CN105094128A - Transformer station routing inspection robot for automatically reading gauge - Google Patents

Abstract

The invention relates to a substation inspection robot for automatic meter reading, which includes GPS navigation equipment, storage equipment, high-definition camera equipment, image processing equipment and a digital signal processor DSP of TMS320LF2407A type, and the storage equipment is used to store various types of meters in advance Template and the maximum scale, minimum scale and pointer model of each type of instrument template, high-definition camera equipment is used to capture instrument images, image processing equipment is connected with high-definition camera equipment to perform image processing, DSP is connected with GPS navigation equipment to control inspection robots It is also connected to the storage device and the image processing device to control the automatic meter reading of the inspection robot. The invention can control the inspection robot to accurately reach the target meter reading position, realize automatic meter reading of various meters in the substation, improve the intelligence level of the inspection robot, and ensure the personal safety of on-site management personnel.

Description

Substation inspection robot for automatic meter reading

This invention is a divisional application of a patent with the application number 201410706231.4, the application date is November 27, 2014, and the invention name is "substation inspection robot for automatic meter reading".

technical field

The invention relates to the field of electric power monitoring, in particular to a substation inspection robot for automatic meter reading.

Background technique

The substation is the hub of the transmission network. The inspection work of substation equipment plays an extremely important role in ensuring the normal production and safe operation of the substation. The substation of the power system is usually equipped with a variety of pointer instruments for each power equipment to reflect the working status of the equipment. Recording instrument readings is an important part of inspection work.

Due to the complexity of the inspection work and the limitation of technical means, substations at home and abroad generally adopt the operation mode of manual inspection and manual recording when conducting equipment inspection. The manual inspection mode has obvious deficiencies such as high labor intensity, high risk factor, low work efficiency, scattered inspection quality, and high management costs; moreover, manual inspection data cannot be accurately and timely connected to the management information system, making information management impossible. Arriving at the first job site affects the automation and intelligence level of the substation.

In order to protect the personal safety of on-site personnel and improve the efficiency and accuracy of inspection work, especially the recording of instrument readings, some smart substations have begun to popularize the use of inspection robots for copying instrument readings, but the inspection robots in the prior art still have the following defects : (1) Only rely on one control mode to control the traveling position of the inspection robot, such as only through GPS automatic navigation control, or only through on-site artificial voice control, to guide the inspection robot to reach the target meter reading position for meter reading, such a single The control method prevents the inspection robot from reaching the target meter reading position accurately, let alone preparing to read the meter; (2) The automatic meter reading mode is too simple, such as determining the basic position and Area range, but there may be other approximately circular parts on site, such a meter reading mode will introduce too many errors, and even erroneous detection results.

Therefore, in order to solve the above defects, a new substation inspection robot for automatic meter reading is needed, and the design structure of the existing substation inspection robot is improved to ensure that the inspection robot can accurately reach the meter reading position and effectively Automatically recognize the current reading on the instrument panel to improve the reliability of the inspection robot.

Contents of the invention

In order to solve the above problems, the present invention provides a substation inspection robot for automatic meter reading, which introduces the inspection robot’s travel control mode combining remote control instructions and near-end voice control instructions, first through the remote substation management platform The remote control instruction of the inspection robot is used to roughly adjust the inspection robot to travel to the target meter reading position, and then the voice control instruction of the near-end on-site management personnel is used to fine-tune the inspection robot to travel to the target meter reading position. Instrument templates and the maximum scale, minimum scale and pointer models of each type of instrument templates to complete high-precision automatic meter reading operations.

According to one aspect of the present invention, a substation inspection robot for automatic meter reading is provided, and the inspection robot includes a GPS navigation device, a storage device, a high-definition camera device, an image processing device and a TMS320LF2407A digital signal processor DSP, the storage device is used for pre-storing various instrument templates, and for pre-storing the maximum scale, minimum scale and pointer model of each type of instrument template, the high-definition camera equipment is used for shooting instrument images, and the image processing The device is connected with the high-definition camera device to perform image processing, the DSP is connected with the GPS navigation device to control the traveling position of the inspection robot, and is also connected with the storage device and the image processing device respectively, for It is used to control the automatic meter reading of the inspection robot.

More specifically, in the substation inspection robot for automatic meter reading, it also includes voice recognition equipment, including a sound sensor and a voice recognition chip, and the sound sensor is used to convert the voice of the on-site manager into an electrical signal, The voice recognition chip is connected to the sound sensor for generating voice control instructions based on the electrical signal, and the voice recognition chip adopts the LD3320 chip of ICRoute Company; the wireless communication interface is wirelessly connected with the remote substation management platform to Receive remote control instructions wirelessly, the remote control instructions include GPS control instructions; the robot drive mechanism is used to drive the behavior of the inspection robot under the control of the DSP, and the behavior includes forward, backward, and turn and across; the DC brushless motor is connected with the robot driving mechanism, and under the control of the robot driving mechanism, it provides power for the behavior actions made by the inspection robot; the GPS navigation device is used to receive GPS navigation satellites Provided, the current GPS data of the inspection robot; the storage device is also used to store the upper gray threshold of the meter and the lower gray threshold of the meter, and the upper gray threshold of the meter and the lower gray threshold of the meter are used for The instrument panel in the image is separated from the background; the acquisition resolution of the high-definition camera equipment is 1280×720; the image processing equipment also includes a median filter unit, a preprocessing unit, a target recognition unit, a template matching unit and a pointer position a determination unit, the median filtering unit is connected to the high-definition camera equipment, and is used to filter the meter image to output a filtered image; the preprocessing unit is connected to the median filtering unit, and is used to filter the The image is grayscaled to output a grayscale image, the target recognition unit is respectively connected to the preprocessing unit and the storage device, and the grayscale value in the grayscale image is within the upper limit grayscale of the instrument Pixels between the threshold and the gray threshold of the lower limit of the instrument are identified and formed into a sub-image of the instrument panel, and the template matching unit is connected to the target identification unit and the storage device respectively, based on the sub-image of the instrument panel in the Query the matching target instrument templates from various instrument templates stored in the storage device, and provide the maximum scale, minimum scale and pointer model of the target instrument template, and the pointer position determination unit matches the target recognition unit and the template The unit is connected separately, based on the instrument pointer that matches the pointer model in the instrument dial image in the instrument dial image, calculate the recognized instrument pointer and the horizontal direction angle, and calculate the maximum scale and the place described by the described. The minimum scale and the maximum scale angle and the minimum scale angle in the horizontal direction, according to the numerical position of the pointer angle between the maximum scale angle and the minimum scale angle, determine the meter reading; the DSP communicates with the voice recognition device and the wireless The interface, the robot driving mechanism, the GPS navigation device, the storage device and the image processing device are respectively connected, and the robot driving mechanism is controlled according to the voice control instruction or the remote control instruction, The DSP receives the meter readings sent by the image processing device, and forwards the meter readings to the substation management platform through the wireless communication interface, the DSP controls the data storage of the storage device, and the remote control The instruction is used to roughly adjust the inspection robot to travel to the target meter reading position, and the voice control instruction is used to fine-tune the inspection robot to travel to the target meter reading position; wherein, the DSP wirelessly receives the substation management platform The GPS control instruction sent, the GPS control instruction includes target GPS data, and the DSP controls the robot drive mechanism to travel to the position where the current GPS data sent by the GPS navigation device matches the target GPS data; When the substation management platform successfully receives the return instruction of the instrument reading transmitted by the wireless communication interface, it controls the working indicator light of the inspection robot to flash a predetermined number of times at a predetermined frequency to remind the on-site management personnel.

More specifically, the substation inspection robot for automatic meter reading further includes a rechargeable lithium battery to provide power for the inspection robot.

More specifically, in the substation inspection robot for automatic meter reading, the wireless communication interface is one of a WiFi wireless communication interface, a ZigBee wireless communication interface and a GPRS wireless communication interface.

More specifically, in the substation inspection robot for automatic meter reading, the DSP, the speech recognition device, the wireless communication interface, the GPS navigation device, the storage device and the image processing The device is integrated on an integrated circuit board.

More specifically, in the substation inspection robot for automatic meter reading, the GPS navigation device is replaced by the Big Dipper navigation device.

Description of drawings

Embodiments of the present invention will be described below in conjunction with the accompanying drawings, wherein:

Fig. 1 is a structural block diagram of a substation inspection robot for automatic meter reading according to an embodiment of the present invention.

Fig. 2 is a structural block diagram of a speech recognition device for a substation inspection robot for automatic meter reading according to an embodiment of the present invention.

Detailed ways

The implementation of the substation inspection robot for automatic meter reading of the present invention will be described in detail below with reference to the accompanying drawings.

With the development of robot technology and artificial intelligence technology, it has become possible to use outdoor mobile robots instead of manual equipment inspections.

The inspection robot belongs to the research category of electric special robots. It integrates mechatronics, multi-sensor fusion, navigation and positioning, path planning, machine vision, intelligent control, wireless transmission, electromagnetic compatibility and other technologies.

The inspection robot carries sensors such as a visible light camera, an infrared thermal imager, a pickup, and an ultrasonic wave. It uses magnetic trajectory navigation and can conduct autonomous or remote inspections of outdoor high-voltage equipment according to optimal path planning. Through machine vision, infrared temperature measurement, sound detection and other methods, the inspection robot can collect information such as infrared thermal images, images, and audio of the equipment, and automatically identify thermal defects, abnormal appearance, switch or knife position, and instrumentation of the equipment. Readings, oil level gauge positions, etc., generate unified and standardized alarm items and inspection reports, send alarm information to operating personnel, and provide basic data for equipment condition maintenance.

The inspection robot system can also be connected to the fixed video monitoring point of the substation, covering the observation blind spot that the robot cannot reach, and realizing the video monitoring of the whole station. In unattended, few-person-attended substations or smart substations, especially in plateau, cold and other geographical conditions or severe weather conditions, inspection robots can replace or assist manual inspections of substation equipment. After completing the inspection task, the robot returns to the charging room to recharge automatically.

The substation inspection robot for automatic meter reading of the present invention can accurately control the inspection robot to reach the target meter reading position by adopting the method of combining the far-end rough adjustment of the inspection robot's meter reading position and the near-end fine adjustment. The standardized automatic meter reading method ensures the correct reading of the readings of various instrumentation equipment in the substation.

Fig. 1 is a structural block diagram of a substation inspection robot for automatic meter reading shown according to an embodiment of the present invention, the inspection robot includes a GPS navigation device 1, a storage device 2, a high-definition camera device 3, an image processing device 4 and The digital signal processor DSP5 of TMS320LF2407A model, described DSP5 is connected with described GPS navigation device 1, described storage device 2, described image processing device 4 respectively, and described high-definition camera device 3 is connected with described image processing device 4, The storage device 2 is used for pre-storing various instrument templates, and for pre-storing the maximum scale, minimum scale and pointer model of each type of instrument template, the high-definition camera device 3 is used for taking instrument images, and the image processing The device 4 is used to perform image processing on the images collected by the high-definition camera device 3, and the DSP5 controls the traveling position of the inspection robot and the patrol robot based on the output of the GPS navigation device 1 and the image processing device 4. Automatic meter reading of inspection robots.

Next, the specific structure of the substation inspection robot for automatic meter reading of the present invention will be further described.

With reference to Fig. 2, described substation inspection robot also comprises speech recognition device 6, comprises sound sensor 61 and speech recognition chip 62, and described sound sensor 61 is used for converting the speech of on-site management personnel into electric signal, and described speech recognition chip 62 The sound sensor 61 is connected to generate a voice control command based on the electrical signal, and the voice recognition chip 62 adopts the LD3320 chip of ICRoute Company.

The substation inspection robot also includes a wireless communication interface, which is wirelessly connected to a remote substation management platform to wirelessly receive remote control instructions, and the remote control instructions include GPS control instructions.

The substation inspection robot also includes a robot driving mechanism, which is used to drive the behaviors of the inspection robot under the control of the DSP, and the behaviors include forward, backward, turning and crossing; DC brushless motor , connected with the robot driving mechanism, under the control of the robot driving mechanism, provides power for the actions made by the inspection robot.

The GPS navigation device 1 is used to receive current GPS data of the inspection robot provided by GPS navigation satellites. The storage device 2 is also used to store the upper gray threshold of the meter and the lower gray threshold of the meter, and the upper gray threshold of the meter and the lower gray threshold of the meter are used to separate the meter dial in the image from the background. The acquisition resolution of the high-definition camera device 3 is 1280×720.

The image processing device 4 further includes a median filter unit, a preprocessing unit, a target recognition unit, a template matching unit and a pointer position determination unit.

The median filtering unit is connected to the high-definition camera device 3 for filtering the instrument image to output a filtered image, and the preprocessing unit is connected to the median filtering unit for performing filtering on the filtered image Grayscale processing to output a grayscale image, the target recognition unit is connected to the preprocessing unit and the storage device 2 respectively, and the grayscale value in the grayscale image is within the upper limit grayscale threshold of the instrument The pixels between the gray threshold of the meter and the lower limit of the meter are identified and composed of a meter panel sub-image, and the template matching unit is connected to the target recognition unit and the storage device 2 respectively, based on the meter panel sub-image in the The matching target instrument template is queried from various instrument templates stored in the storage device, and the maximum scale, minimum scale and pointer model of the target instrument template are given.

The pointer position determination unit is respectively connected to the target recognition unit and the template matching unit, identifies the meter pointer in the meter dial sub-image that matches the pointer model based on the meter dial sub-image, and calculates the identified Meter pointer and the pointer angle in the horizontal direction, respectively calculate the maximum scale angle and the minimum scale angle between the maximum scale and the minimum scale and the horizontal direction, and determine according to the numerical position of the pointer angle between the maximum scale angle and the minimum scale angle meter reading.

Said DSP5 is respectively connected with said speech recognition device 6, said wireless communication interface, said robot drive mechanism, said GPS navigation device 1, said storage device 2 and said image processing device 4, and controls according to said voice instructions or the remote control instructions to control the robot drive mechanism, the DSP5 receives the meter readings sent by the image processing device 4, and forwards the meter readings to the substation management platform through the wireless communication interface, so The DSP5 controls the data storage of the storage device 2, the remote control instruction is used to roughly adjust the inspection robot to travel to the target meter reading position, and the voice control instruction is used to fine-tune the inspection robot to travel to the target reading position.

Wherein, the DSP5 wirelessly receives the GPS control instruction sent by the substation management platform, the GPS control instruction includes target GPS data, and the DSP5 controls the robot driving mechanism to travel to the current GPS data sent by the GPS navigation device 1 Match the position of the target GPS data; the DSP5 controls the working indicator light of the inspection robot to press a predetermined frequency when receiving the return instruction of the meter readings successfully received by the substation management platform forwarded by the wireless communication interface. Blink for a predetermined number of times to prompt on-site management personnel.

Wherein, the substation inspection robot can also include a rechargeable lithium battery to provide power supply for the inspection robot, and the wireless communication interface can be selected as a WiFi wireless communication interface, a ZigBee wireless communication interface and a GPRS wireless communication interface. One, in order to improve the degree of integration, the DSP5 can be selected to be integrated with the speech recognition device 6, the wireless communication interface, the GPS navigation device 1, the storage device 2 and the image processing device 4 On the integrated circuit board, and in the substation inspection robot, the GPS navigation device 1 can be replaced by the Big Dipper navigation device.

In addition, speech recognition is an interdisciplinary subject. In the past two decades, speech recognition technology has made remarkable progress and has begun to move from the laboratory to the market. It is expected that in the next 10 years, speech recognition technology will enter various fields such as industry, home appliances, communications, automotive electronics, medical care, home services, and consumer electronics.

The fields involved in speech recognition technology include: signal processing, pattern recognition, probability theory and information theory, vocal mechanism and auditory mechanism, artificial intelligence, etc. According to different recognition objects, speech recognition tasks can be roughly divided into three categories, namely, isolated word recognition (isolated word recognition), keyword recognition (or keyword detection, keywordspotting) and continuous speech recognition. Among them, the task of isolated word recognition is to identify isolated words known in advance, such as "power on", "shut down" and so on; the task of continuous speech recognition is to recognize any continuous speech, such as a sentence or a paragraph; continuous speech flow The keyword detection in is aimed at continuous speech, but it does not recognize all the text, but only detects where some known keywords appear, such as detecting the words "computer" and "world" in a paragraph .

According to the target speaker, speech recognition technology can be divided into specific speech recognition and non-specific speech recognition. The former can only recognize the speech of one or several people, while the latter can be used by anyone. Obviously, the non-person-specific speech recognition system is more in line with actual needs, but it is much more difficult than the recognition for specific people.

In addition, according to voice devices and channels, it can be divided into desktop (PC) voice recognition, telephone voice recognition and embedded device (mobile phone, PDA, etc.) voice recognition. Different acquisition channels will deform the acoustic characteristics of human pronunciation, so it is necessary to construct their own recognition systems.

Speech recognition has a wide range of applications. Common application systems include: speech input system, which is more in line with people's daily habits and more natural and efficient than the keyboard input method. Compared with manual control, the voice control system is faster and more convenient, and can be used in many fields such as industrial control, voice dialing system, smart home appliances, and voice-activated smart toys.

In addition, a digital signal processor (DSP, DigitalSignalProcessor) is a dedicated chip for digital signal processing, and is a new device produced with the development of microelectronics, digital signal processing technology, and computer technology. Digital signal processors are not limited to audio and video, they are widely used in communication and information systems, signal and information processing, automatic control, radar, military, aerospace, medical, household appliances and many other fields. In the past, general-purpose microprocessors were used to complete a large number of digital signal processing operations, which was slow and difficult to meet actual needs; while using bit-slice microprocessors and fast parallel multipliers at the same time was an effective way to achieve digital signal processing, but This method has many devices, complex logic design and program design, large power consumption and high price. The emergence of digital signal processor DSP, a good solution to the above problems. DSP can quickly realize the processing of signal acquisition, transformation, filtering, evaluation, enhancement, compression, identification, etc., so as to obtain the signal form that meets people's needs.

The substation inspection robot for automatic meter reading of the present invention aims at the technical problems that the existing substation inspection robot has a single travel position control mode and low automatic meter reading accuracy. The combination of control and short-range position control ensures that the inspection robot can accurately reach the predetermined meter reading position. In addition, the existing automatic meter reading technology is transformed, and a more intelligent image processing method is adopted to achieve high-precision, high-compatibility automatic meter reading , which improves the work efficiency of the substation inspection robot.

It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims (4)

1. the Intelligent Mobile Robot for automatic meter reading, it is characterized in that, described crusing robot comprises GPS navigation equipment, memory device, high-definition camera equipment, the digital signal processor DSP of image processing equipment and TMS320LF2407A model, described memory device is used for prestoring all kinds of instrument template, and for prestoring the maximum scale of each class instrument template, minimum scale and pointer model, described high-definition camera equipment is for taking Instrument image, described image processing equipment and described high-definition camera equipment connection are to perform image procossing, described DSP is connected with described GPS navigation equipment the advanced positions controlling described crusing robot, also be connected respectively with described memory device and described image processing equipment, for controlling the automatic meter reading of described crusing robot.

2., as claimed in claim 1 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that, described crusing robot also comprises:

Speech recognition apparatus, comprise sound transducer and voice recognition chip, it is electric signal that described sound transducer is used for site administrator's speech conversion, described voice recognition chip connects described sound transducer, for generating phonetic control command based on described electric signal, described voice recognition chip adopts the LD3320 chip of ICRoute company;

Wireless communication interface, with the transformer substation pipe platform wireless connections of far-end, with wireless receiving remote control commands, described remote control commands comprises GPS steering order;

Robot driving mechanism, under the control of described DSP, drives the behavior act of described crusing robot, and described behavior act comprises advance, retreats, turns to and cross over;

DC Brushless Motor, is connected with described robot driving mechanism, and the behavior act made for described crusing robot under the control of described robot driving mechanism provides power;

Described GPS navigation equipment for receive GPS navigation satellite provide, the Current GPS data of described crusing robot;

Described memory device is also for stores meter upper limit gray threshold and instrument lower limit gray threshold, and described instrument upper limit gray threshold and described instrument lower limit gray threshold are used for the instrument dial plate in image and background separation;

The acquisition resolution of described high-definition camera equipment is 1280 × 720;

Described image processing equipment also comprises median filter unit, pretreatment unit, object-recognition unit, template matches unit and pointer position determining unit, described median filter unit and described high-definition camera equipment connection, for to described Instrument image filtering with output filtering image, described pretreatment unit is connected with described median filter unit, for carrying out gray processing process with output gray level image to described filtering image, described object-recognition unit is connected respectively with described pretreatment unit and described memory device, the pixel identification of gray-scale value in described gray level image between described instrument upper limit gray threshold and described instrument lower limit gray threshold is formed instrument plate image, described template matches unit is connected respectively with described object-recognition unit and described memory device, the target instrument template of match query in all kinds of instrument templates stored at described memory device based on described instrument plate image, provide the maximum scale of described target instrument template, minimum scale and pointer model, described pointer position determining unit is connected respectively with described object-recognition unit and described template matches unit, based in instrument plate image described in the image recognition of described instrument plate with the gauge pointer of described pointer Model Matching, calculate the pointer angle of gauge pointer and the horizontal direction recognized, calculate maximum scale angle and the minimum scale angle of described maximum scale and described minimum scale and horizontal direction respectively, according to the numerical value position of pointer angle between maximum scale angle and minimum scale angle, determine meter reading,

Described DSP and described speech recognition apparatus, described wireless communication interface, described robot driving mechanism, described GPS navigation equipment, described memory device is connected respectively with described image processing equipment, described robot driving mechanism is controlled according to described phonetic control command or described remote control commands, described DSP receives the meter reading that described image processing equipment sends, and described meter reading is forwarded to described transformer substation pipe platform by described wireless communication interface, the data that described DSP controls described memory device store, described remote control commands is used for crusing robot described in coarse adjustment and advances to target meter reading position, described phonetic control command is used for crusing robot described in fine tuning and advances to target meter reading position,

Wherein, the GPS steering order that transformer substation pipe platform described in described DSP wireless receiving sends, described GPS steering order comprises target gps data, and described DSP controls described robot driving mechanism and advances to the position of target gps data described in Current GPS Data Matching that described GPS navigation equipment sends;

Wherein, described DSP is when the described transformer substation pipe platform receiving the forwarding of described wireless communication interface successfully receives the link order of meter reading, the relay indicating light controlling described crusing robot to glimmer pre-determined number by preset frequency, to point out site administrator.

3., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that, described system also comprises:

Chargeable lithium cell, for described crusing robot provides power supply.

4., as claimed in claim 2 for the Intelligent Mobile Robot of automatic meter reading, it is characterized in that:

Described wireless communication interface is the one in WiFi wireless communication interface, ZigBee wireless communication interface and GPRS wireless communication interface.