes are further optimized.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the operation and maintenance process of the centralized photovoltaic station, regular inspection and operation and maintenance of photovoltaic modules, inverters, box-type transformers, protection equipment, transmission lines, power distribution equipment and metering equipment are required, equipment operation faults are found in time, fault hidden dangers are eliminated in time, normal operation of the equipment is guaranteed, and therefore power generation efficiency of a power station is improved. When the equipment is abnormal in operation, the production efficiency of the power station is greatly influenced, such as the reduction of the power generation efficiency, the increase of the safety risk, the shortening of the service life of the equipment, the damage of the equipment and the abnormality of data, so that the income of the power station is reduced, the operation and maintenance cost is increased, and the income of the power station is seriously influenced. Therefore, it is particularly important to carry out inspection and operation maintenance on the centralized photovoltaic power station in time.
The current centralized photovoltaic operation and maintenance is dependent on a mode of on-site resident first-line personnel, and due to various factors such as severe environment, complex climate conditions and the like, the new energy operation and maintenance has various pain points and difficulties, the traditional operation and maintenance and operation management mode can not meet the requirements of operation units, and the exploration of the new operation and maintenance mode is imperative. Therefore, the related technology is actively pushing advanced equipment such as robots, unmanned aerial vehicles and the like to be applied in the depth of new energy industries, repeated and low-efficiency inspection operation carried out manually is replaced by automatic inspection operation of intelligent equipment, the artificial intelligent technology can further carry out data analysis processing and intelligent judgment and intelligent early warning on inspection results, personnel investment of stations is reduced to the greatest extent, unmanned on duty is completely realized on existing partial stations, and operation and maintenance cost is far lower than that of other new energy stations.
The invention provides a self-adaptive protocol analysis method for robots in the power industry, which aims at the inspection of equipment in a booster station and a power distribution room, builds a set of robot inspection application subsystem, utilizes an LTE base station to meet network communication, supports the inspection of equipment at the lower part of the booster station and equipment in a switching room, automatically shoots, analyzes and identifies equipment states and readings, and triggers an alarm; the remote control robot is supported to start and stop, remotely issue tasks and control execution, and is deeply integrated with a new energy intelligent production operation platform.
Fig. 1 is a schematic flow chart of a method for resolving an adaptive protocol of a robot in the power industry, which includes:
Step 101, analyzing a user demand instruction to obtain all inspection tasks, and determining a target type robot of the inspection robot according to inspection spans and inspection modes of all the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot;
Step 102, determining all idle inspection robots corresponding to the target type robot according to the working state of the robot, and screening the target inspection robot which accords with the communication protocol type from all idle inspection robots according to the real-time requirements, the data transmission requirements and the task cross-platform compatibility requirements corresponding to all inspection tasks;
And 103, issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to finish self-adaptive access, receiving inspection data corresponding to all inspection tasks from the target inspection robot, and analyzing the inspection data according to self-adaptive protocols of different communication protocol types to obtain inspection results.
In step 101, relevant information of all inspection tasks is obtained by analyzing a user demand instruction, including inspection span and inspection mode, and a target type robot suitable for executing the task is determined according to the characteristics of the inspection tasks, which may include a wheeled robot and a stepping robot, so as to realize intelligent task scheduling, ensure that the most suitable robot is selected to execute a specific inspection task, and improve inspection efficiency and accuracy.
Optionally, the determining the target type robot of the inspection robot according to the inspection spans and inspection modes of all the inspection tasks includes:
determining a patrol place of each patrol task;
according to the sequence of the inspection tasks, determining each relative distance between adjacent inspection sites, and determining each relative distance as an inspection span corresponding to each inspection site;
Determining a routing inspection mode of each routing inspection task according to the routing inspection place of each routing inspection task, wherein the routing inspection mode comprises routing inspection of equipment to be inspected outside a first preset distance or routing inspection of the equipment to be inspected within a second preset distance, and the first preset distance is larger than the second preset distance;
and determining the target type robot of the inspection robot according to the inspection span corresponding to each inspection place and the inspection mode of each inspection task.
Optionally, for each inspection task, a specific location to be inspected needs to be determined, which may be determined by a preset map or position information, a distance between adjacent inspection locations in each inspection task may be obtained by map data or GPS information, the distance is defined as an inspection span corresponding to the inspection location according to a relative distance between the adjacent inspection locations, and an inspection mode at each inspection location is determined according to an inspection task sequence and a device requirement, where the first preset distance is greater than the second preset distance, and in an optional embodiment, the first preset distance is 5 meters, and the second preset distance is 0.5 meters, and one of the inspection modes is: the equipment to be inspected is inspected outside 5 meters, and the other inspection mode is as follows: and (3) carrying out inspection on the equipment to be inspected within 0.5 meter, and finally determining the type of a robot suitable for executing each inspection task according to the inspection place, the inspection span and the inspection mode of the inspection task, and specifically selecting a wheeled robot or a stepping robot.
Optionally, the wheeled robot has mobility, can move rapidly in a larger range, is suitable for inspecting equipment at different positions, is generally provided with a camera and a sensor, can acquire video, images and various state data, can also carry various sensors, and is suitable for monitoring and detecting various state data; the walking robot is more suitable for detailed inspection and monitoring around the equipment, such as infrared temperature measurement, partial discharge monitoring and the like, is generally provided with a visual sensor and local monitoring equipment, is suitable for close-range monitoring and detection, has more flexible mobility, and is suitable for fine inspection work around the equipment. For the above reasons, the invention is generally more prone to adopting a wheeled robot under the condition of larger inspection span; under the condition of smaller inspection span, walking robots are more preferred; when the equipment to be inspected is inspected outside 5 meters, a wheeled robot is more prone to be adopted; while walking robots are more preferred when the equipment to be inspected is inspected within 0.5 meter.
Optionally, the determining the target type robot of the inspection robot according to the inspection span corresponding to each inspection location and the inspection mode of each inspection task includes:
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take a value of 0 or 1, inWhen the value is 0, the target type robot is determined to be a wheeled robot, and whenWhen the value is 1, the target type robot is determined to be a stepping robot,In order to inspect the span of the tour,For the inspection span threshold value,In the inspection mode, the value is 0 or 1,The total number of inspection sites for all inspection tasks.
Optionally, traversing all the inspection sites needing inspection, calculating the selected robot type of each inspection site, and accumulating the calculated robot type of each site in the calculation result of the robot type of each site, wherein for each inspection site, the calculation result in the formula is as followsIn part, to determine what type of robot should be used at the site, and in particular,Calculating a result of dividing a difference value between the inspection span distance of the place and the inspection span threshold value by one, wherein the result is used for judging the relative size of the span of the place and the threshold value, rounding and rounding the calculation result in the last step by a round function, comparing the calculation result with an inspection mode t of the place by a max function, and taking the maximum value as a robot type calculation result; and then accumulating the robot type calculation results of each inspection site to obtain x_sum, wherein the value is used for comprehensively considering the robot type information of all sites. Thus, the first and second substrates are bonded together,Part of the process of accumulating robot type calculations for all inspection sites is shown. Such accumulation helps to determine whether the basis of the wheeled robot or the stepping robot is finally selected, and finally, the value result of the target type robot is calculated, if the value of the calculation result is 0, the wheeled robot is selected, and if the value of the calculation result is 1, the stepping robot is selected.
According to the invention, by determining the patrol places and distances, task allocation and scheduling can be optimized, and the robot can be ensured to efficiently cover the whole patrol area; by reasonably determining the inspection span and the inspection mode, the resources of the inspection robot can be effectively utilized, repeated inspection is avoided, and energy is saved; the inspection mode is determined according to the inspection location and the distance, so that the inspection robot can take appropriate inspection measures at the correct position, and the inspection efficiency and accuracy are improved.
Optionally, under the condition that any inspection task is to acquire infrared temperature measurement images or visible light images in the booster station and the switch room equipment, adopting an inspection mode of inspecting equipment to be inspected outside a first preset distance, wherein the value of the inspection mode is 0;
And under the condition that any inspection task is to acquire the switch state, the disconnecting link state, the indicator light state, the pressing plate state, the instrument reading, the SF6 gas leakage monitoring, the partial discharge monitoring, the transformer oil leakage condition, the transformer oil temperature reading, the transformer oil level reading, the lightning arrester meter reading or the SF6 gas density reading in the booster station and the switch room equipment, adopting an inspection mode for inspecting the equipment to be inspected within a second preset distance, wherein the value of the inspection mode is 1.
Optionally, the inspection mode takes a value of 0, which means that the inspection robot inspects the equipment to be inspected outside the first preset distance, in which case, the inspection robot usually uses an infrared camera or a visible light camera carried by the inspection robot to photograph the booster station and the switch room equipment so as to acquire a temperature image or a visible light image, and can record in a form of recording video; the inspection mode takes a value of 1, which indicates that the inspection robot inspects the equipment within a second preset distance, and under the condition that the inspection robot approaches the equipment, the corresponding sensor or the equipment is used for acquiring information of various parameters such as a switch state, a disconnecting link state and the like. The invention is beneficial to the robot to adopt the most suitable inspection strategy under different conditions by determining the inspection modes of different inspection tasks, thereby improving the inspection accuracy and reliability; the dependence on manpower can be reduced by adopting different inspection modes, and the robot can autonomously select a proper inspection mode according to preset conditions, so that interference of manual operation is reduced; in the inspection task requiring to acquire information such as images, time and energy can be saved by using a remote inspection mode, and in the task requiring to acquire parameter states, the accuracy of data acquisition can be improved by short-distance inspection; different inspection modes are set to meet different requirements, so that the robot system is more intelligent, the complex inspection scene can be better adapted, and the intelligent degree of the system is improved. In conclusion, the inspection method is set according to the requirements of specific inspection tasks, so that the inspection robot system is more intelligent and efficient, the inspection quality is improved, the artificial interference is reduced, and the overall operation and maintenance efficiency and reliability are improved.
In step 102, the invention screens out the idle inspection robots conforming to the communication protocol type according to the working state of the target type robot, the real-time requirement of all inspection tasks, the data transmission requirement and the task cross-platform compatibility requirement, so as to ensure smooth communication and smooth data transmission, thereby improving the suitability of the communication protocol, ensuring that different inspection tasks can perform data transmission and interaction through a proper communication protocol, and thus stably and effectively completing the inspection tasks.
Optionally, before screening out the target inspection robots conforming to the communication protocol type from all the idle inspection robots, the method further includes:
presetting inspection robots with different communication protocol types according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements of the power industry on different preset tasks;
the communication protocol type of each inspection robot is determined according to different manufacturers when the inspection robots are produced;
The real-time requirements comprise ensuring that the inspection robot is controlled in real time, and the corresponding communication protocol types of the real-time requirements comprise an open communication protocol standard CANopen based on a CAN bus, a communication protocol Profinet used in the industrial automation field, a communication protocol PROFIBUS used in the industrial automation field, an industrial control network protocol DeviceNet based on the CAN bus or a power system communication protocol IEC 104;
The data transmission requirement comprises a data transmission rate and a data transmission quantity, and the communication protocol types corresponding to the data transmission requirement comprise industrial automation network standards Ethernet/IP based on Ethernet, communication protocol Modbus TCP, communication protocol Modbus RTU, person communication protocol Modbus ASCII, communication protocol Modbus TCP/IP and message transmission protocol MQTT;
The task cross-platform compatibility requirement comprises data exchange and connection of a plurality of cross-platform devices, and the communication protocol type corresponding to the task cross-platform compatibility requirement comprises an open cross-platform industrial communication protocol OPC UA or an application program interface API.
Those skilled in the art understand that, for each inspection robot, the inspection robot may have one or more of communication protocol types corresponding to real-time requirements, one or more of communication protocol types corresponding to data transmission requirements, and one or more of communication protocol types corresponding to task cross-platform compatibility requirements; each inspection task comprises acquiring an infrared temperature measurement image or a visible light image in the booster station and the switch room equipment, and further comprises acquiring one or more tasks of a switch state, a disconnecting link state, an indicator light state, a pressing plate state, an instrument reading, SF6 gas leakage monitoring, partial discharge monitoring, a transformer oil leakage condition, a transformer oil temperature reading, a transformer oil level reading, a lightning arrester meter reading or an SF6 gas density reading in the booster station and the switch room equipment, wherein the requirements of each inspection task for the communication protocol type are different, and for all inspection tasks, the inspection robot needs to execute all inspection tasks, namely the requirements of the communication protocol type of each inspection task in all inspection tasks need to be integrated, the requirements of which communication protocol types the inspection robot corresponding to all inspection tasks should have are determined, and then the target inspection robot conforming to the communication protocol types is screened based on the actual communication protocol type requirements of the inspection robot.
Optionally, before screening the target inspection robots conforming to the communication protocol types, the inspection robots with different communication protocol types are preset, and in the operation, maintenance and inspection site, the inspection robots may need to communicate with other devices or systems so as to realize functions of data interaction, control instruction transmission and the like. In selecting the communication protocol type, the following factors may be considered: the real-time requirement comprises ensuring that the inspection robot is controlled in real time, wherein the corresponding communication protocol types are CANopen, profinet, PROFIBUS, deviceNet and IEC 104, the protocols are determined based on CAN bus or power system communication standards, and if the running state of the robot needs to be monitored and controlled in real time on an operation and maintenance site, the communication protocol supporting real-time communication CAN be selected so as to ensure the timeliness and stability of data transmission; the data transmission requirements comprise guaranteed data transmission rate and data transmission quantity, related communication protocol types comprise Ethernet/IP, modbus TCP, modbus RTU, modbus ASCII, modbus TCP/IP, MQTT and the like, and a communication protocol capable of supporting higher-rate data transmission is selected according to the data quantity and transmission rate requirements to ensure that data can be timely transmitted and the integrity of the data is maintained, so that different data transmission requirements are met; if devices produced by different manufacturers exist on site, communication protocols with better cross-platform compatibility can be selected to realize data exchange and connection between different devices, task cross-platform compatibility requirements comprise ensuring the data exchange and connection of a plurality of cross-platform devices, corresponding communication protocol types comprise OPC UA and API, and the protocols are used for realizing data exchange and connection between different platform devices and have higher cross-platform compatibility.
In addition to the above considerations, the present invention may also select an open standard communication protocol according to a communication function customized as needed or a future expansion requirement, so as to flexibly expand and customize to develop a specific function; the equipment support provided by the inspection robot manufacturer should also be considered to ensure that the selected communication protocol type can be well technically supported and serviced.
Optionally, the screening the target inspection robot conforming to the communication protocol type from all the idle inspection robots includes:
Screening all the patrol robots to be allocated, which accord with the communication protocol type, from all the idle patrol robots;
Determining the relative distance between the inspection places corresponding to the first inspection task of each inspection robot to be allocated in the current state;
and determining the to-be-allocated inspection robot with the minimum relative distance as a target inspection robot.
Optionally, selecting target inspection robots meeting the requirements of communication protocol types from all idle inspection robots, so as to ensure that the selected inspection robots can effectively communicate with a specific task or system, then determining the relative distance between the inspection robots to be allocated and a first inspection task, and determining the relative distance between the inspection robots to be allocated and inspection places corresponding to the first inspection task by using GPS (global positioning system), laser positioning and other technologies for all the inspection robots meeting the communication protocol types through a positioning technology, sensor data or other methods; and comparing the relative distances between the positions corresponding to the first inspection task in all the robots to be distributed, and selecting the inspection robot with the smallest relative distance as the target inspection robot so as to ensure that the selected robot can quickly reach the target position and improve the inspection efficiency.
Optionally, the invention selects the target inspection robot conforming to the communication protocol type and selects the robot with the smallest relative distance for task allocation, so that the inspection robot can be rapidly sent to the target location, the inspection efficiency and accuracy are improved, the distance calculation and selection of the inspection robot to be allocated are performed by utilizing the positioning technology and the intelligent algorithm, the intelligent allocation and automatic dispatching of the inspection task by the system are realized, the intelligent degree of the system is improved, the manual intervention and dispatching time is reduced, and the response speed of the inspection task is improved by automatically selecting the target inspection robot with the smallest relative distance.
In step 103, a user demand instruction is issued to the target inspection robot to instruct the target inspection robot to complete adaptive access and execute inspection tasks, inspection data sent by the target inspection robot is received, protocol analysis is implemented according to different communication protocol types, and accordingly an accurate inspection result is obtained, adaptive data analysis aiming at different inspection tasks is achieved, data collected from the robot is ensured to be accurately converted into an available inspection result, and meanwhile timely decision and adjustment can be made according to the inspection result.
Optionally, before issuing the user demand instruction to the target inspection robot, the method further includes:
constructing a preset protocol converter architecture, wherein the preset protocol converter architecture comprises a protocol plug-in corresponding to each communication protocol type;
the protocol plug-in is in communication connection with a communication interface corresponding to each inspection robot;
The preset protocol converter architecture is used for converting data received from different inspection robots into a preset unified format, and the preset unified format is determined according to all communication protocol types and data fields corresponding to each communication protocol type so as to adapt to different communication protocol types and different data formats.
Optionally, the present invention constructs a preset protocol converter architecture for the inspection robots corresponding to different communication protocol types, including a protocol plug-in for each communication protocol type, where each plug-in is responsible for connecting with a communication interface of a corresponding inspection robot, and each protocol plug-in is connected with a communication interface of a corresponding inspection robot so as to receive data transmitted from the inspection robot, where the preset protocol converter architecture is designed to convert data from different inspection robots into a unified preset format, where the preset unified format is determined according to all communication protocol types and data fields corresponding to each communication protocol type, so as to adapt to differences between different communication protocol types and data formats. By constructing a preset protocol converter architecture, the invention can realize compatibility of various different communication protocols in the system, ensure that data exchange and communication between different inspection robots can be smoothly carried out, improve uniformity and interoperability of the system, integrate processing logic of different communication protocols into the system uniformly, simplify management and maintenance of the system, and reduce adaptation work for different inspection robots.
Optionally, before or after analyzing the user demand instruction to obtain all the inspection tasks, the method further includes:
under the condition that the current moment is matched with any task execution time in a preset inspection form, determining a form task corresponding to the task execution time so as to determine an inspection result corresponding to the form task;
the preset inspection form is constructed by taking each week as a circulation period, and presetting corresponding different form tasks under different task execution time corresponding to each day.
Optionally, the preset inspection form is constructed according to a cycle period of each week, and each day corresponds to different task execution times and corresponding inspection tasks, for example, for each day, the corresponding inspection tasks are set at different times, the week is taken as a setting period, so that the preset inspection form is determined, the preset inspection form is conducive to the system to arrange the inspection tasks according to the preset time form, the ordered execution of the tasks is ensured, if the current time matches a certain task execution time, the system determines the form task corresponding to the task so as to execute the corresponding inspection work and acquire the result, and the system can orderly execute the inspection tasks and timely acquire the inspection result of the task execution according to the arrangement in the preset inspection form. According to the invention, through the matching of the preset inspection form and the task execution time, the system can execute the inspection task at a proper time, so that the execution efficiency and accuracy of the inspection task are improved, the system is facilitated to reasonably arrange the inspection plan, each task is ensured to be orderly executed according to the preset time table, and the overall operation efficiency of the system is improved.
Optionally, the invention can visually control the inspection robots to inspect in a large screen or based on a station GIS+three-dimensional model, can set inspection tasks for each robot, periodically inspect according to a specified route, directly issue a temporary inspection instruction to inspect temporarily, or determine the target inspection robot according to the technical scheme disclosed by the invention, and then periodically inspect; in the inspection process, the data or the state of an inspection object can be remotely checked through visible light video and infrared video pictures, running tracks and real-time positions of the inspection robot, and the robot can be controlled to remotely photograph, pause the inspection or continue the inspection; each latest data or state of the robot inspection device is presented on the three-dimensional model of the field station.
Optionally, the invention can check the basic information of the inspection robots deployed at each station, including the names, equipment states and task states of the robots, start and stop the robots through the platform remote operation, control the robots to execute the inspection tasks according to the specified route, and can control the robots to return to charge, pause inspection or continue inspection; support batch control of all robots to start, stop, continue or return charging simultaneously. The invention can also formulate periodic inspection tasks and temporary inspection tasks through the platform, and comprises task names, task execution time, execution period and task validity period.
In the inspection process, the inspection robot can automatically record each inspection record according to the inspection task, and the inspection record comprises the result record of inspected equipment: the inspection time, the name of the inspected equipment, the name of the inspection position, the inspection video, the infrared temperature measurement image of the equipment, the visible light image, the switch state, the knife switch state, the indicator light state, the pressing plate state, the instrument reading, SF6 gas leakage monitoring, partial discharge monitoring, the oil leakage phenomenon of a transformer, the transformer oil temperature reading, the transformer oil level reading, the lightning arrester meter reading, the SF6 gas density reading and other information. Meanwhile, for each inspection point, one-key review can be performed on the picture with objection: when the robot is idle, the one-key control robot can directly go to the review point to shoot pictures for repeated comparison; the results in each inspection record can be displayed on the three-dimensional model of the station in one-to-one correspondence with the equipment model; the historical result of the robot inspection and the collected historical data of the power station production control system can be compared and analyzed, and the difference of different inspection monitoring modes on equipment state inspection is found; the invention also supports the storage and playback check of the video clips in the inspection record; the inspection report can be automatically generated, the data or the state of all inspection objects in the inspection task at this time is recorded, the abnormality found in the inspection is analyzed according to the alarm rule, the information such as inspection summary and the like is contained, and the report can be downloaded into a PDF format document.
Optionally, the inspection summary should include content such as cause analysis and processing advice of the identified equipment abnormality, and automatically generated inspection reports after each complete inspection are managed in a centralized manner, and can be searched, checked, downloaded and exported to be in a PDF format; and summarizing, comparing and analyzing historical identification data of the inspection object, and assisting a user in making equipment state inspection decisions. The invention also supports configuration of the alarm condition of each inspection object, and triggers an alarm in time and pushes alarm information to the platform when the alarm condition is met according to the data or state identified by the inspection of the robot; the robot can trigger an audible and visual alarm when triggering an alarm.
Optionally, the invention provides an intelligent fusion and multimode compatible protocol for realizing rapid access to the mainstream robot, and the protocol meets the following requirements: adaptive access supporting a mainstream communication protocol, including API, MQTT, TCP, IEC, FTPS; should be able to ensure the security and compliance of data during transmission and storage; the basic principle and mechanism of multimode fusion data conversion include data format conversion, data encoding and decoding, data compression and data encryption; the method needs to be deeply integrated with a new energy intelligent production operation platform for application; the protocol application should satisfy not less than 20 standardized function interfaces available for invoking the application.
According to the invention, all the inspection tasks are obtained through analysis according to the user demand instructions, and the target type robot, including the wheeled robot and the stepping robot, is determined according to the inspection span and the inspection mode of the inspection tasks, so that the appropriate robots are selected to execute different inspection tasks, and the inspection efficiency and accuracy are improved; screening target inspection robots which accord with communication protocol types from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements, ensuring that different inspection tasks can perform data transmission and interaction through a proper communication protocol according to requirements, and realizing intelligent task scheduling by analyzing user demand instructions and considering the target type robots according to factors such as the span, the mode and the real-time requirements of the inspection tasks so as to improve inspection efficiency and accuracy; and analyzing the inspection data according to the self-adaptive protocols of different communication protocol types, thereby obtaining an accurate inspection result and ensuring that the data collected from the robot can be effectively converted into a usable inspection result and equipment information.
Fig. 2 is a second flow chart of the adaptive protocol analysis method for a robot in the power industry according to the present invention, after obtaining the inspection result, the method further includes:
extracting characteristic elements in the inspection pictures for each inspection picture in the inspection result, wherein the characteristic elements comprise a switch, a disconnecting link, an indicator light, a pressing plate, different fonts, the font size and the color of each font;
Determining each target device in the inspection task according to the characteristic elements in the inspection pictures, and obtaining device information of the target devices corresponding to each inspection picture, wherein the device information comprises a target state corresponding to the target devices or a target value corresponding to the target devices;
Under the condition that the target equipment is a switch, a disconnecting link, an indicator light or a pressing plate, inputting the inspection picture to a preset equipment state model, and acquiring a target state corresponding to the target equipment output by the preset equipment state model;
under the condition that the target equipment is equipment with characteristic elements with different fonts, processing the inspection picture by using a preset OCR recognition algorithm to obtain a target value corresponding to the target equipment;
the preset equipment state model is determined after training according to different sample pictures and sample states corresponding to target equipment in each sample picture.
Optionally, for each inspection picture, the system extracts characteristic elements therein, including a switch, a knife switch, an indicator light, a pressing plate, different fonts, font sizes, colors and the like, wherein the different characteristic elements represent different inspection tasks corresponding to the inspection picture, that is, the different characteristic elements in the inspection picture represent different target devices in the inspection task, and each target device in the inspection task is determined according to the characteristic elements in the inspection picture.
Optionally, for devices such as a switch, a knife switch, an indicator light or a pressing plate, the system inputs the inspection picture into a preset device state model to obtain a target state corresponding to the target device, the preset device state model is determined after training according to different sample pictures and sample states corresponding to the target device in each sample picture, and the states of the devices, such as the on or off state of the switch, the on or off state of the knife switch, the on or off state of the indicator light, and the like, can be accurately predicted.
Optionally, for the equipment with different font characteristics, the system processes the inspection picture by using a preset OCR recognition algorithm to acquire numerical information corresponding to the target equipment, so as to accurately recognize different fonts in the picture, acquire specific numerical information of the equipment, and adopt different processing modes aiming at different types of equipment, and the system can effectively acquire the information of the target equipment by using a preset equipment state model or an OCR recognition algorithm, so that the system has higher flexibility and applicability. The invention utilizes OCR image recognition technology to recognize the image characteristics of the primary and secondary equipment of the photovoltaic power station, and in the recognition process, the influence of factors such as illumination conditions, image shooting angles, image compression rate and the like on the recognition result is considered, so that the effective recognition of equipment data, states, temperatures, appearance images and instrument readings is finally realized, and the accuracy rate can be more than or equal to 96%.
Optionally, after obtaining the device information of the target device corresponding to each inspection picture, the method further includes:
And under the condition that the equipment information is determined to be abnormal, generating an alarm instruction, wherein the alarm instruction is used for indicating that the target state or the target value corresponding to the target equipment is abnormal, sending the alarm instruction to a management terminal, and indicating any inspection robot to recheck the target equipment again.
Optionally, for each target device, the invention compares the target device information with preset normal device information, if the device information is found to be abnormal, such as a switch is in an incorrect position, an indicator light is displayed abnormally, a numerical value deviates from an expected range and the like, the device information is determined to be abnormal, and under the condition that the device information is determined to be abnormal, the invention generates an alarm instruction for indicating that the corresponding target state or numerical value of the target device is abnormal, wherein the alarm instruction comprises contents such as a device ID, an abnormal information description and the like, so as to facilitate subsequent processing and recording; the generated alarm instruction is sent to a management terminal so that related personnel can timely acquire the abnormal condition of the equipment, and take necessary measures to process and repair, the management terminal can be a monitoring center or mobile equipment of related responsible persons, meanwhile, the system can instruct any inspection robot to review the abnormal target equipment again, the inspection robot can return to a target site, the equipment state is inspected again, and the latest inspection result is uploaded to a preset display system to confirm the abnormal condition of the equipment. The invention can find out that the target equipment information has abnormality in real time through abnormality detection, generates an alarm instruction and sends the alarm instruction to the management terminal, so that related personnel can timely process the equipment abnormality, and the possible safety risk is reduced; the alarm instruction is sent and the inspection robot is instructed to review, so that the abnormal condition of the equipment can be reflected quickly, the fault processing time is shortened, and the reliability of the equipment is improved; the inspection robot can review specific equipment, so that the influence of human factors is reduced, and the inspection efficiency and accuracy are improved.
Fig. 3 is a schematic structural diagram of an electronic device provided by the present invention. As shown in fig. 3, the electronic device may include: processor 310, communication interface (CommunicationsInterface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320 and memory 330 communicate with each other via communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform an adaptive protocol parsing method for a power industry robot, the method comprising: analyzing a user demand instruction to obtain all inspection tasks, and determining a target type robot of the inspection robot according to inspection spans and inspection modes of all the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot; according to the working states of the robots, determining all idle inspection robots corresponding to the target type robots, and screening the target inspection robots which accord with the communication protocol type from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements corresponding to all inspection tasks; and issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to finish self-adaptive access, receiving inspection data corresponding to all inspection tasks from the target inspection robot, and analyzing the inspection data according to self-adaptive protocols of different communication protocol types to obtain inspection results.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute a method for resolving an adaptive protocol for a robot in a power industry, where the method includes: analyzing a user demand instruction to obtain all inspection tasks, and determining a target type robot of the inspection robot according to inspection spans and inspection modes of all the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot; according to the working states of the robots, determining all idle inspection robots corresponding to the target type robots, and screening the target inspection robots which accord with the communication protocol type from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements corresponding to all inspection tasks; and issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to finish self-adaptive access, receiving inspection data corresponding to all inspection tasks from the target inspection robot, and analyzing the inspection data according to self-adaptive protocols of different communication protocol types to obtain inspection results.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method for adaptive protocol resolution for a power industry robot provided by the above methods, the method comprising: analyzing a user demand instruction to obtain all inspection tasks, and determining a target type robot of the inspection robot according to inspection spans and inspection modes of all the inspection tasks, wherein the target type robot comprises a wheeled robot and a stepping robot; according to the working states of the robots, determining all idle inspection robots corresponding to the target type robots, and screening the target inspection robots which accord with the communication protocol type from all idle inspection robots according to real-time requirements, data transmission requirements and task cross-platform compatibility requirements corresponding to all inspection tasks; and issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to finish self-adaptive access, receiving inspection data corresponding to all inspection tasks from the target inspection robot, and analyzing the inspection data according to self-adaptive protocols of different communication protocol types to obtain inspection results.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.