Robot inspection data and equipment upload data comparison verification system

Abstract

The present application relates to the field of robots. The robot inspection data and equipment upload data comparison verification system comprises an electric cabinet monitoring system and a server. The electric cabinet monitoring system transmits monitoring data monitored by monitoring elements to the server. The system further comprises an inspection robot. An electric cabinet instrument group is arranged in the electric cabinet. Each electric cabinet instrument in the electric cabinet instrument group has an indication window. An electric cabinet instrument window is arranged on the electric cabinet. Each indication window of the electric cabinet instrument group is arranged in an electric cabinet instrument window. The inspection robot shoots images at the electric cabinet instrument window through a camera device and transmits the images to the server through a second communication module. The present application obtains data through two sets of independent monitoring systems and transmits data through three relatively independent transmission paths, which can effectively solve the problem that data cannot be uploaded in time after single system or single path failure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to the monitoring and processing of electrical cabinet data. BACKGROUND

[0002] The electrical cabinet is provided with transformer equipment, switch equipment, mutual inductor, relay and other power equipment. Generally, an electrical cabinet monitoring system is installed in the electrical cabinet, which uses monitoring elements to monitor the operation of the power equipment. However, the existing monitoring system obtains monitoring data in a single way and transmits monitoring data externally in a single way. Once a fault occurs, the monitoring data cannot be uploaded in time. SUMMARY

[0003] The present application aims to provide a robot inspection data and equipment upload data comparison and verification system to solve the above technical problems.

[0004] The robot inspection data and equipment upload data comparison and verification system comprises an electrical cabinet monitoring system located in an electrical cabinet, the electrical cabinet monitoring system having a microprocessor module, a monitoring element and a first communication module; further comprising a server located outside the electrical cabinet, the microprocessor module transmitting monitoring data monitored by the monitoring element to the server through the first communication module; further comprising an inspection robot with walking ability located outside the electrical cabinet, the electrical cabinet instrument group being redundantly configured in the electrical cabinet, each electrical cabinet instrument in the electrical cabinet instrument group having an indication window, and an electrical cabinet instrument window being further provided on the electrical cabinet, each indication window of the electrical cabinet instrument group being arranged in an electrical cabinet instrument window;

[0005] The inspection robot has a camera device, the position of the electrical cabinet instrument window is located on one side of the walking track of the inspection robot, and the height of the electrical cabinet instrument window is adapted to the height of the camera head of the camera device;

[0006] The inspection robot has a second communication module, the inspection robot captures images at the electrical cabinet instrument window through the camera device and transmits the images to the server through the second communication module;

[0007] The server obtains inspection data after analyzing and processing the images.

[0008] Preferably, when the server does not receive monitoring data after a specified time, the server issues a restart command to the electrical cabinet monitoring system; if the server receives monitoring data within the set time of the restart issue, the server considers that the electrical cabinet monitoring system is normal and does not need to be maintained, but records the time of issuing the restart command and the time of receiving the monitoring data again; if the server still cannot receive monitoring data after the set time of the restart issue, the server considers that the equipment is suspected to be faulty, and the fault type is A.

[0009] Preferably, in the case of fault type A, the server issues the location of the suspected faulty device to the inspection robot, the inspection robot walks to the suspected faulty device, and takes an image at the instrument window of the electrical cabinet; at the same time, the server issues a command to retrieve monitoring data to the inspection robot, the electrical cabinet monitoring system and the inspection robot both have a Bluetooth communication module, after receiving the command to retrieve monitoring data, the inspection robot acquires the monitoring data of the electrical cabinet monitoring system through the Bluetooth communication module, and uploads the monitoring data to the server; if the server can receive the monitoring data from the inspection robot, the server considers that the fault reason is a data transmission line fault; if the server does not receive the monitoring data from the inspection robot or the inspection robot feedbacks that reading the monitoring data fails, it is considered that the fault reason is that the electrical cabinet monitoring system is damaged; regardless of whether the server obtains the monitoring data from the inspection robot, the server compares the inspection data with the standard data, if the difference is within the allowed range, it is considered that the electrical cabinet is running normally, otherwise it is considered that the electrical cabinet is faulty.

[0010] Preferably, when there is missing data in the monitoring data, the server considers that the device is suspected to be faulty, and the fault type is B.

[0011] Preferably, in the case of fault type B, the server issues the location of the suspected faulty device to the inspection robot, the inspection robot walks to the suspected faulty device, and takes an image at the instrument window of the electrical cabinet; at the same time, the server issues a command to retrieve monitoring data to the inspection robot, the electrical cabinet monitoring system and the inspection robot both have a Bluetooth communication module, after receiving the command to retrieve monitoring data, the inspection robot acquires the monitoring data of the electrical cabinet monitoring system through the Bluetooth communication module, and uploads the monitoring data to the server; if the server receives the monitoring data from the inspection robot, the server considers that the fault reason is a data transmission line fault, and the server issues a restart command to the electrical cabinet monitoring system; if the server receives the monitoring data within the set time after issuing the restart command, the server considers that the electrical cabinet monitoring system is normal and does not need to be maintained, but records the time of issuing the restart command and the time of receiving the monitoring data again; if the server receives the monitoring data from the inspection robot and the missing part of the monitoring data from the electrical cabinet monitoring system are consistent, the server compares the inspection data with the standard data, if the difference is within the allowed range, it is considered that the electrical cabinet monitoring system is faulty, otherwise it is considered that the electrical appliance in the electrical cabinet is faulty.

[0012] Preferably, when there is data difference greater than a set value in the two monitoring data within a specified time, the server considers that the device is suspected to be faulty, and the fault type is C.

[0013] Preferably, in the case of the fault type C, if the difference between the monitoring data and the standard data is within the allowable range twice, the server records the monitoring data and the time when the monitoring data occurs; if the difference between at least one monitoring data and the standard data exceeds the allowable range, the server issues the location where the suspected faulty equipment is located to the inspection robot, the inspection robot walks to the suspected faulty equipment, and takes an image at the instrument window of the electrical cabinet; if the difference between the inspection data and the standard data also exceeds the allowable range, it is considered that the electrical equipment in the electrical cabinet is faulty, if the difference between the inspection data and the standard data is within the allowable range, the server issues a command to acquire the image again after a specified time, the inspection robot acquires the image again after the specified time, if the difference between the second inspection data and the standard data is within the allowable range, the monitoring data and the time when the monitoring data occurs are recorded; if the difference between the second inspection data and the standard data exceeds the allowable range, the server considers that the electrical equipment in the electrical cabinet is faulty.

[0014] Preferably, the electrical cabinet monitoring system uploads the monitoring data to the server every 1-10 minutes.

[0015] Preferably, the electrical cabinet monitoring system is powered by a power supply system independent of the electrical cabinet.

[0016] Preferably, the communication protocols used by the first communication module and the second communication module are different.

[0017] Beneficial effects: The present application obtains data through two sets of independent monitoring systems (electrical cabinet monitoring system + electrical cabinet instrument group), and transmits data through three relatively independent transmission paths (one is that the electrical cabinet monitoring system directly uploads the server, another is that the electrical cabinet monitoring system uploads the server through the inspection robot, and the other is that the inspection robot directly uploads the server), which can effectively solve the problem that data cannot be uploaded in time after a fault caused by a single monitoring system and a single transmission path. More importantly, the present application can effectively and accurately determine the cause of the fault by comparing the monitoring data and the inspection data. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application is further described below in combination with embodiments.

[0019] The robot inspection data and equipment uploaded data comparison verification system comprises an electric appliance cabinet monitoring system located in an electric appliance cabinet, which is used for monitoring the operation of the electric appliance in the electric appliance cabinet. The electric appliance cabinet monitoring system mainly comprises a microprocessor module, a monitoring element and a first communication module. The electric appliance cabinet monitoring system obtains monitoring data related to the operation of the electric appliance in the electric appliance cabinet through the monitoring element, including the temperature in the electric appliance cabinet, the temperature of the circuit board, the current, the voltage and the like. The robot inspection data and equipment uploaded data comparison verification system further comprises a server located outside the electric appliance cabinet. The electric appliance cabinet monitoring system transmits the monitoring data monitored by the monitoring element to the server through the first communication module. The data processing module of the server compares the monitoring data with the standard data stored in the storage module of the server. If the difference is within the allowable range, it is considered that the electric appliance cabinet is operating normally, otherwise it is considered that the electric appliance cabinet may be faulty. The storage module of the server also stores the location information of the electric appliance cabinet. When the electric appliance cabinet may be faulty, the server retrieves the location information of the electric appliance cabinet that may be faulty. This design is prior art, so it is not described in detail here.

[0020] The robot inspection data and equipment uploaded data comparison verification system further comprises an inspection robot with walking ability located outside the electric appliance cabinet. The electric appliance cabinet instrument group is redundantly arranged in the electric appliance cabinet. Each electric appliance cabinet instrument in the electric appliance cabinet instrument group has an indication window. An electric appliance cabinet instrument window is further arranged on the electric appliance cabinet. Each indication window of the electric appliance cabinet instrument group is arranged in an electric appliance cabinet instrument window. The inspection robot has a camera device. The position of the electric appliance cabinet instrument window is located on one side of the walking track of the inspection robot. The height of the electric appliance cabinet instrument window is adapted to the height of the camera head of the camera device. The inspection robot has a second communication module. The inspection robot captures the image at the electric appliance cabinet instrument window through the camera device and transmits the image to the server through the second communication module. The server obtains the inspection data after analyzing and processing the image.

[0021] The server compares and verifies the inspection data, the monitoring data and the standard data to determine the fault cause.

[0022] In the embodiment 1, when the server does not receive the monitoring data after the server exceeds the specified time, the server issues a restart command to the electrical cabinet monitoring system. If the server receives the monitoring data within the set time after the restart command is issued, the server considers that the electrical cabinet monitoring system is normal and does not need to be maintained, but records the time when the restart command is issued and the time when the monitoring data is received again, for predicting the performance of the electrical cabinet monitoring system, such as frequent restarts, which indicates poor performance. If the server still does not receive the monitoring data after the set time after the restart command is issued, the server considers that the device is suspected to be faulty, and the fault type is A. In the case of the fault type A, the server issues the location of the suspected faulty device to the inspection robot, and the inspection robot walks to the suspected faulty device and takes an image of the instrument window of the electrical cabinet. At the same time, the server issues a command to retrieve the monitoring data to the inspection robot. The electrical cabinet monitoring system and the inspection robot both have a Bluetooth communication module. After receiving the command to retrieve the monitoring data, the inspection robot acquires the monitoring data of the electrical cabinet monitoring system through the Bluetooth communication module and uploads the monitoring data to the server. If the server can receive the monitoring data from the inspection robot, the server considers that the fault reason is a data transmission line fault. If the server does not receive the monitoring data from the inspection robot or the inspection robot feedbacks that reading the monitoring data fails, it is considered that the fault reason is that the electrical cabinet monitoring system is damaged. Regardless of whether the server obtains the monitoring data from the inspection robot, the server compares the inspection data with the standard data. If the difference is within the allowed range, it is considered that the electrical cabinet is running normally, otherwise it is considered that the electrical cabinet is faulty.

[0023] In the embodiment 2, when there is missing data in the monitoring data, the server considers that the device is suspected to be faulty, the fault type is B, in the case of the fault type B, the server issues the location of the suspected faulty device to the inspection robot, the inspection robot walks to the suspected faulty device, and takes an image at the instrument window of the electrical cabinet. Meanwhile, the server issues a command to the inspection robot to retrieve the monitoring data, the electrical cabinet monitoring system and the inspection robot both have a Bluetooth communication module, after receiving the command to retrieve the monitoring data, the inspection robot acquires the monitoring data of the electrical cabinet monitoring system through the Bluetooth communication module, and uploads the monitoring data to the server. If the server receives the monitoring data from the inspection robot, the server considers that the fault reason is a data transmission line fault, and issues a restart command to the electrical cabinet monitoring system. If the server receives the monitoring data within the set time after the restart command is issued, the server considers that the electrical cabinet monitoring system is normal and does not need to be maintained, but records the time when the restart command is issued and the time when the monitoring data is received again, for predicting the performance of the electrical cabinet monitoring system, such as frequent restarts, which indicates poor performance. If the server receives the monitoring data from the inspection robot, which is consistent with the missing part of the monitoring data from the electrical cabinet monitoring system, the server compares the inspection data with the standard data, if the difference is within the allowed range, the server considers that the electrical cabinet monitoring system is faulty, otherwise, the server considers that the electrical appliance in the electrical cabinet is faulty.

[0024] In the embodiment 3, when there is data with a difference greater than a set value in the two monitoring data within a specified time, the server considers that the device is suspected to be faulty, the fault type is C. In the case of the fault type C, if the difference between the two monitoring data and the standard data is within the allowed range, the server records the monitoring data and the time when the monitoring data occurs, for predicting the operation of the electrical appliance in the electrical cabinet or adjusting the standard data. If at least one monitoring data is beyond the allowed range, the server issues the location of the suspected faulty device to the inspection robot, the inspection robot walks to the suspected faulty device, and takes an image at the instrument window of the electrical cabinet. If the difference between the inspection data and the standard data is also beyond the allowed range, the server considers that the electrical appliance in the electrical cabinet is faulty, if the difference between the inspection data and the standard data is within the allowed range, the server issues a command to take an image again after a specified time, the inspection robot takes an image again after the specified time, if the difference between the second inspection data and the standard data is within the allowed range, the server records the monitoring data and the time when the monitoring data occurs, for predicting the operation of the electrical appliance in the electrical cabinet or adjusting the standard data. If the difference between the second inspection data and the standard data is beyond the allowed range, the server considers that the electrical appliance in the electrical cabinet is faulty.

[0025] In the three embodiments, the electrical cabinet monitoring system uploads monitoring data to the server every 1-10 minutes. Thus, energy consumption is reduced. Preferably, the specified time in the three embodiments is the same as the interval time, and the set time in the three embodiments is not less than the interval time.

[0026] In the three embodiments, the electrical cabinet monitoring system is powered by a power supply system independent of the electrical cabinet. Thus, the problem of being difficult to distinguish the damage cause when the power supply system is damaged is solved.

[0027] In the three embodiments, the communication protocols used by the first communication module and the second communication module are different. Thus, the situation that both communication modules cannot work normally due to the interruption of the communication line is avoided. Preferably, the first communication module is a wifi communication module, and the second communication module is a 5G communication module.

[0028] In the three embodiments, a two-dimensional code is arranged on the electrical cabinet instrument window, the two-dimensional code contains the identification information of the electrical cabinet, the image taken by the inspection robot contains the two-dimensional code, the server identifies the two-dimensional code and associates the identification information of the electrical cabinet with the inspection data. Thus, the server can determine whether the electrical cabinet where the image taken by the inspection robot is located is accurate. Meanwhile, during daily inspection, the server determines the position of the inspection robot by using the two-dimensional code, so as to plan an optimal walking route for the inspection robot to reach the suspected faulty electrical cabinet more quickly when a fault occurs.

[0029] In the three embodiments, the monitoring element is a temperature sensor, and the temperature sensor is preferably a diode temperature sensing probe (model MF5C) of Shenzhen Kepengda Electronics Co., Ltd. or a platinum resistance temperature sensor (model WZP-187) of Yancheng Songda Thermal Instrument Co., Ltd. The electrical cabinet instrument is a liquid thermometer. The color of the liquid in the liquid thermometer is preferably red, so as to be more convenient to identify. In order to facilitate night identification or identification in a dark environment in the electrical cabinet, a fluorescent agent is arranged at the scale value of the liquid thermometer. The monitoring element can also be a current sensor, and the current sensor is preferably a Hall effect current sensor (model CC6904SO-20A) of Shenzhen Pengchuangxin Source Electronics Technology Co., Ltd. The electrical cabinet instrument is an ammeter, and the hands and dial of the ammeter are coated with a fluorescent agent. The ammeter has a probe, and different lengths of probes can be selected, so as to measure the electrical appliances at a distance while the indication window is located at the electrical cabinet instrument window. For the liquid thermometer, since the temperature measuring part is usually on the thermometer, a heat-conducting wire with good heat conductivity can be used to connect the temperature measuring part and the electrical appliance, so as to obtain the temperature of the electrical appliance at a distance. The liquid thermometer can also be located at the electrical appliance, and a mirror is used to reflect the image of the liquid thermometer to the electrical cabinet instrument window.

[0030] In the above three embodiments, the server obtains data through image analysis, which is a prior art, and therefore the technical principle is not described in detail, and the innovation of the present application is not in the image analysis to obtain the inspection data, but in comparing the inspection data with the monitoring data to determine the fault cause.

[0031] In the above three embodiments, the indicating window of the electric cabinet instrument refers to the side where the user can observe the degree, such as the cover of the ammeter. The electric cabinet instrument window can be provided with a lamp strip around, and the lamp strip is directed to the indicating window. The inspection robot can also be provided with a fill light, and when the image is captured, the inspection robot turns on the fill light to illuminate the indicating window behind the electric cabinet instrument window.

[0032] In the above three embodiments, the movement of the inspection robot is a prior art, and the obstacle avoidance, the determination of the moving target position, and the planning of the moving path during the movement are also prior arts, and therefore are not described in detail. The inspection robot itself can also determine the accuracy of the position by recognizing the two-dimensional code. If the two-dimensional code cannot be recognized, it means that the position or direction is incorrect. If the position in the recognized two-dimensional code is inconsistent with the position of the suspected fault equipment issued, the inspection robot continues to move and does not upload the captured image. If the position in the recognized two-dimensional code is consistent with the position of the suspected fault equipment, the inspection robot uploads the captured image.

[0033] The basic principle and main features of the present application and the advantages of the present application have been shown and described. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot inspection data and equipment-uploaded data comparison and verification system, comprising an electrical cabinet monitoring system located inside an electrical cabinet, the electrical cabinet monitoring system having a microprocessor module, monitoring elements, and a first communication module; further comprising a server located outside the electrical cabinet, the microprocessor module transmitting monitoring data detected by the monitoring elements to the server via the first communication module; and further comprising a walking inspection robot located outside the electrical cabinet, characterized in that, The electrical cabinet is redundantly equipped with an electrical cabinet instrument group. Each electrical cabinet instrument in the electrical cabinet instrument group has an indicator window. An electrical cabinet instrument window is also provided on the electrical cabinet. Each indicator window of the electrical cabinet instrument group is set in one electrical cabinet instrument window. The inspection robot is equipped with a camera device. The position of the instrument window of the electrical cabinet is located on one side of the inspection robot's walking path, and the height of the instrument window of the electrical cabinet is adapted to the height of the camera of the camera device. The inspection robot has a second communication module. The inspection robot takes pictures of the instrument window of the electrical cabinet through a camera device and transmits the pictures to the server through the second communication module. The server analyzes and processes the images to obtain inspection data; If the server does not receive monitoring data after a specified period of time, the server sends a restart command to the appliance cabinet monitoring system. If the server receives monitoring data within the set time after the restart command is issued, the server considers the electrical cabinet monitoring system to be normal and requires no maintenance, but records the time when the restart command was issued and the time when the monitoring data was received again. If the server still does not receive monitoring data after restarting the set time, the server considers the device to be malfunctioning, and the malfunction type is A. In case of fault type A, the server sends the location of the suspected faulty device to the inspection robot. The inspection robot moves to the suspected faulty device and takes an image of the instrument window of the electrical cabinet. Simultaneously, the server sends a command to the inspection robot to retrieve monitoring data. Both the electrical cabinet monitoring system and the inspection robot have Bluetooth communication modules. After receiving the command to retrieve monitoring data, the inspection robot obtains the monitoring data from the electrical cabinet monitoring system through the Bluetooth communication module and uploads the monitoring data to the server. If the server receives the monitoring data from the inspection robot, the server considers the fault to be a data transmission line fault. If the server does not receive the monitoring data from the inspection robot or the inspection robot reports a failure to read the monitoring data, the server considers the fault to be a malfunction of the electrical cabinet monitoring system. Regardless of whether the server obtains the monitoring data from the inspection robot, the server compares the inspection data with standard data. If the difference is within the allowable range, the server considers the electrical cabinet to be operating normally; otherwise, the server considers the electrical cabinet to be faulty.

2. The robot inspection data and equipment uploaded data comparison and verification system according to claim 1, characterized in that, When there is missing data in the monitoring data, the server considers the device to be suspected of being faulty, and the fault type is B.

3. The robot inspection data and equipment uploaded data comparison and verification system according to claim 2, characterized in that, In case of fault type B, the server sends the location of the suspected faulty device to the inspection robot. The inspection robot moves to the suspected faulty device and takes an image of the instrument window of the electrical cabinet. At the same time, the server sends a command to the inspection robot to retrieve monitoring data. Both the electrical cabinet monitoring system and the inspection robot have Bluetooth communication modules. After receiving the command to retrieve monitoring data, the inspection robot obtains the monitoring data from the electrical cabinet monitoring system through the Bluetooth communication module and uploads the monitoring data to the server. If the server receives complete monitoring data from the inspection robot, the server considers the fault to be due to a data transmission line failure and sends a restart command to the electrical cabinet monitoring system. If the server receives monitoring data within the set restart time, the server considers the electrical cabinet monitoring system to be normal and requires no maintenance, but records the time of issuing the restart command and the time of receiving the monitoring data again; if the monitoring data received by the server from the inspection robot is consistent with the missing part of the monitoring data from the electrical cabinet monitoring system, the server compares the inspection data with the standard data. If the difference is within the allowable range, the server considers the electrical cabinet monitoring system to be faulty; otherwise, it considers the electrical appliances in the electrical cabinet to be faulty.

4. The robot inspection data and equipment uploaded data comparison and verification system according to claim 1, characterized in that, If the difference between two monitoring data points within a specified time period is greater than a set value, the server considers the device to be suspected of malfunction, and the malfunction type is C.

5. The robot inspection data and equipment uploaded data comparison and verification system according to claim 4, characterized in that, In case of fault type C, if the difference between the two monitoring data and the standard data is within the allowable range, the server records the monitoring data and the time when the monitoring data occurred. If the difference between at least one monitoring data and the standard data exceeds the allowable range, the server sends the location of the suspected faulty device to the inspection robot. The inspection robot walks to the suspected faulty device and takes an image of the instrument window of the electrical cabinet. If the difference between the inspection data and the standard data also exceeds the allowable range, it is considered that there is an electrical fault in the electrical cabinet. If the difference between the inspection data and the standard data is within the allowable range, the server sends a command to acquire the image again after a specified time. The inspection robot acquires the image again after the specified time. If the difference between the second inspection data and the standard data is within the allowable range, the monitoring data and the time when the monitoring data occurred are recorded. If the difference between the secondary inspection data and the standard data exceeds the allowable range, the server considers the electrical appliances in the electrical cabinet to be faulty.

6. The robot inspection data and equipment uploaded data comparison and verification system according to claim 5, characterized in that, The electrical cabinet monitoring system uploads monitoring data to the server every 1-10 minutes.

7. The robot inspection data and equipment uploaded data comparison and verification system according to claim 5, characterized in that, The electrical cabinet monitoring system is powered by a power supply system independent of the electrical cabinet.

8. The robot inspection data and equipment uploaded data comparison and verification system according to claim 5, characterized in that, The first communication module and the second communication module use different communication protocols.