Substation teleoperation robot inspection control system and method

Abstract

The invention discloses a substation teleoperation robot inspection control system and method. The method comprises the steps that target inspection data, road condition data and environment data of a substation inspection robot and real-time data generated in the inspection process are acquired, and the acquired data are preprocessed; first logic calculation and second logic calculation are carried out on the preprocessed data, the first logic calculation is used for calculating an inspection track, and the second logic calculation is used for calculating a teleoperation instruction; and judging whether the substation inspection robot can perform complete inspection according to the calculated inspection track, and performing corresponding instruction teleoperation according to the calculated teleoperation instruction. According to the substation teleoperation robot inspection control system and method, the inspection efficiency and safety are improved by optimizing the processes of data processing, trajectory calculation and instruction generation, and a new solution is provided for intelligent inspection of a substation.

Description

Technical Field

[0001] The present invention relates to the technical field of substation teleoperated robot inspection control, and in particular to a substation teleoperated robot inspection control system and method. Background Art

[0002] With the rapid development of the power industry, substations are the key nodes of the power system, and their safe and stable operation is of vital importance. Substation inspection is an important means to ensure the normal operation of substation equipment. The traditional inspection method relies on manual inspection, but this method has problems such as low inspection efficiency, high labor cost, and difficult to ensure inspection quality. Therefore, it is particularly important to develop a substation teleoperated robot inspection control system that can automatically inspect, remotely control, and intelligently analyze.

[0003] Although the existing substation remote-controlled robot inspection control system can achieve a certain degree of automated inspection, it still has many deficiencies in actual operation. For example, the system has a weak ability to adapt to complex road conditions and environmental changes, and cannot flexibly adjust the inspection trajectory and remote operation instructions according to real-time data; at the same time, the system's power management module also has certain defects, and cannot accurately judge the power status and replace it in time, thus affecting the smooth completion of the inspection task. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed.

[0006] Therefore, the present invention provides a substation remote-operated robot inspection control system and method, which can solve the problems existing in the background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a substation teleoperated robot inspection control system, comprising: a data acquisition unit, a central control unit, a communication unit, a teleoperation unit, a power supply unit and a server unit;

[0009] The data acquisition unit is used to acquire the target inspection data, road condition data, environmental data and real-time data generated by the inspection process of the substation inspection robot, and transmit the acquired data to the central control unit or the server unit through the communication unit after preprocessing;

[0010] The central control unit is used to process the data transmitted from the data acquisition unit, calculate the operation instructions for the data, and transmit the operation instructions to the remote operation unit through the communication unit;

[0011] The communication unit is used to control the communication connection between different modules;

[0012] The remote operation unit is used to receive operation instructions from the central control unit, perform different remote operations according to the corresponding instructions, and transmit the remote operation results to the server unit through the communication unit;

[0013] The power supply unit is used to supply power to different modules and determine whether the remaining power is sufficient to complete the inspection task;

[0014] The server unit is used for structured storage of data generated by different units during different inspection tasks, and provides data to be retrieved to different modules.

[0015] As a preferred solution of the substation remote-operated robot inspection control system of the present invention, wherein: the data acquisition unit includes a first data acquisition module, a second data acquisition module, a third data acquisition module, a fourth data acquisition module and a preprocessing module;

[0016] The first data acquisition module is used to acquire target inspection data of the substation inspection robot;

[0017] The second data acquisition module is used to acquire patrol road condition data;

[0018] The third data acquisition module is used to acquire environmental data;

[0019] The fourth data acquisition module is used to acquire real-time data generated during the inspection process;

[0020] The preprocessing module is electrically connected to the first data acquisition module, the second data acquisition module, the third data acquisition module and the fourth data acquisition module;

[0021] The preprocessing module performs a first preprocessing on the data acquired by the first data acquisition module, the second data acquisition module and the fourth data acquisition module, and transmits the preprocessing result to the central control unit through the communication unit;

[0022] The preprocessing module performs second preprocessing on the data acquired by the third data acquisition module, and transmits the preprocessing result to the central control unit through the communication unit.

[0023] As a preferred solution of the substation remote-operated robot inspection control system of the present invention, wherein: the central control unit includes a first computing module and a second computing module;

[0024] The first computing module and the second computing module are electrically connected;

[0025] The first calculation module receives the first preprocessing result data from the data acquisition unit, and calculates the specific inspection route of the substation inspection robot before the next remote operation process according to the first preprocessing result;

[0026] The second calculation module receives the second preprocessing result data from the data acquisition unit, and calculates whether remote operation is possible in the actual scenario according to the second preprocessing result, determines the specific operation steps when performing remote operation, and generates corresponding remote operation instructions.

[0027] As a preferred solution of the substation remote-operated robot inspection control system of the present invention, wherein: the first calculation module includes a first data acquisition unit, a first data calculation unit, a first judgment connection unit and a first route output unit;

[0028] The first data acquisition unit is used to receive the first preprocessing result data and convert the first preprocessing result data into a parameter pattern to be calculated by the first data calculation unit;

[0029] The first data calculation unit receives the conversion result from the first data acquisition unit, and calculates a specific inspection route before the next remote operation process of the substation inspection robot according to the conversion result;

[0030] The first judgment connection unit is used to judge whether the specific inspection route of the substation inspection robot before the next remote operation process is the same as the target inspection data of the substation inspection robot acquired by the data acquisition unit. If they are the same, the first judgment connection unit judges not to connect; if they are not the same, the first judgment connection unit judges to connect, and transmits the specific inspection route of the substation inspection robot before the next remote operation process calculated by the first data calculation unit to the second calculation module. The second calculation module generates an inspection instruction according to the specific inspection route before the next remote operation process of the substation inspection robot, and sends it to the remote operation unit through the communication unit;

[0031] The first route output unit sends the remaining routes to the power supply unit through the communication unit according to the judgment result of the first judgment connection unit;

[0032] The first data acquisition unit, the first data calculation unit, the first determination connection unit and the first route output unit are electrically connected.

[0033] As a preferred solution of the substation remote-operated robot inspection control system of the present invention, wherein: the second calculation module includes a second data acquisition unit, a second data calculation unit, a second judgment unit and an instruction generation unit;

[0034] The second data acquisition unit is used to receive the second preprocessing result data and convert the second preprocessing result data into a parameter pattern to be calculated by the second data calculation unit;

[0035] The second data calculation unit receives the conversion result from the second data acquisition unit, calculates the second constraint of the environmental data in the actual scene according to the conversion result, and transmits the second constraint to the second judgment unit;

[0036] The second judgment unit judges whether remote operation is possible according to the second constraint received by the second data calculation unit, and sends a remote operation instruction generation signal to the instruction generation unit if remote operation is possible, and sends a reset safety posture instruction generation signal to the instruction generation unit if remote operation is not possible;

[0037] The instruction generation unit generates a corresponding instruction according to the received signal transmitted by the second judgment unit, and generates an inspection instruction according to the specific inspection route before the next remote operation process of the substation inspection robot, and sends it to the remote operation unit through the communication unit;

[0038] The second data acquisition unit, the second data calculation unit, the second determination unit, and the instruction generation unit are electrically connected.

[0039] As a preferred solution of the substation remote-operated robot inspection and control system described in the present invention, the remote-operation unit includes displaying the steps to be operated to the remote-operation operator according to the command information transmitted by the central control unit, and the command information includes at least inspection instructions, specific remote-operation instructions and reset instructions.

[0040] As a preferred solution of the substation remote-operated robot inspection control system of the present invention, wherein: the power supply unit includes a third judgment module, a replacement module and a power supply module;

[0041] The third judgment module, the replacement module and the power supply module are electrically connected;

[0042] The third judgment module receives the remaining route sent by the first route output unit through the communication unit, and receives the remaining current information transmitted by the power supply module, judges the power supply state according to the remaining route and the remaining current information, and transmits the power supply state to the server unit;

[0043] The server unit includes at least a first power judgment module, a data storage module and an alarm module. The first power judgment module judges whether the remaining power is sufficient to complete the inspection task according to the power status, and determines whether to issue an alarm and replace the power supply according to different judgment results.

[0044] In a second aspect, the present invention provides a substation remote-controlled robot inspection control method, comprising:

[0045] Obtain the target inspection data, road condition data, environmental data and real-time data generated by the substation inspection robot during the inspection process, and pre-process the acquired data;

[0046] Performing a first logic calculation and a second logic calculation on the preprocessed data, wherein the first logic calculation is used to calculate the inspection trajectory, and the second logic calculation is used to calculate the remote operation instruction;

[0047] The calculated inspection trajectory is used to determine whether the substation inspection robot can complete the inspection, and the corresponding teleoperation command is performed according to the calculated teleoperation command.

[0048] In a third aspect, the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method when executing the computer program.

[0049] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method described above when executed by a processor.

[0050] Compared with the prior art, the invention has the following beneficial effects: the invention proposes a substation remote-operated robot inspection control system and method, which obtains the target inspection data, road condition data, environmental data and real-time data generated during the inspection process of the substation inspection robot, and pre-processes the obtained data; performs a first logic calculation and a second logic calculation on the pre-processed data, wherein the first logic calculation is used to calculate the inspection trajectory, and the second logic calculation is used to calculate the teleoperation instruction; judges whether the substation inspection robot can complete the inspection according to the calculated inspection trajectory, and performs corresponding teleoperation according to the calculated teleoperation instruction. By real-time acquisition and pre-processing of the target inspection data, road condition data, environmental data and real-time data generated during the inspection process, the accuracy and timeliness of the data are ensured, and a reliable data basis is provided for the subsequent inspection trajectory calculation and teleoperation instruction generation. Through the parallel processing of the first logic calculation and the second logic calculation, the accurate calculation of the inspection trajectory and the efficient generation of the teleoperation instruction are realized. This can not only improve the inspection efficiency, but also ensure the safety and stability of the inspection process. The power supply unit design in the present invention can monitor the power supply status in real time by judging the remaining route and the remaining current information, and promptly issue an alarm and replace the power supply according to the remaining power situation, thereby avoiding the interruption of the inspection task due to insufficient power and improving the continuity and stability of the inspection.

[0051] In summary, the substation teleoperated robot inspection control system and method of the present invention improves the efficiency and safety of inspection by optimizing data processing, trajectory calculation and instruction generation processes, and provides a new solution for intelligent inspection of substations. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0053] Figure 1 A method flow chart of a substation remote-controlled robot inspection control system and method provided by one embodiment of the present invention;

[0054] Figure 2 A schematic diagram of the system structure of a substation remote-controlled robot inspection control system and method provided by one embodiment of the present invention;

[0055] Figure 3 An internal structural diagram of a computer device of a substation teleoperated robot inspection control system and method provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0057] Example 1

[0058] Reference Figure 1-Figure 3 , which is the first embodiment of the present invention, provides a substation remote-operated robot inspection control system and method, including:

[0059] Before describing the embodiments of the present application in detail, some related concepts are first explained for the sake of clarity.

[0060] Teleoperation: Teleoperation is a technical means that allows users to control the behavior of mechanical equipment, robots or other systems through electronic, mechanical or computer networks at a distance from the actual operation site. This concept emphasizes the spatial separation between the operator and the object being operated, and uses advanced communication technology and control theory to achieve precise control of remote equipment. Teleoperation systems usually include three parts: the control end (operator interface), the communication link and the execution end (controlled robot or equipment). They can be applied to many fields such as exploration of hazardous environments, remote maintenance, surgical operations, deep-sea operations, space missions, etc.

[0061] Robotic inspection: Robotic inspection refers to the use of specially designed robots to automatically perform inspection and monitoring tasks on specific facilities or areas. Such robots are usually equipped with a variety of detection equipment such as high-definition cameras, infrared imagers, ultrasonic sensors, environmental monitoring sensors, etc. They can navigate autonomously or follow preset paths to complete regular inspections of infrastructure such as substations, pipelines, bridges, and storage tanks with little or no direct human intervention. The advantage of robotic inspection is that it improves the accuracy and efficiency of inspections while reducing dependence on manpower, especially for places with harsh environments, difficult to reach, or potentially dangerous to humans. Through robotic inspections, safety hazards can be discovered in a timely manner, equipment conditions can be assessed, and accurate data support can be provided for maintenance decisions.

[0062] Although there are some applications of substation inspection robots in related technologies, they still face some challenges in actual operation. For example, for complex and changing environments and road conditions, the robot needs to be able to adjust the inspection trajectory in real time and make corresponding remote operation instructions. In addition, the speed and accuracy of data processing are also key factors affecting inspection efficiency and safety.

[0063] The present application provides a method that can effectively solve the above-mentioned problems. Next, multiple embodiments will be combined to explain in detail how to implement the substation remote-operated robot inspection control system;

[0064] In this embodiment, a substation remote-operated robot inspection control system is provided, comprising: a data acquisition unit 100, a central control unit 200, a communication unit 300, a remote-operation unit 400, a power supply unit 500 and a server unit 600;

[0065] Specifically, the data acquisition unit 100 is used to acquire the target inspection data, road condition data, environmental data and real-time data generated during the inspection process of the substation inspection robot, and transmit the acquired data to the central control unit 200 or the server unit 600 through the communication unit 300 after preprocessing;

[0066] Furthermore, the central control unit 200 is used to process the data transmitted from the data acquisition unit 100, calculate the operation instructions for the data, and transmit the operation instructions to the remote operation unit 400 through the communication unit 300;

[0067] Furthermore, the communication unit 300 is used to control the communication connection between different modules;

[0068] Furthermore, the remote operation unit 400 is used to receive operation instructions from the central control unit 200, and perform different remote operations according to the corresponding instructions, and transmit the remote operation results to the server unit 600 through the communication unit 300;

[0069] Furthermore, the power supply unit 500 is used to supply power to different modules and determine whether the remaining power is sufficient to complete the inspection task;

[0070] Furthermore, the server unit 600 is used to structure the data generated by different units during different inspection tasks, and provide data to be retrieved to different modules.

[0071] In the embodiment of the present application, the data acquisition unit 100 includes a first data acquisition module 101, a second data acquisition module 102, a third data acquisition module 103, a fourth data acquisition module 104 and a preprocessing module 105;

[0072] Among them, the first data acquisition module 101 is used to obtain the target inspection data of the substation inspection robot;

[0073] The second data acquisition module 102 is used to acquire inspection road condition data;

[0074] The third data acquisition module 103 is used to acquire environmental data;

[0075] The fourth data acquisition module 104 is used to acquire real-time data generated during the inspection process;

[0076] In an embodiment of the present application, the target inspection data of the substation inspection robot may include an equipment list: a list of all power equipment to be inspected, such as transformers, circuit breakers, disconnectors, lightning arresters, cable terminals, etc., and their specific inspection requirements. Checkpoint coordinates: the precise geographical location coordinates of each checkpoint within the substation so that the robot can plan a path to it. Inspection cycle: The scheduled inspection frequency for each device or area may vary depending on the importance of the equipment and historical maintenance records. Standard parameter comparison table: The parameter ranges of temperature, pressure, sound, etc. during normal operation of each device, used as a reference benchmark during inspections. Special task instructions: In addition to routine inspections, additional inspection requirements may also be included during special periods or special circumstances, such as checking for water accumulation after rain, and evaluating equipment status after extreme weather.

[0077] Inspection road condition data can include ground conditions: road surface materials such as cement, grass, gravel, slope, wetness, etc., which affect the robot's walking stability and path selection. Obstacle information: including fixed obstacles such as buildings and equipment foundations, as well as temporary obstacles such as the location of maintenance tools and scattered items to ensure that the robot can effectively avoid obstacles. Channel width: the minimum width of the channel in the substation to confirm whether the robot can pass smoothly. Access permission area: identifies which areas the robot can enter and whether there are specific time restrictions.

[0078] Environmental data can include temperature and humidity: the temperature and humidity of the environment have a direct impact on the operating status of electrical equipment and are also an important basis for evaluating the health of equipment. Gas concentration: Detecting SF6 gas leakage, commonly used in high-voltage equipment, oxygen content, etc. to ensure environmental safety. Noise level: Equipment operating noise, abnormal noise may indicate equipment failure. Radiation level: It may be necessary to monitor radiation levels near certain specific equipment to ensure safety. Lighting conditions: For the robot's visual system, light intensity and direction may affect the accuracy of its image recognition.

[0079] The real-time data generated during the inspection process can include images and videos: the appearance of the equipment, instrument readings, local detail images or videos taken by the robot through the camera, which are used to intuitively evaluate the status of the equipment. Sensor data: data collected by various sensors such as temperature, vibration, ultrasound, and infrared thermal imagers, which are used to analyze equipment operating parameters. Positioning and posture information: the real-time position, direction, and posture of the robot during the inspection process, which are used for path tracking and adjustment. Abnormal alarm signal: when data exceeding the preset threshold is detected or a potential fault is found, the robot will immediately issue an alarm signal. Battery status and system health report: including information such as the robot's own battery power, motor temperature, system stability, etc., to ensure the smooth completion of the inspection task.

[0080] It should be noted that the pre-processing module 105 is electrically connected to the first data acquisition module 101 , the second data acquisition module 102 , the third data acquisition module 103 , and the fourth data acquisition module 104 ;

[0081] In the embodiment of the present application, the preprocessing module 105 performs a first preprocessing on the data acquired by the first data acquisition module 101, the second data acquisition module 102 and the fourth data acquisition module 104, and transmits the preprocessing result to the central control unit 200 through the communication unit 300;

[0082] The preprocessing module 105 performs second preprocessing on the data acquired by the third data acquisition module 103 , and transmits the preprocessing result to the central control unit 200 through the communication unit 300 .

[0083] In an optional embodiment, the first preprocessing may be to perform missing value processing, outlier processing, normalization and feature extraction on target inspection data, road condition data and real-time data; the second preprocessing may be to perform data smoothing processing, standardization and feature selection on environmental data, and define the standard of outliers based on the historical distribution of environmental data to identify and process abnormal values.

[0084] In the embodiment of the present application, the central control unit 200 includes a first calculation module 201 and a second calculation module 202;

[0085] Wherein, the first calculation module 201 and the second calculation module 202 are electrically connected;

[0086] Specifically, the first calculation module 201 receives the first preprocessing result data from the data acquisition unit 100, and calculates the specific inspection route of the substation inspection robot before the next remote operation process according to the first preprocessing result;

[0087] Specifically, the second calculation module 202 receives the second preprocessing result data from the data acquisition unit 100, and calculates whether remote operation is possible in the actual scenario according to the second preprocessing result, determines the specific operation steps when performing remote operation, and generates corresponding remote operation instructions.

[0088] Furthermore, the first calculation module 201 includes a first data acquisition unit 201a, a first data calculation unit 201b, a first judgment connection unit 201c and a first route output unit 201d;

[0089] The first data acquisition unit 201a is used to receive the first preprocessing result data and convert the first preprocessing result data into a parameter pattern to be calculated by the first data calculation unit 201b;

[0090] The first data calculation unit 201b receives the conversion result from the first data acquisition unit 201a, and calculates the specific inspection route before the next remote operation process of the substation inspection robot according to the conversion result;

[0091] The first judgment connection unit 201c is used to judge whether the specific inspection route of the substation inspection robot before the next remote operation process is the same as the target inspection data of the substation inspection robot acquired by the data acquisition unit 100. If they are the same, the first judgment connection unit 201c judges not to connect. If they are not the same, the first judgment connection unit 201c judges to connect, and transmits the specific inspection route of the substation inspection robot before the next remote operation process calculated by the first data calculation unit 201b to the second calculation module 202. The second calculation module 202 generates an inspection instruction according to the specific inspection route before the next remote operation process of the substation inspection robot, and sends it to the remote operation unit 400 through the communication unit 300;

[0092] The first route output unit 201d sends the remaining routes to the power supply unit 500 through the communication unit 300 according to the determination result of the first determination connection unit 201c;

[0093] It should be noted that the first data acquisition unit 201a, the first data calculation unit 201b, the first determination connection unit 201c and the first route output unit 201d are electrically connected.

[0094] In an optional embodiment, converting the first preprocessing result data into a parameter pattern to be calculated of the first data calculation unit 201b includes first organizing the first preprocessed data into a structured data form, for example, organizing each data (such as device coordinates, environmental factor score, road condition score) into a vector or matrix form. Secondly, feature encoding is performed. If the data contains classification information (such as road condition level), use One-Hot Encoding to convert it into numerical data for easy algorithm processing. Thirdly, weight assignment is performed to assign weights to different types of preprocessed data to reflect their importance to path planning. For example, a higher weight is given to environmental safety factors to ensure that the planned path avoids potential danger areas. Finally, vectorization is performed: ultimately, all features are integrated into a vector, which is the "parameter pattern to be calculated." For example, assuming there are three features: device coordinates (x, y), road condition score (r), and environmental safety factor (e), then the vector is represented as

[0095] In an optional embodiment, calculating the specific inspection route of the substation inspection robot before the next teleoperation process according to the conversion result may include the following steps:

[0096] Step 1: Build a graph model: The substation is considered as a weighted graph, where nodes represent inspection points or decision points, and edges represent the movement cost between two nodes. The cost can be distance, time, or a score that takes into account the environment and road conditions.

[0097] Step 2: Initialization: Set two variables for each node, one is the known shortest path length to the node (initially infinite, except for the start node, which is set to 0), and the other is the predecessor node (initially undefined).

[0098] Step 3: Select minimum distance node: Select the node with the minimum known distance from the unprocessed nodes.

[0099] Step 4: Update neighbor node distances: For all unprocessed neighbor nodes of the selected node, calculate the new path length from the current node to the neighbor (the distance of the current node plus the distance to the neighbor). If the new path is shorter, update the known shortest path length of the neighbor node and record the predecessor node.

[0100] Step 5: Repeat steps 3-4 until all nodes are processed or the target node is found.

[0101] Furthermore, the second calculation module 202 includes a second data acquisition unit 202a, a second data calculation unit 202b, a second judgment unit 202c and an instruction generation unit 202d;

[0102] The second data acquisition unit 202a is used to receive the second preprocessing result data and convert the second preprocessing result data into a parameter pattern to be calculated by the second data calculation unit 202b;

[0103] The second data calculation unit 202b receives the conversion result from the second data acquisition unit 202a, calculates the second constraint of the environmental data in the actual scene according to the conversion result, and transmits the second constraint to the second judgment unit 202c;

[0104] The second judgment unit 202c judges whether remote operation is possible according to the second constraint received by the second data calculation unit 202b, and if so, sends a remote operation instruction generation signal to the instruction generation unit 202d; if not, sends a reset safety posture instruction generation signal to the instruction generation unit 202d;

[0105] The instruction generation unit 202d generates a corresponding instruction according to the received signal transmitted by the second judgment unit 202c, and generates an inspection instruction for the specific inspection route before the next remote operation process of the substation inspection robot, and sends it to the remote operation unit 400 through the communication unit 300;

[0106] It should be noted that the second data acquisition unit 202a, the second data calculation unit 202b, the second determination unit 202c, and the instruction generation unit 202d are electrically connected.

[0107] In the embodiment of the present application, the second preprocessing result data is converted into the parameter mode to be calculated by the second data calculation unit 202b, which can be specifically operated as follows:

[0108] Step 1, feature selection and reorganization: Select the features related to the location constraints from the preprocessed environmental data, such as temperature, humidity, obstacle density, etc. at a specific location, and reorganize them into a new feature vector. For example, assuming that temperature (T), humidity (H), and obstacle count (O) are selected as key features, the reorganized vector is

[0109] Step 2, standardization or normalization: In order to eliminate the differences in different feature scales, the selected features are standardized, such as z-score standardization, so that the mean of each feature is 0 and the standard deviation is 1. For feature X, its standardization formula is Where μ is the mean and σ is the standard deviation.

[0110] Step 3, Environmental Constraint Modeling: Establish a set of environmental constraints based on the mission logic and safety specifications. This may include that the temperature cannot exceed a certain threshold T max , humidity needs to be within a certain range [H min ,H max ], the number of obstacles does not exceed O max Etc. These constraints are converted into mathematical expressions to form the "second constraint".

[0111] In the embodiment of the present application, the second constraint of the environmental data in the actual scene is calculated according to the conversion result, and the second constraint is transmitted to the second judgment unit 202c, which can be specifically performed as follows:

[0112] For each environmental constraint, check the reorganized eigenvector Whether the condition is satisfied. For example, for the temperature constraint, if T <T max , then the temperature constraint is satisfied; the humidity H is in [H min ,H max ], the humidity constraint is satisfied; obstacle count O <O max Then the obstacle constraint is satisfied.

[0113] Combine the satisfaction of individual constraints into a comprehensive judgment. This can be simply achieved by logical AND (all constraints must be satisfied at the same time) or logical OR (any one of them can be satisfied). For example, if all constraints must be satisfied, the condition for the second constraint to be satisfied is T <T max ∧H min ≤H≤H max ∧O <O max ;

[0114] The result of the comprehensive judgment is encoded into an easy-to-process information unit (such as a Boolean value, a constraint score or a specific code) and transmitted to the second judgment unit 202c. If all constraints are met, it can be encoded as "1" or a positive signal; otherwise, it is "0" or a negative signal for further processing by the second judgment unit.

[0115] In an embodiment of the present application, the remote operation unit 400 includes displaying the steps to be operated to the remote operation operator according to the command information transmitted by the central control unit 200, and the command information includes at least inspection instructions, specific remote operation instructions and reset instructions.

[0116] It should be noted that in order to further facilitate the remote operation of the inspection personnel, an intuitive and easy-to-use graphical interface can be designed to display the substation map, the current position of the robot, the inspection path, and the icons of the tasks to be performed. Different colors or symbols will be used to indicate different instructions on the interface, such as green arrows representing forward instructions, red exclamation marks indicating abnormalities that need to be reset, etc. The operator can send the corresponding instructions by clicking on the interface elements. It is also possible to provide the operator with augmented reality glasses or AR applications on handheld devices to superimpose virtual instruction information on the real-time video stream. In this way, the operator can see the actual situation around the robot and directly see directional arrows, operation prompts and other information in the video screen, which is convenient for understanding and executing the next step.

[0117] In the embodiment of the present application, the power supply unit 500 includes a third determination module 501, a replacement module 202 and a power supply module 503;

[0118] The third judgment module 501, the replacement module 202 and the power supply module 503 are electrically connected;

[0119] The third judgment module 501 receives the remaining route sent by the first route output unit 201d through the communication unit 300, and receives the remaining current information transmitted by the power supply module 503, judges the power supply status according to the remaining route and the remaining current information, and transmits the power supply status to the server unit 600;

[0120] The server unit 600 includes at least a first power judgment module 601, a data storage module 602 and an alarm module 603. The first power judgment module 601 judges whether the remaining power is sufficient to complete the inspection task according to the power status, and determines whether to issue an alarm and replace the power supply according to different judgment results.

[0121] It should be noted that the relationship between the route and power consumption can be calculated based on the neural network, and a power consumption and route relationship model can be established to determine whether the battery power can support subsequent inspection steps based on the real-time changing route and the remaining route.

[0122] This embodiment also provides a substation teleoperated robot inspection control method, including:

[0123] Obtain the target inspection data, road condition data, environmental data and real-time data generated by the substation inspection robot during the inspection process, and pre-process the acquired data;

[0124] Performing a first logic calculation and a second logic calculation on the preprocessed data, wherein the first logic calculation is used to calculate the inspection trajectory, and the second logic calculation is used to calculate the remote operation instruction;

[0125] The calculated inspection trajectory is used to determine whether the substation inspection robot can complete the inspection, and the corresponding teleoperation command is performed according to the calculated teleoperation command.

[0126] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0127] This embodiment also provides a computer device, which may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 3 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a substation remote control robot inspection control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0128] This embodiment further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0129] Obtain the target inspection data, road condition data, environmental data and real-time data generated by the substation inspection robot during the inspection process, and pre-process the acquired data;

[0130] Performing a first logic calculation and a second logic calculation on the preprocessed data, wherein the first logic calculation is used to calculate the inspection trajectory, and the second logic calculation is used to calculate the remote operation instruction;

[0131] The calculated inspection trajectory is used to determine whether the substation inspection robot can complete the inspection, and the corresponding teleoperation command is performed according to the calculated teleoperation command.

[0132] Example 2

[0133] Reference Figure 1-Figure 3, which is an embodiment of the present invention, provides a substation remote-controlled robot inspection control system and method. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through experiments.

[0134] During the experiment, a simulated substation environment was set up and a patrol robot with teleoperation function was deployed. First, the target patrol data, road condition data and environmental data were collected and preprocessed to ensure their accuracy and reliability.

[0135] Then, the first logic calculation module is used to conduct an in-depth analysis of these data and calculate the optimal inspection trajectory. At the same time, the second logic calculation module generates corresponding remote operation instructions based on real-time data and preset rules.

[0136] In the key stage of the experiment, the robot was evaluated for its ability to complete the inspection task based on the calculated inspection trajectory. In addition, the robot was actually teleoperated based on the calculated teleoperation instructions.

[0137] During the experiment, special attention was paid to the status of the power supply unit. The remaining route and residual current information were monitored in real time by the third judgment module to ensure the continuous power supply of the robot during the inspection process. Once there is a problem with the power supply status, the server unit will immediately issue an alarm and start the process of replacing the power supply.

[0138] After a series of experimental verifications, it was found that the substation remote-controlled robot inspection control system and method of the present invention performed well in practical applications. The robot can accurately perform inspections according to the calculated inspection trajectory. At the same time, through the precise control of remote-controlled instructions, the robot can efficiently cope with various complex situations. The specific experimental data are as follows:

[0139] Table 1: Comparison of inspection efficiency and accuracy.

[0140]

[0141]

[0142] Table 2: Comparison of remote control command response time.

[0143] Instruction Type Average response time (seconds) Emergency Stop 0.5 Track fine-tuning 1.2 Specific point check command 2.1 Reset / restart command 3.0

[0144] Table 3: Power management efficiency.

[0145] Power Management Indicators data Average battery life (hours) 8 Low battery warning threshold (%) 20 Battery replacement operation response time (minutes) 5 Number of unplanned downtimes (times / month) 0

[0146] Table 4: Safety and stability assessment.

[0147]

[0148]

[0149] In addition, the real-time monitoring and early warning mechanism of the power supply unit has greatly improved the stability and reliability of the system. Even if there is a problem with the power supply status, the system can respond quickly to ensure the smooth completion of the inspection task.

[0150] In summary, the substation remote-controlled robot inspection control system and method of the present invention can realize efficient and accurate inspection of the substation, improve the efficiency and accuracy of the inspection, and reduce the inspection cost. At the same time, through real-time monitoring and early warning mechanisms, the stability and reliability of the system can be ensured, providing a strong guarantee for the safe operation of the substation. Therefore, the present invention has broad application prospects and practical value.

[0151] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0152] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0153] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0154] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0156] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0157] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A substation remote-operated robot inspection control system, characterized in that: include: A data acquisition unit (100), a central control unit (200), a communication unit (300), a remote operation unit (400), a power supply unit (500), and a server unit (600); The data acquisition unit (100) is used to acquire target inspection data, road condition data, environmental data and real-time data generated during the inspection process of the substation inspection robot, and transmit the acquired data to the central control unit (200) or the server unit (600) through the communication unit (300) after preprocessing. The central control unit (200) is used to process the data transmitted from the data acquisition unit (100), calculate the operation instructions for the data, and transmit the operation instructions to the remote operation unit (400) through the communication unit (300); The communication unit (300) is used to control the communication connection between different modules; The remote operation unit (400) is used to receive operation instructions from the central control unit (200), perform different remote operations according to the corresponding instructions, and transmit the remote operation results to the server unit (600) through the communication unit (300); The power supply unit (500) is used to supply power to different modules and determine whether the remaining power is sufficient to complete the inspection task; The server unit (600) is used for structured storage of data generated by different units during different inspection tasks, and for providing data to be retrieved to different modules.

2. The substation remote-operated robot inspection control system according to claim 1, characterized in that: The data acquisition unit (100) comprises a first data acquisition module (101), a second data acquisition module (102), a third data acquisition module (103), a fourth data acquisition module (104) and a preprocessing module (105); The first data acquisition module (101) is used to acquire target inspection data of the substation inspection robot; The second data acquisition module (102) is used to acquire patrol road condition data; The third data acquisition module (103) is used to acquire environmental data; The fourth data acquisition module (104) is used to acquire real-time data generated during the inspection process; The preprocessing module (105) is electrically connected to the first data acquisition module (101), the second data acquisition module (102), the third data acquisition module (103) and the fourth data acquisition module (104); The preprocessing module (105) performs first preprocessing on the data acquired by the first data acquisition module (101), the second data acquisition module (102) and the fourth data acquisition module (104), and transmits the preprocessing result to the central control unit (200) via the communication unit (300); The preprocessing module (105) performs second preprocessing on the data acquired by the third data acquisition module (103), and transmits the preprocessing result to the central control unit (200) via the communication unit (300).

3. The substation remote-operated robot inspection control system according to claim 2, characterized in that: The central control unit (200) comprises a first calculation module (201) and a second calculation module (202); The first computing module (201) and the second computing module (202) are electrically connected; The first calculation module (201) receives the first preprocessing result data from the data acquisition unit (100), and calculates a specific inspection route before the next remote operation process of the substation inspection robot according to the first preprocessing result; The second calculation module (202) receives the second preprocessing result data from the data acquisition unit (100), and calculates whether remote operation is possible in the actual scenario based on the second preprocessing result, and determines the specific operation steps when performing remote operation, and generates corresponding remote operation instructions.

4. The substation teleoperated robot inspection control system according to claim 3, characterized in that: The first calculation module (201) comprises a first data acquisition unit (201a), a first data calculation unit (201b), a first judgment connection unit (201c) and a first route output unit (201d); The first data acquisition unit (201a) is used to receive first preprocessing result data and convert the first preprocessing result data into a parameter pattern to be calculated by the first data calculation unit (201b); The first data calculation unit (201b) receives the conversion result from the first data acquisition unit (201a), and calculates a specific inspection route before the next remote operation process of the substation inspection robot according to the conversion result; The first judgment connection unit (201c) is used to judge whether the specific inspection route of the substation inspection robot before the next remote operation process is the same as the target inspection data of the substation inspection robot acquired by the data acquisition unit (100); if they are the same, the first judgment connection unit (201c) judges not to connect; if they are not the same, the first judgment connection unit (201c) judges to connect, and transmits the specific inspection route of the substation inspection robot before the next remote operation process calculated by the first data calculation unit (201b) to the second calculation module (202); the second calculation module (202) generates an inspection instruction according to the specific inspection route of the substation inspection robot before the next remote operation process, and sends it to the remote operation unit (400) through the communication unit (300); The first route output unit (201d) sends the remaining route to the power supply unit (500) through the communication unit (300) according to the judgment result of the first judgment connection unit (201c); The first data acquisition unit (201a), the first data calculation unit (201b), the first judgment connection unit (201c) and the first route output unit (201d) are electrically connected.

5. The substation teleoperated robot inspection control system according to claim 4, characterized in that: The second calculation module (202) comprises a second data acquisition unit (202a), a second data calculation unit (202b), a second judgment unit (202c) and an instruction generation unit (202d); The second data acquisition unit (202a) is used to receive second preprocessing result data and convert the second preprocessing result data into a parameter pattern to be calculated by the second data calculation unit (202b); The second data calculation unit (202b) receives the conversion result from the second data acquisition unit (202a), calculates the second constraint of the environmental data in the actual scene according to the conversion result, and transmits the second constraint to the second judgment unit (202c); The second judgment unit (202c) judges whether remote operation is possible based on the second constraint received by the second data calculation unit (202b); if remote operation is possible, a remote operation instruction generation signal is sent to the instruction generation unit (202d); if remote operation is not possible, a reset safety posture instruction generation signal is sent to the instruction generation unit (202d); The instruction generation unit (202d) generates a corresponding instruction according to the received signal transmitted by the second judgment unit (202c), and generates an inspection instruction according to the specific inspection route before the next remote operation process of the substation inspection robot, and sends it to the remote operation unit (400) through the communication unit (300); The second data acquisition unit (202a), the second data calculation unit (202b), the second determination unit (202c) and the instruction generation unit (202d) are electrically connected.

6. The substation teleoperated robot inspection control system according to claim 5, characterized in that: The remote operation unit (400) displays the steps to be operated to the remote operation operator according to the command information transmitted by the central control unit (200), wherein the command information at least includes an inspection command, a specific remote operation command and a reset command.

7. The substation teleoperated robot inspection control system according to claim 6, characterized in that: The power supply unit (500) comprises a third judgment module (501), a replacement module (202) and a power supply module (503); The third judgment module (501), the replacement module (202) and the power supply module (503) are electrically connected; The third judgment module (501) receives the remaining route sent by the first route output unit (201d) through the communication unit (300), and receives the remaining current information transmitted by the power supply module (503), judges the power supply status according to the remaining route and the remaining current information, and transmits the power supply status to the server unit (600); The server unit (600) comprises at least a first power determination module (601), a data storage module (602) and an alarm module (603); the first power determination module (601) determines whether the remaining power is sufficient to complete the inspection task according to the power supply status, and determines whether to issue an alarm and replace the power supply according to different determination results.

8. A substation remote-controlled robot inspection control method, characterized in that: include: Obtain the target inspection data, road condition data, environmental data and real-time data generated by the substation inspection robot during the inspection process, and pre-process the acquired data; Performing a first logic calculation and a second logic calculation on the preprocessed data, wherein the first logic calculation is used to calculate the inspection trajectory, and the second logic calculation is used to calculate the remote operation instruction; The calculated inspection trajectory is used to determine whether the substation inspection robot can complete the inspection, and the corresponding teleoperation command is performed according to the calculated teleoperation command.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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