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Global path planning method and system for inspection robot based on topology point classification

A global path planning and inspection robot technology, applied in two-dimensional position/channel control and other directions, can solve the problems of reducing path planning calculation and storage consumption, etc., to reduce the number of topology points, simple calculation method, and wide application range Effect

Active Publication Date: 2018-06-05
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

[0007] In order to solve the above problems, the present invention proposes a global path planning method and system for inspection robots based on topological point classification. This method can effectively reduce path planning calculation and storage consumption, and meet the requirements of online planning of robot travel paths by robots according to special inspection tasks. needs

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  • Global path planning method and system for inspection robot based on topology point classification
  • Global path planning method and system for inspection robot based on topology point classification
  • Global path planning method and system for inspection robot based on topology point classification

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] Such as figure 1 Shown, the present invention proposes a kind of path planning method based on topological point classification, and this method comprises the following steps:

[0048] Step 1: Establish topology points. Abstract the stop points and path intersection points on the robot's running route into topological points of the directed graph data structure, such as figure 2 shown;

[0049] Step 2: Topological points are classified by path, including the following sub-steps:

[0050] (1) Divide the inspection route into a set of inspection paths, and each inspection path is only connected to other paths through the starting point and the end point;

[0051] (2) Classify the topological points of all stops according to the path they belong to, and obtain the set of topological points contained in each path, and merge all the topological p...

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Abstract

The invention discloses a global path planning method and system for inspection robots based on topological point classification. Considering that the inspection paths of robots in substations are all straight-line paths, there are fewer robot stop points outside the equipment area, while the robot stop points in the equipment area They are all on the same straight-line path. The global path planning method designed based on this feature can effectively reduce the path planning calculation and storage consumption, and meet the needs of the robot to plan the robot’s driving path online according to the special inspection task; through the topology of the stop Points are classified and merged according to the path they belong to, and a directed graph data structure corresponding to the topological points is established. Then, only the current position of the robot and the topological point of the target position are inserted into the directed graph data structure during path planning, which can significantly reduce the topology involved in the calculation. The number of points improves the calculation efficiency of path planning and reduces the consumption of storage space.

Description

technical field [0001] The invention relates to a global path planning method and system for an inspection robot based on topological point classification. Background technique [0002] The substation inspection robot is a ground mobile robot that operates fully autonomously. It can carry sensors such as visible light cameras, infrared thermal imaging cameras, and pickups to conduct automatic inspections of power equipment, effectively reducing the labor intensity of manual inspections and ensuring the safety of equipment in the station. run. [0003] During the routine inspection of substations, inspection robots need to run in the station along the route specified by the inspection task, and stop at a series of preset stops to complete the inspection of power equipment. However, in substation sequential control or other When an emergency occurs, the robot needs to perform special inspection tasks. At this time, it is necessary to plan the robot's running route to obtain t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 肖鹏栾贻青梁涛王海鹏慕世友任杰傅孟潮李建祥赵金龙李丽杨尚伟李希智
Owner STATE GRID INTELLIGENCE TECH CO LTD
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