Intelligent Joint Inspection and Control Method for Substation

Abstract

The present invention discloses an intelligent joint inspection control method for a substation, which includes the following steps: A patrol map of the substation is configured in the main console, and each patrol robot synchronizes the patrol map with the main console. The main console marks the patrol targets on the patrol map, and at least one dimension label for describing the patrol target is configured for each marked patrol target; The route is selected by the drafting robot according to the positions of the patrol targets, forming several complete patrol routes, which are stored in the main console; Each complete patrol route is allocated according to the equipment of the patrol robot, and several scattered patrol routes are formed and stored in the corresponding patrol robots respectively; The main console selects a complete patrol route, and then issues the number of the complete patrol route to all patrol robots, and the patrol robots select the corresponding scattered patrol routes with the corresponding numbers. Through the cooperation of each robot, the effect of reducing the single-machine cost of the robot is achieved.

Description

Technical Field

[0001] The present invention relates to the field of substation inspection, and in particular to a substation intelligent joint inspection control method. Background Art

[0002] Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans to complete dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. Therefore, some complicated tasks, such as intelligent inspection of the main plant of a power plant, can be handed over to robots for completion. Today's robots are used in many inspection scenarios. For example, the patent number CN202021950562.X published on June 4, 2021, entitled "A Fire Monitoring Robot for a Fire Scene", discloses a fire monitoring robot for a fire scene, including a shell, a smoke sensor, a camera, an MCU controller, and a main controller. The smoke sensor, the MCU controller, and the main controller are all installed in the inner cavity of the shell. The MCU controller and the camera are electrically connected to the main controller. The smoke sensor is electrically connected to the MCU controller. A round hole is opened at the top of the front panel of the shell, and the camera is inserted into the round hole. The shell is provided with a power interface and a transmission interface, and a mounting hole is opened on the bottom panel of the shell. The shell is suitable for screwing with the mounting plate through the mounting hole.

[0003] For example, application number CN202010916326.4, published on January 22, 2021, is entitled "A substation video and robot joint inspection system and method", which discloses a substation video and robot joint inspection system and method, wherein the system includes: a substation joint inspection host, a substation robot host, a substation video host, a substation inspection robot and a video camera; the substation joint inspection host is used to receive linkage signals, generate linkage inspection task instructions according to the correspondence between the linkage signals and the inspection points, and send the linkage inspection task instructions to the substation robot host and the substation video host; the substation video host controls the video camera according to the received linkage inspection task instructions, receives the first collected data fed back by the video camera, and sends the first collected data to the substation joint inspection host; the substation robot host controls the substation inspection robot according to the received linkage inspection task instructions, receives the second collected data fed back by the substation inspection robot, and sends the second collected data to the substation joint inspection host. However, in the prior art, only one inspection robot is often linked with several devices, and there are major defects in the linkage between multiple robots and the cooperation between multiple inspection robots. Summary of the invention

[0004] The object of the present invention is to provide a substation intelligent joint inspection control method, which can effectively solve the problem that the existing technology only makes linkage for one inspection robot and several devices, and there are great defects when multiple robots are linked and cooperate with each other.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions: A substation intelligent joint inspection control method is applied to a substation intelligent joint inspection system. The substation intelligent joint inspection system includes a main console connected to a server, several meters, sensors for substation detection, and several inspection robots for inspection. The inspection robots are connected to each other through a network. The meters and sensors include meters and sensors with networking functions and ordinary meters and sensors. An interface for reading data of ordinary meters and sensors is configured on the inspection robots. The meters and sensors transmit data to the main console through networking or inspection robots. The substation intelligent joint inspection control method includes the following steps:

[0006] S1. A substation inspection map is configured in the main console. Each inspection robot synchronizes the inspection map with the main console. The main console marks inspection targets on the inspection map, and each marked inspection target is at least configured with one dimension label for describing the inspection target.

[0007] S2. After regarding all inspection robots as a single virtual robot, the virtual robot selects a route according to the positions of the inspection targets, forms several complete inspection routes, and stores them in the main console.

[0008] S3. Each complete inspection route is allocated according to the equipment of the inspection robots, and several scattered inspection routes are formed and stored in the corresponding inspection robots respectively.

[0009] S4. The main console selects a complete inspection route, and then issues the number of the complete inspection route to all inspection robots, and the inspection robots select the corresponding scattered inspection routes with the corresponding numbers.

[0010] Preferably, at least the inspection measures and the inspection robots corresponding to the inspection equipment are included in the dimension labels in step S1.

[0011] Preferably, in step S1, the rated inspection period of each inspection measure in each inspection target is obtained, and the rated inspection periods of each inspection measure in each inspection target are divided into a short-period group and a long-period group.

[0012] In step S2, inspection routes of inspection robots are configured for the short-period group and the long-period group respectively.

[0013] Preferably, in step S3, the formation of the scattered inspection routes includes the following sub-steps:

[0014] N1. Obtain all designated targets that require a designated inspection robot for inspection and the remaining ordinary targets among all inspection targets, and arrange all the designated targets in the complete inspection route in the route order;

[0015] N2. Make a first allocation of the designated targets. If the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are equal to the rated resources of the inspection robot, the designated robot only inspects the designated targets. If the inspection resource requirements of the designated inspection robot are less than the rated resources of the inspection robot, then execute step N3;

[0016] N3. Allocate the ordinary targets between the front-end designated target at the forefront and the back-end designated target at the end arranged in order to the designated inspection robot;

[0017] N4. Allocate the remaining ordinary targets.

[0018] Preferably, in step N3, first judge whether there are adjacent inspection routes for the front-end designated target and the back-end designated target. If there is only an adjacent inspection route for the front-end designated target or the back-end designated target, then preferentially allocate the ordinary targets close to the corresponding front-end designated target or back-end designated target to the designated inspection robot. If there are adjacent inspection routes for both the front-end designated target and the back-end designated target, then preferentially allocate the ordinary targets located in the middle of the front-end designated target or the back-end designated target to the designated inspection robot.

[0019] Preferably, in step S3, the main console forms several complete inspection routes in a way of starting from the charging pile and traversing all inspection targets, and calculates the resources required for the simulation robot to complete the complete inspection route. The resources of the simulation robot include inspection time, the storage space required for inspection data, and the power required for inspection. Select several inspection routes that require the least resources to complete the complete inspection route for storage.

[0020] Preferably, if the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are greater than the rated resources of the inspection robot, then divide the designated targets into two allocations, and then re-execute step N2 until the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are less than or equal to the rated resources of the inspection robot.

[0021] Preferably, when there are inspection targets with an interrelated relationship in the dimension tags of the inspection targets, the following sub-steps are adopted for constraint:

[0022] Y1. When there are inspection targets with an interrelated relationship in each group, if there is a designated robot inspection target, it is designated as the main target; otherwise, a main target is determined according to the position of the inspection target, and other inspection targets with an interrelated relationship are auxiliary targets;

[0023] Y2. Determine the inspection time of the main target, and then synchronously determine the inspection time of the auxiliary targets;

[0024] Y3. If the difference between the inspection time of the auxiliary target and the original inspection time is greater than the set threshold, exchange the inspection order of the auxiliary target and the adjacent inspection target, and then re-check the difference between the inspection time of the auxiliary target and the original inspection time. If there is still a difference greater than the set threshold, continue to exchange the inspection order of the auxiliary target and the adjacent inspection target until the difference between the inspection time of the auxiliary target and the original inspection time is less than or equal to the set threshold.

[0025] Compared with the prior art, the advantages of the present invention are as follows: The method of joint inspection by several robots is adopted. By assigning different inspection targets to different robots and then conducting joint inspection, the existence of blind spots in the inspection is further reduced. At the same time, in addition to the generally common configurations, each robot can also be equipped with different inspection facilities with relatively high costs. Through the mutual cooperation of each robot, sufficient inspection effects can be formed, achieving the effect of reducing the single-machine cost of the robot. In addition, since only a small number of robots need to be equipped with relatively unique devices, the requirements for the robot chassis available for selection will also be correspondingly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall process in the first embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the process during route allocation in the first embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the process during route allocation in the second embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] Embodiment 1:

[0031] Refer to Figure 1This is an embodiment of the intelligent joint inspection control method for a substation in the present invention. The intelligent joint inspection control method for a substation is applied to an intelligent joint inspection system for a substation. The intelligent joint inspection system for a substation includes a main console connected to a server, several meters, sensors for substation detection, and several inspection robots for inspection. The inspection robots are connected to each other through a network. The meters and sensors include meters and sensors with networking functions and ordinary meters and sensors. The inspection robots are configured with interfaces for reading data of ordinary meters and sensors. The meters and sensors transmit data to the main console through networking or inspection robots. The intelligent joint inspection control method for a substation includes the following steps:

[0032] S1. A patrol map of the substation is configured in the main console. Each inspection robot synchronizes the patrol map with the main console. The main console marks inspection targets on the patrol map. Each marked inspection target is configured with at least one dimension label for describing the inspection target. In step S1, the rated inspection cycles of various inspection measures in each inspection target are obtained, and the rated inspection cycles of various inspection measures in each inspection target are divided into a short-cycle group and a long-cycle group;

[0033] S2. After regarding all inspection robots as a single fictitious robot, the fictitious robot selects a route according to the positions of the inspection targets, forms several complete inspection routes, and stores them in the main console. In step S2, inspection routes for the inspection robots are configured for the short-cycle group and the long-cycle group respectively.

[0034] S3. Each complete inspection route is allocated according to the equipment of the inspection robot, and several scattered inspection routes are formed and stored in the corresponding inspection robots respectively. In step S3, the main console forms several complete inspection routes in a way of traversing all inspection targets starting from the charging pile, and calculates the resources required for the fictitious robot to complete a complete inspection route. The resources of the fictitious robot include inspection time, storage space required for inspection data, and power required for inspection. Select several inspection routes that require the least resources to complete a complete inspection route for storage. As Figure 2 shown, in step S3, the formation of the scattered inspection routes includes the following sub-steps:

[0035] N1. Obtain all specified targets that require a specified inspection robot to inspect and the remaining ordinary targets among all inspection targets, and arrange all specified targets in the complete inspection route in the route order;

[0036] N2. Make a single allocation for the specified target. If the inspection resource requirement of the specified inspection robot after the allocation of the specified target is equal to the rated resources of the inspection robot, the specified robot only conducts inspections on the specified target. If the inspection resource requirement of the specified inspection robot is less than the rated resources of the inspection robot, then proceed to step N3; if the inspection resource requirement of the specified inspection robot after the allocation of the specified target is greater than the rated resources of the inspection robot, then divide the specified target into two allocations and then re-execute step N2 until the inspection resource requirement of the specified inspection robot after the allocation of the specified target is less than or equal to the rated resources of the inspection robot.

[0037] N3. Allocate the ordinary targets between the front-end specified target at the front of the ordered list and the back-end specified target at the end to the specified inspection robot;

[0038] N4. Allocate the remaining ordinary targets.

[0039] S4. The main console selects a complete inspection route and then issues the number of the complete inspection route to all inspection robots, and the inspection robots select the scattered inspection routes corresponding to the number.

[0040] In this embodiment, several complete inspection routes are drawn by means of traversal or manual selection, and the required resources are calculated based on the description of the tags and the repetition rate of the inspection routes, as well as the resources required for inspections between any two points in the complete inspection route. The resources in this embodiment include the time required for the inspection robot itself, the consumed power, the necessary equipment, etc. Therefore, the dimension tags at least include the inspection measures and the inspection robots corresponding to the required inspection equipment. By the above method, the established inspection route can make full use of the unique inspection equipment of each inspection robot, and through the cooperation of each inspection robot, an inspection plan for one night can be achieved.

[0041] When there are inspection targets with an interrelated relationship in the dimension tags of the inspection targets, the following sub-steps are adopted for constraint:

[0042] Y1. When there is a group of inspection targets with an interrelated relationship, if there is a specified robot inspection target, then designate it as the main target; otherwise, determine a main target according to the position of the inspection target, and the other inspection targets with an interrelated relationship are auxiliary targets;

[0043] Y2. Determine the inspection time of the main target, and then synchronously determine the inspection time of the auxiliary targets;

[0044] Y3. If the inspection time of the auxiliary target differs from the originally scheduled inspection time by more than the set threshold, then swap the inspection order of the auxiliary target and the adjacent inspection target, and then re-check the difference between the inspection time of the auxiliary target and the originally scheduled inspection time. If there is still a difference greater than the set threshold, continue to swap the inspection order of the auxiliary target and the adjacent inspection target until the difference between the inspection time of the auxiliary target and the originally scheduled inspection time is less than or equal to the set threshold.

[0045] The constraints in this embodiment refer to the situation where when there is a correlation between the inspection targets or devices of Party A and Party B, and actions such as inspection or data reading and sampling must be carried out simultaneously to achieve the effect of general inspection or data reading and sampling. Therefore, in this embodiment, a method of swapping the inspection order nearby is designed to arrange actions such as inspection as much as possible at the same time and reduce the waiting time, thereby achieving a better linkage effect.

[0046] This embodiment adopts a method of joint inspection by several robots. By assigning different inspection targets to different robots and then conducting joint inspections, the existence of blind spots in the inspection is further reduced. At the same time, in addition to the generally common configurations, each robot can also be equipped with different inspection facilities with relatively high costs. Through the mutual cooperation of each robot, sufficient inspection effects can be formed, achieving the effect of reducing the single-robot cost. In addition, since only relatively unique devices need to be configured on a small number of robots, the requirements for the robot chassis that can be selected will also be correspondingly reduced.

[0047] Embodiment 2:

[0048] As Figure 3 shown, the difference from Embodiment 1 is that in this embodiment, the formation of the scattered inspection route includes the following sub-steps:

[0049] N1. Obtain all the designated targets that require a designated inspection robot for inspection and the remaining ordinary targets among all the inspection targets, and arrange all the designated targets in the complete inspection route in the route order.

[0050] N2. Make a first allocation of the designated targets. If the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are equal to the rated resources of the inspection robot, the designated robot only conducts inspections on the designated targets. If the inspection resource requirements of the designated inspection robot are less than the rated resources of the inspection robot, then execute Step N3; if the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are greater than the rated resources of the inspection robot, then divide the designated targets into two allocations and then re-execute Step N2 until the inspection resource requirements of the designated inspection robot after the allocation of the designated targets are less than or equal to the rated resources of the inspection robot.

[0051] N3. Assign the ordinary targets between the front-end specified target at the frontmost and the rear-end specified target at the rearmost in the sequential arrangement to the specified inspection robot. In the step N3, first, determine whether there are adjacent inspection routes for the front-end specified target and the rear-end specified target. If there is only an adjacent inspection route for the front-end specified target or the rear-end specified target, preferentially assign the ordinary target closer to the corresponding front-end specified target or rear-end specified target to the specified inspection robot. If there are adjacent inspection routes for both the front-end specified target and the rear-end specified target, preferentially assign the ordinary target located in the middle of the front-end specified target or the rear-end specified target to the specified inspection robot.

[0052] N4. Assign the remaining ordinary targets.

[0053] For other content not described in this embodiment, reference can be made to Embodiment 1.

[0054] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. Substation intelligent joint patrol control method, applied to a substation intelligent joint patrol system. The substation intelligent joint patrol system includes a main console connected to a server, several meters, sensors for substation detection, and several patrol robots for patrol. The patrol robots are connected to each other through a network. The meters and sensors include meters and sensors with networking functions and ordinary meters and sensors. An interface for reading data of ordinary meters and sensors is configured on the patrol robots. The meters and sensors transmit data to the main console through networking or patrol robots. Characterized in that, The substation intelligent joint patrol control method includes the following steps: S1. A patrol map of the substation is configured in the main console. Each patrol robot synchronizes the patrol map with the main console. The main console marks patrol targets on the patrol map. Each marked patrol target is at least configured with one dimension label for describing the patrol target. S2. After regarding all patrol robots as a single fictitious robot, the fictitious robot selects a route according to the positions of the patrol targets, forms several complete patrol routes, and stores them in the main console. S3. Each complete patrol route is allocated according to the equipment of the patrol robots, and several scattered patrol routes are formed and stored in the corresponding patrol robots respectively. S4. The main console selects a complete patrol route, and then issues the number of the complete patrol route to all patrol robots. The patrol robots select the corresponding scattered patrol routes with the corresponding numbers. In the above step S3, the formation of the scattered patrol routes includes the following sub-steps: N1. Obtain all specified targets that require a specified patrol robot for patrol and the remaining ordinary targets among all patrol targets, and arrange all specified targets in the complete patrol route in the route order. N2. Make a first allocation of the specified targets. If the patrol resource requirements of the specified patrol robot after the allocation of the specified targets are equal to the rated resources of the patrol robot, the specified robot only patrols the specified targets. If the patrol resource requirements of the specified patrol robot are less than the rated resources of the patrol robot, then execute step N3. N3. Allocate the ordinary targets between the front-end specified target at the frontmost and the back-end specified target at the rearmost in the arranged order to the specified patrol robot. N4. Allocate the remaining ordinary targets. In the above step N3, first judge whether there are adjacent patrol routes for the front-end specified target and the back-end specified target. If only the front-end specified target or the back-end specified target has an adjacent patrol route, then preferentially allocate the ordinary targets close to the corresponding front-end specified target or back-end specified target to the specified patrol robot. If both the front-end specified target and the back-end specified target have adjacent patrol routes, then preferentially allocate the ordinary targets located between the front-end specified target and the back-end specified target to the specified patrol robot. In step S3, the main console forms several complete inspection routes by traversing all inspection targets starting from the charging pile, and calculates the resources required for the robot to complete the complete inspection route. The resources of the robot include inspection time, storage space required for inspection data, and power required for inspection. Select several inspection routes that require the least resources to complete the complete inspection route and save them; When there are inspection targets with an interrelated relationship in the dimension labels of the inspection targets, the following sub-steps are used for constraint: Y1. When there is a group of inspection targets with an interrelated relationship, if there is a designated robot inspection target, it is designated as the main target. Otherwise, a main target is determined according to the location of the inspection target, and other inspection targets with an interrelated relationship are auxiliary targets; Y2. Determine the inspection time of the main target, and then synchronously determine the inspection time of the auxiliary target; Y3. If the difference between the inspection time of the auxiliary target and the original inspection time is greater than the set threshold, exchange the inspection order of the auxiliary target and the adjacent inspection target, and then re-check the difference between the inspection time of the auxiliary target and the original inspection time. If there is still a difference greater than the set threshold, continue to exchange the inspection order of the auxiliary target and the adjacent inspection target until the difference between the inspection time of the auxiliary target and the original inspection time is less than or equal to the set threshold.

2. The substation intelligent joint inspection control method according to claim 1, wherein, at least the inspection measures and the inspection robot corresponding to the equipment required for inspection are included in the dimension labels in step S1.

3. The substation intelligent joint inspection control method according to claim 1, wherein, In step S1, obtain the rated inspection cycle of each inspection measure in each inspection target, and divide the rated inspection cycle of each inspection measure in each inspection target into a short-cycle group and a long-cycle group; In step S2, configure the inspection routes of the inspection robots for the short-cycle group and the long-cycle group respectively.

4. The substation intelligent joint inspection control method according to claim 1, wherein, If the inspection resource requirement of the designated inspection robot is greater than the rated resources of the inspection robot after the designated target is allocated, the designated target is allocated in two times, and then step N2 is executed again until the inspection resource requirement of the designated inspection robot is less than or equal to the rated resources of the inspection robot after the designated target is allocated.

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