Planning method for inspection path of electric power inspection robot

Abstract

The invention provides a planning method for an inspection path of an electric power inspection robot, and relates to the technical field of electric power inspection, and the method comprises the following steps: sequentially connecting node positions of to-be-inspected equipment according to the priority of an initial inspection task of the to-be-inspected equipment, and obtaining a preset inspection path, the inspection robot is controlled to advance on a preset inspection path at an initial advancing speed, when a first early warning signal of the emergency abnormal equipment is received for the Nth time, interruption coordinates are calibrated, predicted fault moments corresponding to the abnormal sequences and the abnormal factors are obtained, and predicted inspection moments are obtained according to the preset inspection path and the initial advancing speed; and if the predicted fault moment is earlier than the predicted inspection moment, obtaining an updated inspection path according to the interruption coordinate of the inspection robot and the node position of the emergency abnormal equipment, so that the inspection robot inspects the emergency abnormal equipment before the emergency abnormal equipment breaks down. According to the invention, the inspection path can be dynamically adjusted, so that the inspection robot can flexibly deal with emergencies.

Description

Technical Field

[0001] The present application relates to the technical field of electric power inspection, and in particular to a method for planning an inspection path of an electric power inspection robot. Background Art

[0002] With the continuous development of the power system, the inspection requirements for power equipment are getting higher and higher. The traditional manual inspection method has problems such as high labor intensity, low efficiency, and unstable detection accuracy. Therefore, power inspection robots came into being to improve inspection efficiency and accuracy.

[0003] In actual applications, the power inspection robot will travel along a pre-planned inspection route and inspect each power equipment in the power system in turn. However, during the movement, if an emergency abnormality occurs in a certain power equipment, it is difficult for the power inspection robot to respond correctly to the emergency abnormality and it will continue to move along the pre-planned route. This may delay the maintenance work of the emergency abnormality and cause major accidents. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a method for planning an inspection path of an electric power inspection robot, comprising the following steps: According to the priority of the initial inspection task of each device to be inspected, the node position of each device to be inspected is connected in sequence to obtain a preset inspection path, and the initial travel speed of the inspection robot is obtained; The inspection robot is controlled to travel on the preset inspection path at the initial travel speed, and when the first warning signal of the emergency abnormal device is received for the Nth time, the interruption coordinates are calibrated, and an abnormal sequence is obtained; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and to which the inspection robot has not yet traveled on the preset inspection path; the abnormal sequence is composed of abnormal data of the abnormal factor warned by the first warning signal each time; According to the abnormal sequence, the abnormal development speed of the abnormal factor is obtained, and according to the abnormal development speed, the predicted failure time is obtained, and the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail; According to the preset inspection path and the initial travel speed, a predicted inspection time is obtained; the predicted inspection time is the time when the inspection robot travels to the emergency abnormal device on the preset inspection path at the initial travel speed; If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

[0005] According to the technical solution provided by the present application, before the priority of the initial inspection task of each device to be inspected is determined, the following steps are also included: Retrieving an operation set of each of the devices to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence; Obtaining the standard operating threshold of each of the related factors of each of the devices to be inspected, and obtaining the abnormal parameters of each of the devices to be inspected; the abnormal parameters are related to the number of the related factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold; Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

[0006] According to the technical solution provided by the present application, the node positions of each device to be inspected are connected in sequence to obtain a preset inspection path, which specifically includes the following steps: Retrieving a scene map of the site to be inspected, wherein the site to be inspected is a site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map; Acquire a traversable index of each traversable road, wherein the traversable index is used to represent the degree of difficulty of the inspection robot traveling on the traversable road; Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path; The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

[0007] According to the technical solution provided by the present application, the obtaining of the traversable index of each traversable road specifically includes the following steps: Acquire road information of the traversable road to obtain a quantized value of the road information; the road information at least includes the length and slope of the traversable road; Obtaining obstacle information of the traversable road to obtain a quantified value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot; According to a preset weight allocation rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

[0008] According to the technical solution provided by this application, the obstacle information also includes temporary obstacle information; The step of obtaining the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps: Acquire the real-time scene of the site to be inspected, and determine, based on the real-time scene, whether there are temporary obstacles on each of the traversable roads that are caused by temporary maintenance and block the traversable roads; If there is the temporary obstacle, the obstacle information quantization value is obtained according to the temporary obstacle quantization value and the fixed obstacle quantization value.

[0009] According to the technical solution provided by the present application, obtaining the predicted fault time according to the abnormal development speed specifically includes the following steps: If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function; Obtain a fault threshold and bring it into the abnormal development speed function to obtain the predicted fault moment.

[0010] According to the technical solution provided by the present application, obtaining the predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps: Obtaining a travel duration according to the preset inspection path and the initial travel speed; Retrieving the historical inspection log of the first uninspected device to obtain the actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path; If the actual inspection duration of each of the historical inspections of the first uninspected devices is in a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

[0011] According to the technical solution provided by the present application, after retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the following steps are also included: If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5; According to the historical inspection time of the target inspection and the reference inspection duration, determine whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, wherein the duration-related parameter at least includes the equipment service life and equipment maintenance times of the first uninspected device; If the first uninspected device has the duration-related parameter, a predicted inspection duration is obtained according to the duration-related parameter and the reference inspection duration; A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

[0012] According to the technical solution provided by the present application, obtaining the updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps: If there is a traversable road between the interruption coordinates and the emergency abnormal device, the emergency abnormal device is replaced with the next device to be inspected after the interruption coordinates with the interruption coordinates as the starting point, and the order of other first uninspected devices is kept unchanged to obtain the updated inspection path.

[0013] According to the technical solution provided by the present application, obtaining the updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps: The duration between the current moment and the predicted fault moment is set as a first duration; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time; According to the first time length, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices that travel along the preset inspection path and check that the total preset time length used does not delay the predicted fault time; wherein A is greater than or equal to 1; The interruption coordinate and the first first uninspected device adjacent to the interruption coordinate and the preset inspection path between every two adjacent first uninspected devices are reserved to obtain a reserved inspection path; If there is the traversable road between the Ath first uninspected device and the emergency abnormal device, and there is the traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each of the second uninspected devices are connected in sequence, and together with the reserved inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

[0014] Compared with the prior art, the beneficial effect of the present application is that when the first warning signal of emergency abnormal equipment is received multiple times, the present application can analyze the situation of abnormal equipment by obtaining the abnormal sequence, obtain the severity and development trend of the abnormality, and if it is judged that the abnormality is developing rapidly, the inspection time will be delayed by the time the inspection robot arrives. At this time, the inspection path is dynamically adjusted, so that the inspection robot can flexibly respond to emergencies, ensure that abnormal equipment is inspected first in an emergency, effectively reduce the risk of major accidents caused by delayed maintenance, and ensure the safe and stable operation of the power system. The scheme also enhances the reliability and adaptability of the power inspection system, enabling it to better cope with the complex and changeable actual operating environment, and provide strong guarantees for the stable operation of power equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flowchart of the steps of a method for planning an inspection path for an electric power inspection robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0018] Example 1 As mentioned in the background technology, in response to the problems in the prior art, this application proposes a method for planning the inspection path of a power inspection robot, please refer to Figure 1 As shown, the following steps are included: S1. According to the priority of the initial inspection task of each device to be inspected, the node position of each device to be inspected is connected in sequence to obtain a preset inspection path, and the initial travel speed of the inspection robot is obtained; For example, in an application scenario of power inspection, there are six devices to be inspected, namely device A, device B, device C, device D, device E, and device F. The preset inspection path is device A to device B to device C to device D to device E to device F; the initial travel speed is the empirical speed at which the inspection robot can travel smoothly.

[0019] Furthermore, before the priority of the initial inspection task of each device to be inspected is determined, the priority of the initial inspection task of each device to be inspected is obtained. The priority of the initial inspection task of each device to be inspected is obtained, and the following steps are included: Retrieving an operation set of each of the devices to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence; Specifically, the inspection cycle is the time between the last power inspection and the current power inspection. The relevant factors of each device to be inspected are the same or different. The relevant factors are factors related to the device to be inspected and need to be checked regularly. For example, for power transformer equipment, the relevant factors may include oil temperature, oil level, winding temperature, partial discharge, etc.; for high-voltage switchgear, the relevant factors may include bus voltage, current, circuit breaker status, disconnector position, etc.; Obtaining the standard operating threshold of each of the related factors of each of the devices to be inspected, and obtaining the abnormal parameters of each of the devices to be inspected; the abnormal parameters are related to the number of the related factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold; Specifically, the standard operating threshold can be obtained through experience. Taking power transformer equipment as an example, the relevant factors are: Oil temperature: The normal operating range of the top oil temperature of the oil-immersed transformer is around 85°C, and the alarm temperature is set at 95-105°C. Therefore, the standard operating threshold can be set at 70-85°C. When the oil temperature exceeds this range, the oil temperature is considered to be an abnormal factor.

[0020] Specifically, the abnormal parameters can be obtained through the abnormal judgment model. The training sample set of the abnormal judgment model is the historical inspection data of each relevant factor of the equipment to be inspected, and the corresponding status of the equipment to be inspected (normal or abnormal, and the abnormality also includes the degree of abnormality). During use, the relevant factors of each equipment to be inspected are input into the abnormal judgment model, and the model outputs the corresponding status of the equipment to be inspected. When the equipment is abnormal, the output degree of abnormality is the abnormal parameter.

[0021] Specifically, the more abnormal factors there are for each device to be inspected, the greater the deviation between each abnormal factor and the corresponding standard operating threshold, and the greater the abnormal parameter.

[0022] Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

[0023] Specifically, the more abnormal parameters there are, the more abnormal conditions of the operation of the power equipment in the previous inspection cycle need to be checked in a timely manner, so the priority of such power equipment is set to a high priority.

[0024] Furthermore, the node positions of each of the devices to be inspected are connected in sequence to obtain a preset inspection path, which specifically includes the following steps: Retrieving a scene map of the site to be inspected, wherein the site to be inspected is a site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map; Specifically, the scene map can present the current road of the inspection site that accommodates all the equipment to be inspected and the node position of each equipment to be inspected. For example, there are traversable road 1, traversable road 2, and traversable road 3 between equipment A and equipment B, indicating that after inspecting equipment A, equipment B can be reached through traversable road 1, traversable road 2, and traversable road 3; Acquire a traversable index of each traversable road, wherein the traversable index is used to represent the degree of difficulty of the inspection robot traveling on the traversable road; Furthermore, the obtaining of the traversable index of each traversable road specifically comprises the following steps: Acquire road information of the traversable road to obtain a quantized value of the road information; the road information at least includes the length and slope of the traversable road; Obtaining obstacle information of the traversable road to obtain a quantified value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot; Specifically, road information and fixed obstacle information can be obtained through the design construction or design drawings of the power system in the early stage of design, among which the fixed obstacles can be equipment foundations and supporting structures, cable trays and ducts, guardrails and isolation devices.

[0025] According to a preset weight allocation rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

[0026] The road information quantification value represents the influence of the length and slope of the traversable road on the traversable index; the obstacle information quantification value represents the influence of the number and size of obstacles on the feasible road, and the degree of hindrance to the inspection robot's movement on the traversable index.

[0027] Specifically, taking the road information quantization value as an example, it is explained how to obtain the road information quantization value through the road information of the traversable road: set the reference length value, divide the length of the traversable road by the reference length value to obtain the first ratio, set the reference slope value, divide the slope of the traversable road by the reference slope value to obtain the second ratio, the length quantization value is between 0 and 1, the longer the length, the larger the quantization value, the slope quantization value is between 0 and 1, the larger the slope, the larger the quantization value. Assign weights to the length and slope, the sum of the length and slope weights is 1, then the road information quantization value is the product of the first ratio and the length weight plus the product of the second ratio and the slope weight.

[0028] Specifically, taking the obstacle information quantification value as an example, how to obtain the obstacle information quantification value through obstacle information is explained: the reference fixed obstacle quantity is set, and a moderate quantity value can be determined as a reference according to the general situation of the inspection site and historical experience. The reference fixed obstacle size can be set, and the volume or floor area can be used as a measurement standard to determine a typical fixed obstacle size as a reference value. For the degree of obstruction of the fixed obstacle to the inspection robot's travel, a reference value is also set, such as dividing the obstruction degree into several levels, and selecting the obstruction degree of the middle level as a reference. Determine the weights of the number, size and degree of obstruction of the fixed obstacles. The weight distribution can be determined by analyzing historical inspection data or based on expert experience. Assume that the quantity weight is S1, the size weight is D1, the obstruction degree weight is Z1, and S1+D1+Z1=1. The actual number, actual size and actual degree of obstruction of the fixed obstacles are obtained by image acquisition and model analysis. For the number of obstacles, the actual number is divided by the reference number to obtain the quantity ratio. For the size of the obstacle, the actual size (for example, measured by volume or floor space) is divided by the reference size to obtain the size ratio. For the degree of obstruction to travel caused by the obstacle, the actual obstruction level is divided by the reference obstruction level to obtain the obstruction ratio. When there are only fixed obstacles, the obstacle information quantification value is the sum of the product of the quantity weight and the quantity ratio, the product of the size weight and the size ratio, and the product of the obstruction weight and the obstruction ratio.

[0029] Furthermore, the obstacle information also includes temporary obstacle information; temporary obstacles may be maintenance tools and equipment, maintenance materials and waste, temporary warning signs and fences.

[0030] The step of obtaining the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps: Acquire the real-time scene of the site to be inspected, and determine, based on the real-time scene, whether there are temporary obstacles on each of the traversable roads that are caused by temporary maintenance and block the traversable roads; Specifically, since the sites to be inspected are equipped with corresponding cameras in different areas, these cameras can achieve full coverage of the sites to be inspected. The images of the different areas collected by the cameras are used, and image stitching technology is used to restore the real-time scene of the sites to be inspected.

[0031] If there is the temporary obstacle, the obstacle information quantization value is obtained according to the temporary obstacle quantization value and the fixed obstacle quantization value.

[0032] Specifically, if there is no temporary obstacle, the quantized value of the obstacle information is obtained according to the fixed obstacle information; if there is a temporary obstacle, the quantized value of the obstacle information is obtained according to the fixed obstacle information and the temporary obstacle information (by assigning weights to the temporary obstacle quantized value and the fixed obstacle quantized value).

[0033] Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path; Specifically, if there is at least one traversable road between every two devices to be inspected, then according to the priority of the initial inspection task of each device to be inspected, there can be a plurality of candidate paths to sequentially connect the node positions of each device to be inspected, for example, traversable road 1 is selected between device A and device B (traversable roads include traversable road 1, traversable road 2, and traversable road 3), traversable road 4 is selected between device B and device C (traversable roads include traversable road 4, traversable road 5, and traversable road 6), and traversable road 7 is selected between device C and device D (traversable roads include traversable road 7, traversable road 8 , traversable road 9), traversable road 10 is selected between device D and device E (traversable roads include traversable road 10, traversable road 11, and traversable road 12), and traversable road 13 is selected between device E and device F (traversable roads include traversable road 13, traversable road 14, and traversable road 15), then one of the candidate paths A can be road 1 to road 4 to road 7 to road 10 to road 13, another candidate path B can be road 2 to road 4 to road 8 to road 11 to road 14, and another candidate path C can be road 3 to road 5 to road 9 to road 10 to road 13, and so on.

[0034] The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

[0035] Specifically, if the sum of the traversable indexes of candidate road A is 15, the sum of the traversable indexes of candidate road B is 17, and the sum of the traversable indexes of candidate road C is 19, then candidate road A is used as the preset inspection path.

[0036] S2, control the inspection robot to move on the preset inspection path at the initial travel speed, and when the first warning signal of the emergency abnormal device is received for the Nth time, calibrate the interruption coordinates and obtain an abnormal sequence; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and the inspection robot has not yet traveled to on the preset inspection path; the abnormal sequence is composed of abnormal data of the abnormal factor warned by the first warning signal each time; Specifically, taking the oil temperature as an example, the top oil temperature of the oil-immersed transformer is read once every certain period of time. When the reading exceeds 85°C and does not reach 95°C, a first warning signal is issued. If all abnormal data in the abnormal sequence are approximately equal, continue to follow the preset inspection path for inspection. Because if all abnormal data are equal, it means that the abnormal change speed of this abnormal factor is 0, and there is no particularly fast spreading trend.

[0037] For example, when the inspection robot travels according to the preset inspection path and inspects device A and device B, while traveling on the traversable road 4 between device B and device C, it receives the first warning signal of an emergency abnormal device for the Nth time, then the following steps need to be executed.

[0038] S3. Obtaining the abnormal development speed of the abnormal factor according to the abnormal sequence, and obtaining a predicted failure time according to the abnormal development speed, wherein the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail; For example, taking the above oil temperature as an example, the fault threshold is 95°C, which means that when the oil temperature reaches 95°C, it is a manifestation of equipment failure (it should be noted that the abnormality does not affect the normal operation of the equipment, but if the abnormality is not repaired for a long time, it may spread and develop into a fault, which will affect the normal operation of the equipment). The predicted fault time is the time when the abnormality is predicted to spread and develop into a fault.

[0039] Furthermore, if the abnormal development speed is uniform, the predicted fault time can be obtained through two adjacent abnormal data.

[0040] For example, if the abnormal sequence is {71, 73, 75, 77, 79}, and the time between each two abnormal values ​​is 5 minutes, then the abnormal development speed is uniform, and the abnormal development speed is 2 / 5℃ / min. At such an abnormal development speed, it takes 40 minutes to reach the fault threshold of 95℃ from 79℃. If the current time is 10:00 am, the predicted fault time is 10:40.

[0041] Furthermore, obtaining the predicted fault time according to the abnormal development speed specifically includes the following steps: If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function; Specifically, the function of oil temperature with respect to time is a quadratic function with coefficients a, b, and c to be determined. The abnormal data and the corresponding time in the abnormal sequence are substituted into the quadratic function to obtain the values ​​of a, b, and c. The values ​​of a, b, and c are substituted back into the quadratic function to obtain the abnormal development speed function.

[0042] Obtain the fault threshold and substitute it into the abnormal development speed function to obtain the elapsed time (how long it takes to reach the fault threshold from the current time), and then obtain the predicted fault time.

[0043] Specifically, the fault threshold of 95°C is substituted into the abnormal development speed function to obtain the elapsed time, which is then superimposed on the current moment to obtain the predicted fault moment.

[0044] S4. Obtain a predicted inspection time according to the preset inspection path and the initial travel speed; the predicted inspection time is the time when the inspection robot travels to the emergency abnormal device on the preset inspection path at the initial travel speed; Furthermore, obtaining the predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps: Obtaining a travel duration according to the preset inspection path and the initial travel speed; Specifically, the length, slope, and obstacle conditions of each traversable road in the preset inspection path are known, so the segmented travel time of each traversable road is calculated, and the travel time of each segment is added together to obtain the travel time; Specifically, the travel time can be obtained by model training. The input of the model is parameters related to the travel time, such as the length and slope of the road, the position and size of obstacles, etc., and the output is the travel time.

[0045] Retrieving the historical inspection log of the first uninspected device to obtain the actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path; If the actual inspection duration of each of the historical inspections of the first uninspected devices is in a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

[0046] Specifically, the stable interval refers to the numerical range in which most of the elements in the index series have relatively stable values. When the actual inspection duration of each of the historical inspections of the first uninspected device is in the stable interval, it means that the inspection duration of the first uninspected device is stable in the previous historical inspection process. For example, the actual inspection duration of the historical inspection is {1h, 1.11h, 1.12h, 1,13h...1.17h}, and the stable interval is 1h with a certain fluctuation. Therefore, when calculating the predicted inspection time, the average value of the actual inspection duration of all historical inspections in the historical inspection log can be used together with the travel duration, or the actual inspection duration of any historical inspection can be directly used together with the travel duration.

[0047] Specifically, when it is determined that the actual inspection time of the first uninspected equipment is stable, the actual inspection time of each first uninspected equipment is added to obtain the total inspection time, and then added to the previously calculated travel time to obtain the total time from the current moment to the time when the inspection robot reaches the emergency abnormal equipment.

[0048] Furthermore, after retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the method further includes the following steps: If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5; Specifically, if the actual inspection duration of the first uninspected equipment with M historical inspections is not in the stable interval, it means that the actual inspection duration is sometimes stable, and some historical inspections are unstable. For example, the actual inspection duration of the historical inspections is {1h, 3h, 5h, 7h..1.14h, 1.12h, 5h, 5.6h,.1.13h, 7h, 1.18h..1.17h}, and the stable interval is a certain value of 1h. The historical inspections corresponding to these 6 {3h, 5h, 7h, 5h, 5.6h, 7h} are marked as target inspections. The actual inspection duration of the target inspections 3h, 5h, 7h, 5h, 5.6h, 7h are marked as reference inspection durations.

[0049] According to the historical inspection time of the target inspection and the reference inspection duration, determine whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, wherein the duration-related parameter at least includes the equipment service life and equipment maintenance times of the first uninspected device; If the first uninspected device has the duration-related parameter, a predicted inspection duration is obtained according to the duration-related parameter and the reference inspection duration; Specifically, a linear regression model can be established, with the equipment service life, equipment maintenance times, etc. as independent variables, and the reference inspection time as the dependent variable. The model parameters are obtained by training historical data, and then the current equipment service life, maintenance times, and other parameters are substituted into the model to calculate the predicted inspection time.

[0050] Exemplarily, a scatter plot is drawn with the service life of the equipment for each target inspection as the horizontal axis and the corresponding reference inspection duration as the vertical axis. Similarly, the same operation is performed for the number of equipment maintenance times to draw another scatter plot. By observing the distribution of each scatter plot, it is determined whether there is a linear correlation trend among the scatter points on each scatter plot. If the scatter points roughly show a trend of straight line distribution, there is a linear correlation, and the duration-related parameter corresponding to the scatter plot showing a straight line distribution is linearly correlated with the reference inspection duration; if the scatter points are distributed without any regularity, there is no linear correlation. If all scatter plots do not have linear correlation, the first uninspected equipment does not have a duration-related parameter that is linearly correlated with the reference inspection duration.

[0051] A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

[0052] S5. If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

[0053] In a preferred embodiment, obtaining the updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps: If there is a traversable road between the interruption coordinates and the emergency abnormal device, the emergency abnormal device is replaced with the next device to be inspected after the interruption coordinates with the interruption coordinates as the starting point, and the order of other first uninspected devices is kept unchanged to obtain the updated inspection path.

[0054] Exemplarily, from the above, it can be seen that the preset inspection path is road 1 to road 4 to road 7 to road 10 to road 13. After checking device A and device B, the interruption coordinate is between device B and device C. Then the preset inspection path after the interruption coordinate is originally device C to device D to device E to device F. At this time, if device F is an emergency abnormal device, then directly starting from the interruption coordinate, the interruption coordinate and device F are connected through the traversable road between the interruption coordinate and device F, and then it is determined whether there is a traversable road between the emergency fault device and the next device to be inspected after the original interruption coordinate. If so, the emergency fault device is connected to the next device to be inspected after the original interruption coordinate through the traversable road, and the traversable road between subsequent devices to be inspected remains unchanged.

[0055] Exemplarily, the updated inspection path is device F to device C, device D to device E.

[0056] In this embodiment, when an emergency abnormal device is found, the emergency abnormal device is directly adjusted to the next inspection object to achieve the fastest inspection, prevent the abnormality from spreading to a fault, and maximize the stability of the power system.

[0057] Further, obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps: The duration between the current moment and the predicted fault moment is set as a first duration; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time; Exemplarily, from the above, it can be seen that the first duration is 40 minutes; According to the first time length, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices that travel along the preset inspection path and check that the total preset time length used does not delay the predicted fault time; wherein A is greater than or equal to 1; Exemplarily, the method for determining the second uninspected device includes: if the vehicle travels from the interruption coordinates to device C at the initial travel speed, inspects device C with the predicted inspection time, and then travels to device F at the initial travel speed on a traversable road between device C and device F (emergency abnormal device), and the total preset time is less than the first time, then device C is regarded as a second uninspected device; and similarly, if after inspecting device C, the vehicle travels to device D at the initial travel speed on a traversable road between device C and device D, inspects device D with the predicted inspection time, and then travels to device F at the initial travel speed on a traversable road between device D and device F (emergency abnormal device), and the total preset time is less than the first time, then device D is also regarded as a second uninspected device.

[0058] The interruption coordinate and the first first uninspected device adjacent to the interruption coordinate and the preset inspection path between every two adjacent first uninspected devices are reserved to obtain a reserved inspection path; Exemplarily, if there is only one second uninspected device, device C, then A is 1, and the drivable road between the interruption coordinates and device C is reserved as the inspection path; if device C and device D are both second uninspected devices, then A is 2, and the drivable roads between the interruption coordinates and device C and between device C and device D are reserved as the inspection path.

[0059] If there is the traversable road between the Ath first uninspected device and the emergency abnormal device, and there is the traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each of the second uninspected devices are connected in sequence, and together with the reserved inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

[0060] Exemplarily, if there is only one second uninspected device, device C, then device C (the first first uninspected device), device F (emergency abnormal device), device D and device E are connected to obtain an updated inspection path; if there are two second uninspected devices, device C and device D, then the preset inspection path between device C and device D is retained, and then device D (the second first uninspected device), device F (emergency abnormal device) and device E are connected to obtain an updated inspection path.

[0061] Specifically, this embodiment can complete the inspection of other equipment as much as possible within a limited time by reasonably screening the second uninspected equipment, making full use of time resources and avoiding completely abandoning the inspection of other equipment due to emergency situations. The inspection robot can inspect other important equipment without delaying the inspection of emergency abnormal equipment, thereby optimizing resource allocation and improving the overall inspection effect.

[0062] Specifically, the present application makes intelligent judgments based on abnormal signals. When an early warning signal of an emergency abnormal device is received, it can be determined whether the abnormality will spread into a fault before the inspection robot inspects along the preset path. By making full use of abnormal signals, the inspection path can be dynamically planned before the abnormality develops into a fault, ensuring that the inspection robot gives priority to inspecting emergency abnormal equipment, greatly improving the timeliness and effectiveness of fault handling. This innovative technical solution enhances the adaptability and flexibility of the system, optimizes resource allocation, and provides a strong guarantee for the efficient and stable operation of power inspections.

[0063] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A method for planning an inspection path of an electric power inspection robot, characterized in that: The following steps are involved: According to the priority of the initial inspection task of each device to be inspected, the node position of each device to be inspected is connected in sequence to obtain a preset inspection path, and the initial travel speed of the inspection robot is obtained; The inspection robot is controlled to travel on the preset inspection path at the initial travel speed, and when the first warning signal of the emergency abnormal device is received for the Nth time, the interruption coordinates are calibrated, and an abnormal sequence is obtained; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and to which the inspection robot has not yet traveled on the preset inspection path; the abnormal sequence is composed of abnormal data of the abnormal factor warned by the first warning signal each time; According to the abnormal sequence, the abnormal development speed of the abnormal factor is obtained, and according to the abnormal development speed, the predicted failure time is obtained, and the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail; According to the preset inspection path and the initial travel speed, a predicted inspection time is obtained; the predicted inspection time is the time when the inspection robot travels to the emergency abnormal device on the preset inspection path at the initial travel speed; If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

2. The method for planning the inspection path of the power inspection robot according to claim 1, characterized in that: Before the priority of the initial inspection task of each device to be inspected is determined, the following steps are also included: Retrieving an operation set of each of the devices to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence; Obtaining the standard operating threshold of each of the related factors of each of the devices to be inspected, and obtaining the abnormal parameters of each of the devices to be inspected; the abnormal parameters are related to the number of the related factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold; Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

3. The method for planning the inspection path of the power inspection robot according to claim 1, characterized in that: The step of sequentially connecting the node positions of each of the devices to be inspected to obtain a preset inspection path specifically includes the following steps: Retrieving a scene map of the site to be inspected, wherein the site to be inspected is a site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map; Acquire a traversable index of each traversable road, wherein the traversable index is used to represent the degree of difficulty of the inspection robot traveling on the traversable road; Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path; The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

4. The method for planning the inspection path of the power inspection robot according to claim 3, characterized in that: The obtaining of the traversable index of each traversable road specifically comprises the following steps: Acquire road information of the traversable road to obtain a quantized value of the road information; the road information at least includes the length and slope of the traversable road; Obtaining obstacle information of the traversable road to obtain a quantified value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot; According to a preset weight allocation rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

5. The method for planning the inspection path of the power inspection robot according to claim 4, characterized in that: The obstacle information also includes temporary obstacle information; The step of obtaining the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps: Acquire the real-time scene of the site to be inspected, and determine, based on the real-time scene, whether there are temporary obstacles on each of the traversable roads that are caused by temporary maintenance and block the traversable roads; If there is the temporary obstacle, the obstacle information quantization value is obtained according to the temporary obstacle quantization value and the fixed obstacle quantization value.

6. The method for planning the inspection path of the power inspection robot according to claim 1, characterized in that: The step of obtaining a predicted fault time according to the abnormal development speed specifically includes the following steps: If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function; Obtain a fault threshold and bring it into the abnormal development speed function to obtain the predicted fault moment.

7. The method for planning the inspection path of the power inspection robot according to claim 1, characterized in that: The step of obtaining the predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps: Obtaining a travel duration according to the preset inspection path and the initial travel speed; Retrieving the historical inspection log of the first uninspected device to obtain the actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path; If the actual inspection duration of each of the historical inspections of the first uninspected devices is in a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

8. The method for planning the inspection path of the power inspection robot according to claim 7, characterized in that: After retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the following steps are also included: If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5; According to the historical inspection time of the target inspection and the reference inspection duration, determine whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, wherein the duration-related parameter at least includes the equipment service life and equipment maintenance times of the first uninspected device; If the first uninspected device has the duration-related parameter, a predicted inspection duration is obtained according to the duration-related parameter and the reference inspection duration; A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

9. The method for planning the inspection path of the power inspection robot according to claim 1, characterized in that: The obtaining of the updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically comprises the following steps: If there is a traversable road between the interruption coordinates and the emergency abnormal device, the emergency abnormal device is replaced with the next device to be inspected after the interruption coordinates with the interruption coordinates as the starting point, and the order of other first uninspected devices is kept unchanged to obtain the updated inspection path.

10. The method for planning an inspection path of a power inspection robot according to claim 1, characterized in that: The obtaining of the updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically comprises the following steps: The duration between the current moment and the predicted fault moment is set as a first duration; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time; According to the first time length, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices that travel along the preset inspection path and check that the total preset time length used does not delay the predicted fault time; wherein A is greater than or equal to 1; The interruption coordinate and the first first uninspected device adjacent to the interruption coordinate and the preset inspection path between every two adjacent first uninspected devices are reserved to obtain a reserved inspection path; If there is the traversable road between the Ath first uninspected device and the emergency abnormal device, and there is the traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each of the second uninspected devices are connected in sequence, and together with the reserved inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

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