A distribution network inspection robot system and method

Abstract

The present invention proposes a distribution network inspection robot system and method, comprising: obtaining position coordinates regularly sent by a positioning device worn by a staff member, and determining a target moving position of a track-type inspection robot or a wheel-type inspection robot according to the position coordinates; calculating a position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determining a track-type inspection robot or a wheel-type inspection robot closest to the target moving position according to the position distance; and sending the target moving position to the track-type inspection robot or the wheel-type inspection robot closest to the target moving position, so that the track-type inspection robot or the wheel-type inspection robot moves to the target moving position and photographs and records the staff member.

Description

Technical Field

[0001] The present invention belongs to the field related to inspection robots, and in particular relates to a distribution network inspection robot system and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The safety of the power system plays a vital role in the development of the national economy, and regular inspections of power equipment are very necessary. With the development of information and automation technology, although rail-mounted inspection robots are safer and do not affect production facilities and equipment on the premises compared to ground wheeled inspection robots, they are limited by their working mode of moving on a preset fixed track, and their inspection area for tasks has certain limitations. Wheeled inspection robots are not limited by fixed tracks, and they are more flexible in inspection areas. Therefore, rail-mounted inspection robots and wheeled inspection robots are increasingly widely used in comprehensive inspection tasks.

[0004] In view of this, how to record and track the travel routes and actions of staff entering a place where both wheeled inspection robots and tracked inspection robots are present by reasonably calling wheeled inspection robots or tracked inspection robots is an urgent problem to be solved. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a distribution network inspection robot method, which realizes the filming and recording of the staff by coordinating the scheduling of track-type inspection robots and wheeled inspection robots, and can achieve comprehensive tracking and recording of the staff while minimizing the impact on the current inspection tasks of the inspection robots.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] A distribution network inspection robot method, comprising:

[0008] Step 1: Obtain the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheeled inspection robot according to the position coordinates;

[0009] Step 2: Calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance;

[0010] Step 3: Send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes photos and records of the staff.

[0011] Furthermore, the distance between the target moving position and the wheeled inspection robot is calculated based on the position coordinates of the staff and the position coordinates of the wheeled inspection robot;

[0012] The distance calculation between the target moving position and the track-type inspection robot is based on the position coordinates of the staff member's track point closest to the track and the position coordinates of the track-type inspection robot.

[0013] Furthermore, before step 1, it is necessary to obtain status information of the track-type inspection robot and the wheeled inspection robot, wherein the status information includes the priority of the task currently being executed by the inspection robot, the estimated completion time of the task, and the target position set when the task is completed.

[0014] Furthermore, in step 2, specifically:

[0015] According to the priorities of the tasks currently being performed by the track-type inspection robots and the wheel-type inspection robots, the robots are divided into high, medium and low levels and sorted in ascending order within the levels, thereby obtaining a set of track-type inspection robots and wheel-type inspection robots after the division and sorting;

[0016] Whether the set target position and the target moving position of the track-type inspection robot and the wheeled inspection robot in the sorted middle and low-level sets when the task is completed do not exceed the first distance threshold;

[0017] If it does not exceed the first threshold, and the estimated task completion time of the track-type inspection robot and the wheeled inspection robot does not exceed the first time threshold, then they are determined as the inspection robot group to be scheduled;

[0018] According to the division result of the inspection robot group to be scheduled, a track-type inspection robot or a wheel-type inspection robot with a low level and a high ranking is determined as the inspection robot closest to the target moving position.

[0019] Furthermore, if the set target positions of all track-mounted inspection robots and wheeled inspection robots when their tasks are completed exceed the first distance threshold, the distance between the current positions of the track-mounted inspection robots and wheeled inspection robots in the medium-level and low-level sets and the target moving position is calculated, and the inspection robot closest to the target moving position in the medium-level and low-level sets is determined.

[0020] Furthermore, if there is a track-type inspection robot or a wheeled inspection robot whose target position and target moving position set when the task is completed do not exceed the first threshold, but the task completion time of the inspection robots exceeds the first time threshold, then the inspection robot with the shortest task completion time and whose distance to the target moving position does not exceed the first threshold is determined as the inspection robot closest to the target moving position.

[0021] Furthermore, in step 3, it includes:

[0022] The inspection robot closest to the target moving position keeps the worker in the center of the shooting screen when shooting the worker.

[0023] A second aspect of the present invention provides a distribution network inspection robot system, comprising:

[0024] An acquisition module is configured to: acquire the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheel-type inspection robot according to the position coordinates;

[0025] A calculation module is configured to: calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance;

[0026] The mobile module is configured to: send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes pictures and records the staff.

[0027] A third aspect of the present invention provides an electronic device, comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the steps of the above method are completed when the computer instructions are executed by the processor.

[0028] A fourth aspect of the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the steps of the above method.

[0029] One or more of the above technical solutions have the following beneficial effects:

[0030] In the present invention, the track-type inspection robot and the wheel-type inspection robot are coordinated and dispatched to realize the filming and recording of the staff, so that the comprehensive tracking and recording of the staff can be realized while minimizing the impact on the current inspection task of the inspection robot.

[0031] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 This is a flow chart of Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0034] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0035] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0036] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0037] Embodiment 1

[0038] This embodiment discloses a distribution network inspection robot scheduling method, including:

[0039] Step 1: Obtain the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheeled inspection robot according to the position coordinates;

[0040] Step 2: Calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance;

[0041] Step 3: Send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes photos and records of the staff.

[0042] Before step 1, it is also necessary to obtain the status information of the track-type inspection robot and the wheeled inspection robot, including the priority of the inspection robot's current task, the estimated completion time of the task, and the target position set when the task is completed.

[0043] In step 1, UWB positioning technology is used to locate the staff, a UWB base station is installed at the staff's workplace, and the UWB positioning system is used to generate the position coordinates of the staff. The obtained position positioning information is sent to the control system of the track inspection robot and the wheel inspection robot.

[0044] For the rail robot, a device for the rail inspection robot to locate itself on the rail is provided on the rail, such as an RFID tag, so that the rail inspection robot can locate its position on the rail using the RFID tag.

[0045] For a wheeled inspection robot, the wheeled inspection robot can carry a positioning device by itself, and use the positioning device to realize its own positioning during the inspection process.

[0046] In addition, because the rail-mounted inspection robot moves along the track, the distance calculation of the target moving position for the rail-mounted inspection robot is based on the point whose position coordinates of the staff are closest to the track as the target point of the rail-mounted inspection robot. That is, after the staff's positioning information is determined, the track closest to the staff's position is determined, and the target moving position of the rail-mounted inspection robot is determined based on the closest straight-line distance, so that the rail-mounted inspection robot can move along the track to the target moving position, and take pictures of the staff at the target moving position (the point closest to the staff).

[0047] For the wheeled inspection robot, since its movement is not restricted by the track, its target moving position is calculated based on the position coordinates of the staff and the position coordinates of the wheeled inspection robot.

[0048] Among them, for the wheeled inspection robot, since the staff can only be better photographed at a certain distance from the actual position coordinates of the staff, the staff's position can be taken as the center of the circle, and the best distance for photographing the staff can be determined as the radius to determine the position to which the wheeled inspection robot will move later. Based on this position and the actual coordinate position of the wheeled inspection robot, the distance to be moved by the wheeled inspection robot can be determined.

[0049] In step 2, the track-type inspection robots and wheel-type inspection robots are divided into high, medium and low levels according to the priorities of the tasks currently being performed and sorted in ascending order within the levels, thereby obtaining a set of track-type inspection robots and wheel-type inspection robots after the division and sorting;

[0050] Whether the set target position and the target moving position of the track-type inspection robot and the wheeled inspection robot in the sorted middle and low-level sets when the task is completed do not exceed the first distance threshold;

[0051] If it does not exceed the first threshold, and the estimated task completion time of the track-type inspection robot and the wheeled inspection robot does not exceed the first time threshold, then they are determined as the inspection robot group to be scheduled;

[0052] According to the division result of the inspection robot group to be scheduled, a track-type inspection robot or a wheel-type inspection robot with a low level and a high ranking is determined as the inspection robot closest to the target moving position.

[0053] Specifically, the rail-mounted inspection robots and wheeled inspection robots are first divided according to the level of the current tasks they are performing. For example, each inspection robot's current task is labeled with a task number, where the number represents its importance. The larger the labeled number, the higher the urgency or importance of the task it is performing. Then, the numbers marked by all inspection robots are classified, such as 0-3 for low level, 4-7 for medium level, and 8-10 for high level. Then, they are sorted according to the numerical labels within each level.

[0054] For the track-type inspection robots and wheeled inspection robots that have been classified, their set target positions when completing the tasks are determined, the distance between the set target position and the target moving position when completing the tasks is calculated, and based on the distance, it is determined whether there is a track-type inspection robot or wheeled inspection robot whose set target position is within a first distance threshold from the target moving position.

[0055] The first distance threshold and the first time threshold can be set according to actual circumstances.

[0056] Then, for the inspection robots whose set position and target moving position when completing the task do not exceed the first threshold, it is determined whether the estimated completion time of the distance task of each inspection robot does not exceed the first time threshold, and the inspection robots that do not exceed the first threshold and the first time threshold are determined as the inspection robots to be scheduled.

[0057] Then, based on the above-mentioned numerical markings and level divisions of the inspection robots, the inspection robot at the lower level and with the smallest numerical marking will be regarded as the inspection robot closest to the worker. At this time, the inspection robot determined to be closest to the worker can move to the target mobile position after completing the inspection task to take pictures and record the staff.

[0058] If the set target positions of all track-mounted inspection robots and wheeled inspection robots when their tasks are completed exceed the first distance threshold, the distance between the current positions of the track-mounted inspection robots and wheeled inspection robots in the medium-level and low-level sets and the target moving position is calculated, and the inspection robot closest to the target moving position in the medium-level and low-level sets is determined.

[0059] When the target positions set by the rail-mounted inspection robot and the wheeled inspection robot when completing the task are not close to the location of the staff, the distance between the current position of the rail-mounted inspection robots and the rail-mounted inspection robots in the middle and low levels and the target moving position is calculated, and the rail-mounted inspection robot or wheeled inspection robot that takes photos of the staff is determined based on the calculated distance.

[0060] If there is a track-type inspection robot or a wheeled inspection robot whose target position and target moving position set when the task is completed do not exceed the first threshold, but the task completion time of the inspection robots exceeds the first time threshold, then the inspection robot with the shortest task completion time and whose distance to the target moving position does not exceed the first threshold will be determined as the inspection robot closest to the target moving position.

[0061] There is a patrol robot whose target position set when completing a task is not more than the first distance threshold from the target moving position, but the time taken by the patrol robot to complete the task is longer than the first time threshold. At this time, the patrol robot whose distance does not exceed the first distance threshold is determined to be the closest to the time interval set when the task is completed as the patrol robot that will take photos and record the staff. After the patrol robot completes the patrol task, it moves to the target moving position to take photos of the staff. If the time interval between the patrol robot determined to be the closest to the set time for task completion is still very long and exceeds the second time threshold, in order to enable the patrol robot to move to the vicinity of the staff to record the staff's trajectory in time, the patrol robot in the lower level that is closest to the target moving position can be determined as the patrol robot to be moved, and it stops the patrol task and moves to the vicinity of the staff to take photos and record.

[0062] In step 3, the inspection robot closest to the target moving position keeps the staff in the center of the shooting screen when shooting the staff, including: the inspection robot extracts the current frame image taken by the shooting lens and determines the position of the person in the current frame image, the inspection robot determines the positional relationship between the person and the reference area in the current frame image, the reference area is the central area of ​​the shooting lens, and when the person in the current frame image is outside the reference area, the inspection robot adjusts the position of the shooting lens.

[0063] The current frame image of the person photographed by the camera lens is obtained by intercepting the currently photographed video graphics when the camera lens of the inspection robot photographs the staff, and then the reference area can be determined according to the pre-set rules.

[0064] Determine the position of the staff in the current frame image, and judge the positional relationship between the staff in the current frame image and the determined reference area. The position of the staff in the current frame can be determined by an image feature recognition algorithm, and the extracted facial features are compared with the reference area to determine the positional relationship between the staff and the reference area.

[0065] When the person is not in the reference area, the camera is adjusted so that the person is in the reference area. When the person is in the reference area, the inspection robot maintains the current shooting position and shooting angle of the lens. When the person is outside the reference area, the inspection robot moves the shooting position of the lens or adjusts the shooting angle of the lens. The shooting lens of the inspection robot can rotate 360 ​​degrees.

[0066] When adjusting the shooting lens cannot make the personnel position at the reference position, the position of the inspection robot can be fine-tuned. After the position is fine-tuned, the inspection robot can adjust the shooting lens and the shooting angle to make the personnel position at the reference area.

[0067] Embodiment 2

[0068] The purpose of this embodiment is to provide a distribution network inspection robot system, including:

[0069] An acquisition module is configured to: acquire the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheel-type inspection robot according to the position coordinates;

[0070] A calculation module is configured to: calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance;

[0071] The mobile module is configured to: send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes pictures and records the staff.

[0072] Embodiment 3

[0073] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the program.

[0074] Embodiment 4

[0075] The purpose of this embodiment is to provide a computer-readable storage medium.

[0076] A computer-readable storage medium stores a computer program, which executes the steps of the above method when executed by a processor.

[0077] The steps involved in the apparatuses of the above embodiments 2, 3 and 4 correspond to the method embodiment 1, and the specific implementation methods can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0078] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0079] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A distribution network inspection robot method, characterized in that: include: Step 1: Obtain status information of the track-type inspection robot and the wheel-type inspection robot, the status information including the priority of the task currently being executed by the inspection robot, the estimated completion time of the task, and the target position set when the task is completed; obtain the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheel-type inspection robot according to the position coordinates; Step 2: Calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance; Specifically, the priorities of the tasks currently being performed by the track-type inspection robots and the wheel-type inspection robots are divided into high, medium and low levels and sorted in ascending order within the levels, thereby obtaining a set of track-type inspection robots and wheel-type inspection robots after the division and sorting; Determine whether the distance between the target position set when the divided and sorted rail-type inspection robot and the wheeled inspection robot complete the task and the target moving position does not exceed a first distance threshold; If the distance does not exceed the first distance threshold, and the estimated task completion time of the track-type inspection robot and the wheeled inspection robot does not exceed the first time threshold, then they are determined as the inspection robot group to be scheduled; According to the division result of the inspection robot group to be scheduled, a track-type inspection robot or a wheeled inspection robot with a low level and a high ranking is determined as the inspection robot closest to the target moving position; Step 3: Send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes photos and records of the staff.

2. A distribution network inspection robot method as claimed in claim 1, characterized in that: The distance between the target moving position and the wheeled inspection robot is calculated based on the position coordinates of the staff and the position coordinates of the wheeled inspection robot; The distance calculation between the target moving position and the track-type inspection robot is based on the position coordinates of the staff member's track point closest to the track and the position coordinates of the track-type inspection robot.

3. A distribution network inspection robot method as claimed in claim 1, characterized in that: If the set target positions of all track-mounted inspection robots and wheeled inspection robots when their tasks are completed exceed the first distance threshold, the distance between the current positions of the track-mounted inspection robots and wheeled inspection robots in the medium-level and low-level sets and the target moving position is calculated, and the inspection robot closest to the target moving position in the medium-level and low-level sets is determined.

4. A distribution network inspection robot method as claimed in claim 1, characterized in that: If there is a track-type inspection robot or a wheeled inspection robot whose target position and target moving position set when the task is completed do not exceed the first distance threshold, but the task completion time of the inspection robots exceeds the first time threshold, then the inspection robot with the shortest task completion time and whose distance to the target moving position does not exceed the first distance threshold will be determined as the inspection robot closest to the target moving position.

5. A distribution network inspection robot method as claimed in claim 1, characterized in that The step 3 includes: when the inspection robot closest to the target moving position takes a picture of the worker, the inspection robot keeps the worker in the center of the shooting picture.

6. A distribution network inspection robot system, characterized in that: include: An acquisition module is configured to: acquire status information of the track-type inspection robot and the wheel-type inspection robot, the status information including the priority of the task currently executed by the inspection robot, the estimated completion time of the task, and the target position set when the task is completed; acquire the position coordinates regularly sent by the positioning device worn by the staff, and determine the target moving position of the track-type inspection robot or the wheel-type inspection robot according to the position coordinates; A calculation module is configured to: calculate the position distance between the target moving position and the track-type inspection robot or the wheel-type inspection robot, and determine the track-type inspection robot or the wheel-type inspection robot closest to the target moving position according to the position distance; Specifically, the priorities of the tasks currently being performed by the track-type inspection robots and the wheel-type inspection robots are divided into high, medium and low levels and sorted in ascending order within the levels, thereby obtaining a set of track-type inspection robots and wheel-type inspection robots after the division and sorting; Determine whether the distance between the target position set when the divided and sorted rail-type inspection robot and the wheeled inspection robot complete the task and the target moving position does not exceed a first distance threshold; If the distance does not exceed the first distance threshold, and the estimated task completion time of the track-type inspection robot and the wheeled inspection robot does not exceed the first time threshold, then they are determined as the inspection robot group to be scheduled; According to the division result of the inspection robot group to be scheduled, a track-type inspection robot or a wheeled inspection robot with a low level and a high ranking is determined as the inspection robot closest to the target moving position; The mobile module is configured to: send the target moving position to the nearest track-type inspection robot or wheel-type inspection robot, so that the track-type inspection robot or wheel-type inspection robot moves to the target moving position and takes pictures and records the staff.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a distribution network inspection robot method as described in any one of claims 1 to 5 are implemented.

8. A processing device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps in the distribution network inspection robot method according to any one of claims 1-5 are implemented.

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