Remote robotic inspection system

Abstract

The application provides a remote robot inspection system, which comprises a monitoring terminal, a robot and a main control module. The monitoring terminal is used for acquiring and displaying feedback information of the robot, and is also used for determining a driving control instruction according to the feedback information and controlling the robot. The robot is used for inspecting a region to be inspected. The main control module is wirelessly connected with the monitoring terminal, and is used for receiving the driving control instruction and controlling a driving module according to the driving control instruction. The driving module is connected with the main control module, and is used for driving the robot to move. The driving module is also used for determining driving data and sending the driving data to the main control module. A collecting module is connected with the main control module, and is used for collecting information of the region to be inspected to obtain inspection data. The application solves the technical problem that the state of a power transmission line cannot be accurately and timely acquired in the prior art.

Description

Technical Field

[0001] This application relates to the field of automation, and more specifically, to a remote robot inspection system. Background Technology

[0002] With economic development, urban electricity consumption has become more widespread. To ensure the stable operation of the power system, the demand for monitoring related processes such as substations and transmission lines is constantly increasing, necessitating the inspection of power grid transmission lines. Currently, power companies still rely on manual inspection of transmission lines. This traditional line inspection technique is too simplistic, costly, and suffers from problems such as the inability to accurately and in real-time obtain the status of transmission lines. Summary of the Invention

[0003] The main objective of this application is to provide a remote robot inspection system to at least solve the problem that existing line inspection technologies cannot accurately and in real time obtain the status of transmission lines.

[0004] To achieve the above objectives, according to one aspect of this application, a remote robot inspection system is provided, comprising: a monitoring terminal, which is used to acquire and display feedback information from the inspection robot, and to determine drive control commands based on the feedback information to control the inspection robot, wherein the feedback information includes inspection data and drive data; an inspection robot used to inspect an area to be inspected, the inspection robot comprising: a main control module, which is wirelessly connected to the monitoring terminal, and is used to receive drive control commands and control a drive module according to the drive control commands; a drive module connected to the main control module, which is used to drive the inspection robot to move, and is also used to determine drive data and send the drive data to the main control module; and a data acquisition module connected to the main control module, which is used to collect information from the area to be inspected to obtain inspection data.

[0005] Optionally, the monitoring terminal includes a first wireless communication module, and the main control module includes a second wireless communication module. The main control module and the monitoring terminal are connected through the first wireless communication module and the second wireless communication module.

[0006] Optionally, the remote robot inspection system further includes: a monitoring terminal comprising an information processing module and a control sending module, the control sending module and the information processing module being communicatively connected; the information processing module is used to receive inspection data and drive data, and is also used to encrypt and compress the inspection data and drive data respectively to obtain image compressed packages and drive information compressed packages; the control sending module is used to determine and output drive control commands based on the drive information compressed packages.

[0007] Optionally, the remote robot inspection system further includes: a control sending module comprising a control submodule and an instruction output module; the control submodule is used to determine the drive control instruction to be sent based on the drive information compressed package and using a closed-loop control algorithm; the instruction output module is used to decompress and decrypt the drive control instruction to be sent to obtain the drive control instruction; and the instruction output module is also used to output the drive control instruction.

[0008] Optionally, the remote robot inspection system also includes: an instruction output module for real-time detection of drive control instructions and outputting drive control instructions based on the real-time detection results.

[0009] Optionally, the remote robot inspection system also includes: the monitoring terminal is also used to output alarm information based on the inspection data, wherein the alarm information is used to indicate that there is a preset abnormality in the area to be inspected.

[0010] Optionally, the remote robot inspection system also includes a monitoring terminal for storing, displaying, and editing feedback information.

[0011] Optionally, the remote robot inspection system further includes: a main control module including a main control chip and a serial communication interface, an input / output interface, and a pulse width modulation interface connected to the main control chip; the main control chip is used to perform asynchronous serial communication with the monitoring terminal through the serial communication interface, the main control chip is also used to connect to the acquisition module through the input / output interface to obtain inspection data, and the main control module is also used to send drive control commands to the drive module through the pulse width modulation interface.

[0012] Optionally, the remote robot inspection system also includes: a data acquisition module comprising an infrared camera and an image acquisition card.

[0013] Optionally, the remote robot inspection system also includes: a drive module comprising a pressure sensor, a microcontroller, a limit switch, a driver, and a geared motor, wherein the microcontroller is connected to the pressure sensor, the limit switch, and the driver, and the geared motor is connected to the driver.

[0014] Applying the technical solution of this application, a remote robot inspection system is adopted, including a monitoring terminal. The monitoring terminal is used to acquire and display feedback information from the inspection robot, and also to determine drive control commands to control the inspection robot based on the feedback information. The feedback information includes inspection data and drive data. The inspection robot is used to inspect the area to be inspected. The inspection robot includes: a main control module, which is wirelessly connected to the monitoring terminal and is used to receive drive control commands and control the drive module according to the commands; a drive module, connected to the main control module, which is used to drive the inspection robot to move and also to determine drive data and send the drive data to the main control module; and a data acquisition module, which is connected to the main control module and is used to collect information from the area to be inspected to obtain inspection data. This remote robot inspection system achieves the goal of a remote robot inspection system based on wireless communication network technology, thereby realizing the technical effect of remotely and in real-time determining the status of transmission lines through the cooperation of the inspection robot and the monitoring terminal. This solves the technical problem that existing line inspection technologies cannot accurately and in real-time obtain the status of transmission lines. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for a remote robot inspection system provided in an embodiment of this application is shown.

[0017] Figure 2 A schematic diagram of the structure of a remote robot inspection system provided according to an embodiment of this application is shown;

[0018] Figure 3 A system overall structure diagram of a remote robot inspection system provided according to an embodiment of this application is shown;

[0019] Figure 4 A schematic diagram of the main control chip resource deployment of a remote robot inspection system provided according to an embodiment of this application is shown;

[0020] Figure 5 A schematic diagram of the wireless communication network structure of a remote robot inspection system provided according to an embodiment of this application is shown.

[0021] Figure 6 A schematic diagram of the hardware and interface of the CAN bus communication node of the remote robot inspection system provided according to an embodiment of this application is shown;

[0022] Figure 7 A structural diagram of the driver interface circuit of a remote robot inspection system provided according to an embodiment of this application is shown;

[0023] Figure 8 A structural diagram of the monitoring terminal of a remote robot inspection system provided according to an embodiment of this application is shown;

[0024] Figure 9 A schematic diagram of the system communication interface of a remote robot inspection system provided according to an embodiment of this application is shown.

[0025] Figure 10 A schematic diagram of the inspection route of the inspection robot in the remote robot inspection system provided according to an embodiment of this application is shown;

[0026] Figure 11 A schematic diagram showing the fault monitoring results of a remote robot inspection system provided according to an embodiment of this application is illustrated.

[0027] Figure 12 A schematic diagram showing the wind deflection angle inspection results of a remote robot inspection system for power transmission lines provided according to an embodiment of this application is illustrated.

[0028] Figure 13 A schematic diagram showing the test results of the wireless communication function of a remote robot inspection system provided according to an embodiment of this application is illustrated.

[0029] Figure 14 A schematic diagram illustrating the information transmission performance of a remote robot inspection system provided according to an embodiment of this application is shown.

[0030] Figure 15 A schematic diagram showing the number of system hot starts of a remote robot inspection system provided according to an embodiment of this application is shown. Detailed Implementation

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0035] STM32F103 chip: This chip has low power consumption, strong data processing capability, a large number of I / O ports, and an operating voltage range of [1.8, 3.6]V. Its core is a 16-bit RISC processor.

[0036] The TL-WN781N wireless network card can effectively use various communication protocols, with a maximum data transmission rate of 25Mbps and a relatively long data transmission interval.

[0037] PID (Derivative-Integral-Proportional) control algorithm: This algorithm is widely used in various continuous control systems. Its essence is to calculate the input error based on the functional relationship between proportional, integral and derivative, and then complete the output control according to the calculation result.

[0038] As described in the background section, the existing inspection methods chosen by power companies are still manual inspection of transmission lines. This traditional line inspection technology is too simple, has high implementation costs, and also has problems such as the inability to accurately and in real time obtain the status of transmission lines. In order to solve the aforementioned problems, the embodiments of this application provide a remote robot inspection system.

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0040] The monitoring terminal in the remote robot inspection system provided in this application embodiment can be a mobile terminal, a computer terminal, or a similar computing device. Taking a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a remote robot inspection system according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0041] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0042] Figure 2 This is a structural schematic diagram of a remote robot inspection system 200 provided according to an embodiment of this application, as shown below. Figure 2 As shown, the system includes the following modules and terminals:

[0043] The monitoring terminal 202 is used to acquire and display feedback information from the inspection robot 201, and is also used to determine drive control commands to control the inspection robot 201 based on the feedback information. The feedback information includes inspection data and drive data.

[0044] Optionally, the monitoring terminal 202 can obtain feedback information from the inspection robot 201 and display the feedback information on the interface of the monitoring terminal 202, and then determine the control instructions for controlling the inspection robot 201 based on the inspection data and drive data contained in the feedback information.

[0045] Optionally, the inspection data includes various data collected by the inspection robot 201 through sensors during the inspection process, such as environmental data, temperature data, light sensing data, etc., without further limitation.

[0046] Optionally, the information displayed on the monitoring terminal 202 interface can take many forms. For example, the captured images can be directly displayed on the monitoring terminal 202 interface, or the useful information in the captured images can be further processed and the information that technicians need to know can be displayed on the monitoring terminal 202 interface.

[0047] Specifically, the inspection robot 201 is used to inspect the area to be inspected, and the inspection robot 201 includes:

[0048] The main control module 204 is wirelessly connected to the monitoring terminal 202. The main control module 204 is used to receive drive control commands and control the drive module 206 according to the drive control commands.

[0049] Specifically, the main control module 204 and the monitoring terminal 202 can be wirelessly connected. The main control module 204 can also receive the drive control command determined by the monitoring terminal 202, and then control the drive module 206 according to the received drive control command. The drive module 206 and the main control module 204 are connected through the CAN (Controller Local Network) bus, and the drive module 206 is also used to determine the data contained in the drive control command and then send the drive data to the main control module 204.

[0050] Optionally, for example, the robot inspection main control module 204 can choose the STM32F103 chip as the control core. This chip has low power consumption, strong data processing capability, a large number of I / O (input / output) ports, an operating voltage range of [1.8, 3.6]V, and a core of a 16-bit RISC processor (microprocessor). Its main functions include: communicating with other modules, preprocessing sensor information, processing signals from limit switches, sending drive signals to the motor, and completing speed regulation.

[0051] Optionally, wireless communication is a crucial means of achieving remote monitoring of robot inspections, and the efficiency of wireless communication directly affects the real-time transmission of instruction data obtained from robot inspections. Therefore, to improve the communication transmission performance of the remote robot inspection system, a TL-WN781N wireless network card is used within the wireless communication module to transmit robot inspection data within the system. The TL-WN781N wireless network card can effectively use various communication protocols, with a maximum data transmission rate of 25Mbps and relatively long data transmission intervals.

[0052] The drive module 206 is connected to the main control module 204. The drive module 206 is used to drive the inspection robot 201 to move. The drive module 206 is also used to determine the drive data and send the drive data to the main control module 204.

[0053] Specifically, the drive module 206 can receive instructions from the main control module 204 for control. After the drive module 206 and the main control module 204 are connected through the CAN bus, the drive module 206 is also used to determine the data contained in the drive control instructions and then send the drive data to the main control module 204.

[0054] The data acquisition module 208 is connected to the main control module 204. The data acquisition module 208 is used to collect information from the area to be inspected and obtain inspection data.

[0055] Specifically, the acquisition module 208 and the main control module 204 are connected through I / O ports. The acquisition module 208 is used to inspect the target inspection area and then integrate and process the information collected during the inspection to obtain inspection data.

[0056] Optionally, the data acquisition module 208 can acquire inspection data using image acquisition equipment, infrared cameras, and different types of sensors to collect robot inspection information. The acquired inspection information may include image information, sound information, temperature information, environmental information, etc.

[0057] In summary, this application provides a remote robot inspection system 200, including a monitoring terminal 202. The monitoring terminal 202 is used to acquire and display feedback information from the inspection robot 201, and is also used to determine drive control commands based on the feedback information to control the inspection robot 201. The feedback information includes inspection data and drive data. The inspection robot 201 is used to inspect the area to be inspected. The inspection robot 201 includes: a main control module 204, which is wirelessly connected to the monitoring terminal 202. The main control module 204 is used to receive drive control commands and control a drive module 206 according to the drive control commands; a drive module 206 is connected to the main control module 204 and is used to drive the inspection robot 201 to move. The drive module 206 is also used to determine drive data and send the drive data to the main control module 204; and a data acquisition module 208, which is connected to the main control module 204 and is used to collect information from the area to be inspected to obtain inspection data. A remote robot inspection system has been developed, achieving the goal of a remote robot inspection system based on wireless communication network technology. This system enables the remote and real-time determination of the status of transmission lines through the cooperation of the inspection robot 201 and the monitoring terminal 202, thereby solving the technical problem that existing line inspection technologies cannot accurately and in real-time obtain the status of transmission lines.

[0058] It is understandable that the remote robot inspection system proposed in this application, which combines wireless communication technology and intelligent robot technology, can realize the status monitoring of power transmission lines. While overcoming the problems of traditional inspection methods, it makes inspection more flexible and advanced, and has great application prospects.

[0059] Optionally, the overall structure of the remote robot inspection system provided in some embodiments of this application is as follows: Figure 3 As shown. The acquisition module 208 uses image acquisition equipment, infrared cameras, and various types of sensors to collect robot inspection information. The main control module 204 transmits the collected information and motor information from the drive module 206 to the remote monitoring module via I / O ports and CAN scheduling. While the monitoring terminal 202 completes monitoring, the control submodule uses an incremental PID control algorithm to control the robot inspection drive. The monitoring results can be viewed in real time through the remote monitoring terminal 202 of the remote monitoring module. The obtained control commands are sent to the control module and then transmitted to the drive module 206 via the CAN bus to drive the motor for speed adjustment. The power management module provides power to the system.

[0060] The above embodiments will now be described in further detail.

[0061] As an optional implementation, the monitoring terminal includes a first wireless communication module, and the main control module includes a second wireless communication module. The main control module and the monitoring terminal are connected to each other through the first wireless communication module and the second wireless communication module.

[0062] In this embodiment, such as Figure 5 As shown, wireless communication network technology is an important means to realize remote monitoring of robot inspection, and the efficiency of wireless communication is directly related to the real-time transmission of instruction data obtained from robot inspection. Therefore, in order to improve the communication transmission performance of the remote robot inspection system, a TL-WN781N wireless network card is used in the first and second wireless communication modules to transmit robot inspection data within the system. For the inspection robot 201, the inspection equipment on the robot is connected via PC / 104 bus technology and expanded into a single PCI wireless network card to realize the wireless communication network construction of the remote robot inspection system on the inspection robot 201 side. The PC / 104 bus of the inspection robot 201 connects to the motherboard, graphics card, multi-serial port card, and Ethernet, etc., while multiple multi-serial port cards connect to the inspection equipment on the robot (corresponding to the acquisition module 208) to send the data of the robot inspection equipment to the first wireless communication module through the second wireless communication module, thereby realizing the communication transmission between the inspection robot 201 and the monitoring terminal. The CAN bus interface card is connected to the data logger on the robot to obtain robot position information in real time. The Ethernet card connects to the information network to realize network data transmission. The PC / 104 to PCI interface card enables format conversion between the first wireless communication module and the information channel on the robot, and also allows the PCI wireless network card to transmit special information.

[0063] The TL-WN781N wireless network card can effectively use various communication protocols, with a maximum data transmission rate of 25Mbps and relatively long data transmission intervals.

[0064] Optionally, the hardware and interface design of the CAN bus communication node is as follows: Figure 6As shown. The microprocessor used in the CAN bus communication nodes is the AT89C51 microcontroller, which collects sensor data and controls the microcontroller through the I / O interface. The CAN bus controller is responsible for implementing the CAN bus data link layer protocol. The CAN transceiver is responsible for transmitting information to the bus, and its interface electrical functions must fully comply with CAN bus requirements. To improve system anti-interference capabilities, the stability of the CAN bus must be maintained, and attention must be paid to issues such as photoelectric shielding of signals. A transceiver is used as the transmission interface between the CAN controller and the bus, which can differentially send and receive CAN controller signals and bus signals. To ensure the reliability of the transceiver, a protection circuit is designed: a resistor is placed on the CAN pin and connected to the CAN bus to a certain extent to limit current and prevent the transceiver from being subjected to overcurrent surges. A parallel capacitor is placed between the CAN pin and ground to filter bus interference and prevent electromagnetic radiation. Termination resistors are added between the CAN pins to complete bus impedance matching and improve the anti-interference performance of the CAN bus.

[0065] As an optional implementation, the monitoring terminal 202 includes an information processing module and a control sending module, which are communicatively connected. The information processing module is used to receive inspection data and drive data, and is also used to encrypt and compress the inspection data and drive data respectively to obtain image compressed packages and drive information compressed packages. The control sending module is used to determine and output drive control commands based on the drive information compressed packages.

[0066] In this embodiment, the structure of the remote monitoring module is as follows: Figure 8 As shown, by Figure 8 As can be seen, the entire remote monitoring module is mainly divided into an information processing module and a control transmission module. The function of the information processing module in the remote monitoring module is to receive image information collected by the acquisition module 208 and motor information from the drive module 206, then encrypt and compress them, and after completing the packetization, send the drive information compressed package to the control transmission module according to the system communication protocol. The control transmission module determines and outputs drive control commands based on the drive information compressed package.

[0067] Specifically, the drive control commands output by the control sending module can control the robot to perform actions such as rotation, forward or backward movement, or speed change.

[0068] As an optional implementation, the control sending module includes a control submodule and an instruction output module. The control submodule is used to determine the drive control instruction to be sent based on the drive information compressed package and a closed-loop control algorithm. The instruction output module is used to decompress and decrypt the drive control instruction to be sent to obtain the drive control instruction. The instruction output module is also used to output the drive control instruction.

[0069] In this embodiment, within the remote monitoring module's control transmission area, the control submodule utilizes a PID control algorithm to control the drive signals in the motor information packet and outputs the control drive signals as high-level task instructions. Simultaneously, the instructions undergo real-time detection, unpacking, decompression, and decryption, and the robot inspection drive control instructions are output. By sending corresponding commands to the serial port in real time, the robot completes the corresponding operations. The remote monitoring terminal 202 allows for viewing and managing the robot's inspection results, image information, and relevant data during the control process.

[0070] Optionally, in the control submodule of the control sending module, the robot inspection drive is achieved by applying a PID control algorithm to control the motor drive signal of the drive module 206. This algorithm is widely used in various continuous control systems. Its essence is to calculate the input error based on the functional relationship between proportional, integral, and derivative functions, and then complete the output control according to the calculation result. Applying the PID control algorithm to the robot inspection drive control, the PID formula is expressed as:

[0071]

[0072] Where e(t) is the error between the actual value and the expected value of the driving signal, and n p n i n d These are the proportional, integral, and differential coefficients, respectively.

[0073] To achieve robot inspection drive control, the drive signal needs to be converted first. This requires the application of a position-based digital PID algorithm, the formula of which is as follows:

[0074]

[0075] Optionally, since integral saturation can easily occur and cause system overshoot when applying positional digital PID algorithms, this paper chooses to apply an incremental PID control algorithm. This algorithm can automatically identify and achieve high-precision, stable control of motor drive signals. Using this algorithm greatly prevents saturation and ensures stable operation of the remote robot inspection system.

[0076] The formula for incremental PID control can be obtained by transforming the above formula:

[0077] Δm(t)=m(t)-m(t-1)

[0078] =n p [e(t)-e(t-1)]+n i e(t)

[0079] +n d [e(t)-2e(t-1)+e(t-2)]

[0080] In the formula, e(t), e(t-1), and e(t-2) represent the errors of the t-th, t-1, and t-2th samplings, respectively.

[0081] Incremental PID control can reduce overshoot in robot inspection drive control, reduce the impact of integral saturation, and improve control accuracy.

[0082] Optionally, the control submodule of the remote monitoring module applies incremental PID control to drive the robot inspection process as follows: The remote monitoring module obtains motor information from the drive module 206 via a wireless communication network, converts it into a digital signal via an A / D converter, and splits it into two parts. One part is used for display, while the other part is used to compare with the set desired drive threshold. The obtained positive and negative inputs are used to obtain drive control signals from the PID controller. The robot inspection main control module 204 outputs the drive signals obtained from the remote monitoring module as commands and sends them to the drive module 206 to complete the robot inspection drive control.

[0083] As an optional implementation, the instruction output module is also used to perform real-time detection of the drive control instructions and output drive control instructions based on the real-time detection results.

[0084] In this embodiment, the robot outputs control drive signals as high-level task instructions. The instruction output module in the remote robot inspection system performs real-time detection of the instructions and outputs robot inspection drive control instructions. By sending the corresponding commands to the serial port in real time, the robot can complete the corresponding operations.

[0085] Optionally, the command output module can detect commands in real time. When the robot is performing inspections, it can detect the rationality of the commands in real time and make real-time adjustments, and then output the adjusted commands to control the robot's actions.

[0086] As an optional implementation, the monitoring terminal 202 is also used to output alarm information based on the inspection data, wherein the alarm information is used to indicate that there is a preset abnormality in the area to be inspected.

[0087] In this embodiment, the monitoring terminal 202 in the remote robot inspection system can also analyze the data collected by the robot through sensors during the inspection process. After obtaining the analysis results, if there is a preset abnormal situation, an alarm message will be output, wherein the alarm message is used for alarm.

[0088] Optionally, taking the common icing fault in power transmission line operation as an example, if icing tripping cannot be controlled in time, it can lead to deformation or even breakage of the power transmission line, severely damaging the wire insulation layer and causing power accidents. This study investigates the monitoring effect of the system in this paper on power transmission lines under icing conditions. The inspection route of the controlled inspection robot 201 and the icing monitoring results are as follows: Figure 10 As shown. (Through) Figure 10 As can be seen, the system described in this paper can effectively control robots to inspect power transmission lines, collect images of power transmission lines under icing conditions, monitor icing faults, and issue alarms for such faults. The monitoring results are relatively accurate, and based on these results, back-end staff can promptly identify faults in the power transmission lines, manage them in a timely manner, and reduce safety risks.

[0089] Optionally, when analyzing the collected inspection data, the monitoring terminal 202 can use the image region key identification method to identify key abnormal areas. Alternatively, the monitoring terminal 202 can perform image clustering processing on the collected images, obtain the target area, compare it with the preset fault images, and judge the abnormal situation to obtain the final judgment result.

[0090] As an optional implementation, the monitoring terminal 202 is also used to store, display, and edit feedback information.

[0091] In this embodiment, the monitoring terminal 202 can also store, display, and edit the feedback information obtained by applying the PID algorithm in the control submodule of the remote monitoring module.

[0092] Optionally, such as Figure 9 As shown, through Figure 9 As can be seen, the remote robot inspection system provides users with the service of controlling the start and stop of monitoring through the communication interface. Users can understand the current network status of the system in a timely manner through this interface, ensuring the stable operation of remote monitoring. Through the option to add or delete interfaces, users can connect to other wireless networks at any time, which has good flexibility.

[0093] As an optional implementation, the main control module 204 includes a main control chip and a serial communication interface, an input / output interface, and a pulse width modulation interface connected to the main control chip. The main control chip is used to perform asynchronous serial communication with the monitoring terminal 202 through the serial communication interface. The main control chip is also used to connect to the acquisition module 208 through the input / output interface to obtain inspection data. The main control module 204 is also used to send drive control commands to the drive module 206 through the pulse width modulation interface.

[0094] In this embodiment, the robot inspection main control module 204 selects the STM32F103 chip as the control core. The main functions of this chip include: communicating with other modules, preprocessing sensor information, processing signals from limit switches, sending drive signals to the motor, and performing speed regulation. The resource deployment of the main control chip is as follows: Figure 4 As shown, asynchronous serial communication is achieved using the USCI serial port; signals from limit protection sensors are acquired through interrupt I / O ports P1 and P2; motor drive signals are sent via the PWM interface to drive the motor; multiple I / O ports are used to control external buttons, relays, etc., and to collect data from different types of sensors. The main control chip and its peripheral circuits are integrated on a single main control board.

[0095] As an optional implementation, the acquisition module 208 includes an infrared camera and an image acquisition card.

[0096] In this embodiment, the acquisition module 208 can acquire robot inspection information using image acquisition equipment, infrared cameras and different types of sensors.

[0097] Optionally, during the data acquisition process, the acquisition module 208 can acquire not only image data but also sound data, temperature data, light sensing data, etc., without specific limitations.

[0098] As an optional implementation, the drive module 206 includes a pressure sensor, a microcontroller, a limit switch, a driver, and a geared motor. The microcontroller is connected to the pressure sensor, the limit switch, and the driver, respectively, and the geared motor is connected to the driver.

[0099] In this embodiment, the drive module 206 includes a driver, and the driver interface circuit is a logic circuit for controlling the robot's inspection. This circuit can be used to control the drive of the motors inside the robot. The structure of the driver interface circuit is as follows: Figure 7 As shown. After the driver interface circuit is powered on, it receives instructions from the remote monitoring module and then transmits these instructions to the logic switching switch. This switch contains an analog switch, which connects the robot's left and right main controllers and slave controllers. The analog switch follows differential control instructions, driving the controllers to operate and completing the robot's inspection control.

[0100] Optionally, the application process of the remote robot inspection system provided in this application in different scenarios is briefly described based on the following example. In the scenario below, the system monitors a power transmission line in a certain area. The system power supply voltage is 12V, the robot wheelbase is 30cm, the maximum linear speed and angular speed are 0.5m / s and 0.25 radians / s respectively, the rotation angle is 360°, the scanning frequency is 540kHz, the ranging range is 360m, and the field of view is 330°. There are 71 power poles in this area, with an average spacing of 500m.

[0101] Specifically, in icing conditions, if the remote robot inspection system fails to control icing-induced tripping in time, it can lead to deformation or even breakage of transmission lines, severely damaging the wire insulation and causing power accidents. This study investigates the monitoring effect of the remote robot inspection system on transmission lines under icing conditions. The controlled inspection robot 201's inspection route and icing monitoring results are shown below. Figure 8 As shown. (Through) Figure 8 It can be seen that the remote robot inspection system can effectively control robots to inspect power transmission lines, collect images of power transmission lines under icing conditions, monitor icing faults, and issue alarms for such faults. The monitoring results are relatively accurate, and based on these results, back-end staff can promptly identify faults in the power transmission lines, manage them in a timely manner, and reduce safety risks.

[0102] Under normal, icing, and lightning strike fault conditions, the probability estimation results of fault monitoring are used as the test index to measure the probability estimation results of transmission line faults monitored by the system in this paper. See details below. Figure 11 (Set the expected probability estimate to 80%). Based on... Figure 11 It can be seen that the remote robot inspection system can effectively monitor transmission lines under normal, icing, and lightning strike fault conditions, and the probability estimates of the monitored transmission line faults all exceed the expected values. In summary, the remote robot inspection system can accurately monitor different types of transmission line faults and has reliability.

[0103] A power transmission line wind deflection angle was randomly selected in the region, and a remote robotic inspection system was used to monitor the tower under different wind loads, achieving intelligent inspection of the power transmission line wind deflection angle. The analysis results are as follows: Figure 12 As shown. According to Figure 12 It can be seen that under different wind loads, the wind deflection angle of transmission lines increases with increasing wind speed. Under stable wind conditions, the wind deflection angle steadily increases after the wind speed exceeds 2 m / s. Under pulsating wind conditions, the wind deflection angle begins to widen after the wind speed exceeds 1 m / s, and the oscillation of the wind deflection angle is more complex and has a larger fluctuation range. Experiments demonstrate that the remote robot inspection system can accurately inspect the wind deflection angle of transmission lines; the higher the wind speed, the larger the wind deflection angle.

[0104] Wireless communication capability is a core indicator affecting the effectiveness of remote monitoring of robot inspection systems. This study tested the changes in communication data volume as communication time increased under different communication queue lengths in the remote robot inspection system. The results are as follows: Figure 13 As shown. Analysis Figure 13It can be seen that during remote monitoring, the amount of communication data in the remote robot inspection system increases with the communication time, regardless of the communication queue length; the longer the communication queue, the greater the data transmission volume. At the same communication queue length, the amount of communication data does not change significantly with increasing communication time. Complete data transmission can be achieved with communication queue lengths of 300 bytes and 500 bytes. At a communication queue length of 800 bytes, some data loss occurs during transmission, but the amount of packet loss is extremely small. Experimental results indicate that the remote robot inspection system has good overall data transmission capability during robot inspection.

[0105] An eye diagram waveform is constructed by superimposing the transmission waves during information acquisition in this paper's system. This waveform is used to measure the information transmission performance of the remote robot inspection system. The effective time window of the eye diagram is positively correlated with the information transmission performance, as shown in the results. Figure 14 As shown. According to Figure 14 It can be seen that the information acquisition and transmission waves superimposed by the remote robot inspection system are relatively smooth, and the changes in the uppermost information transmission wave are small. The constructed eye diagram waveform is relatively smooth and has a large effective time window, indicating that the remote robot inspection system has a good information transmission effect.

[0106] When a remote robot inspection system is running, a malfunction may cause an automatic warm-start. The reliability of the remote robot inspection system is evaluated based on the number of automatic warm-starts. The system was run continuously for 10,000 minutes, and the number of automatic warm-starts was counted. The results are as follows: Figure 15 As shown. Analysis Figure 15 It can be seen that the cumulative number of automatic hot starts of the remote robot inspection system increases in a stepwise manner as the running time continues to increase. Before approximately 3500 minutes of operation, the system had 0 automatic hot starts, and the number remained at 1 during the 3500-7000 minute run. As the system's running time continued to increase, the cumulative number of automatic hot starts increased. After 10000 minutes of continuous operation, the number of automatic hot starts of the remote robot inspection system was only 3. These results indicate that the remote robot inspection system experiences fewer interruptions during operation, has a lower probability of monitoring failures, and exhibits high reliability.

[0107] The remote robot inspection system was operated according to the on-site operation requirements of power transmission line inspection. The system's functional parameters were tested to verify whether it met the design conditions. The test results of the system functional parameters are shown in Table 1. As can be seen from the test results in Table 1, the system's information transmission error rate is less than 0.08%, indicating high communication reliability. Furthermore, the maximum response time is less than 1.0s, demonstrating that the system operates quickly and has good information transmission performance, highly conforming to equipment configuration and facilitating practical application.

[0108] Table 1 System Functional Parameter Test Results

[0109]

[0110] In the embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The embodiments described above are merely illustrative; for example, the division of modules can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between modules may be electrical or other forms.

[0111] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0113] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0114] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A remote robot inspection system, characterized in that, include: A monitoring terminal is used to acquire and display feedback information from the inspection robot, and is also used to determine drive control commands to control the inspection robot based on the feedback information. The feedback information includes inspection data and drive data. The inspection robot is used to inspect the area to be inspected, and the inspection robot includes: The main control module is wirelessly connected to the monitoring terminal. The main control module is used to receive the drive control command and control the drive module according to the drive control command. The drive module is connected to the main control module. The drive module is used to drive the inspection robot to move. The drive module is also used to determine the drive data and send the drive data to the main control module. The data acquisition module is connected to the main control module and is used to collect information from the area to be inspected to obtain the inspection data. The monitoring terminal includes an information processing module and a control sending module, and the control sending module and the information processing module are communicatively connected. The information processing module is used to receive the inspection data and the drive data. The information processing module is also used to encrypt and compress the inspection data and the drive data respectively to obtain an image compressed package and a drive information compressed package. The control sending module includes a control submodule and an instruction output module; The control submodule is used to determine the drive control command to be sent based on the motor drive signal in the drive information compressed package, using an incremental differential-integral-proportional control algorithm. The incremental differential-integral-proportional control algorithm is as follows: , , , They represent the first , , The error between the actual value and the expected value of the driving signal in the next sample. , , These are the proportional, integral, and differential coefficients, respectively. The instruction output module is used to decompress and decrypt the drive control instruction to be sent to obtain the drive control instruction. The instruction output module is also used to output the drive control instruction. The instruction output module is also used to perform real-time detection on the drive control instruction and adjust the drive control instruction according to the real-time detection result, wherein the real-time detection result is used to indicate the rationality of the drive control instruction.

2. The remote robot inspection system according to claim 1, characterized in that, The monitoring terminal includes a first wireless communication module, and the main control module includes a second wireless communication module. The main control module and the monitoring terminal are connected through the first wireless communication module and the second wireless communication module.

3. The remote robot inspection system according to claim 1, characterized in that, The monitoring terminal is also used to output alarm information based on the inspection data, wherein the alarm information is used to indicate that there is a preset abnormality in the area to be inspected.

4. The remote robot inspection system according to claim 1, characterized in that, The monitoring terminal is also used to store, display, and edit the feedback information.

5. The remote robot inspection system according to claim 1, characterized in that, The main control module includes a main control chip and a serial communication interface, an input / output interface, and a pulse width modulation interface connected to the main control chip. The main control chip is used to perform asynchronous serial communication with the monitoring terminal through the serial communication interface. The main control chip is also used to connect with the acquisition module through the input / output interface to obtain the inspection data. The main control module is also used to send the drive control command to the drive module through the pulse width modulation interface.

6. The remote robot inspection system according to claim 1, characterized in that, The acquisition module includes an infrared camera and an image acquisition card.

7. The remote robot inspection system according to claim 1, characterized in that, The drive module includes a pressure sensor, a microcontroller, a limit switch, a driver, and a geared motor. The microcontroller is connected to the pressure sensor, the limit switch, and the driver, and the geared motor is connected to the driver.

Images