A patrol robot control method

Abstract

The present invention belongs to the technical field of inspection robots and relates to a control method for inspection robots. First, based on the constraint conditions of the corresponding limited arrival time points for each timing point, the present invention creates respective reference inspection paths for the target inspection robot. Secondly, from two dimensions of the road condition evaluation coefficient and the road efficiency evaluation coefficient, the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot is comprehensively analyzed, and based on this, the optimal inspection path of the target inspection robot is selected. Then, when the target inspection robot is traveling on the optimal inspection path, it is determined whether there is a speed regulation requirement at each monitoring time point and the corresponding increased speed value is analyzed, and speed regulation processing is performed on the target inspection robot to ensure that the target inspection robot arrives at each timing point on time, realizing the refinement of the travel management of the inspection robot, thereby effectively improving the control force and adjustment ability of the inspection process.

Description

Technical Field

[0001] The invention belongs to the technical field of inspection robots and relates to a control method of an inspection robot. Background Art

[0002] With the rapid development of science and technology and the continuous improvement of intelligence, inspection robots are gradually replacing traditional manual inspection methods in many fields, such as industrial manufacturing, energy management, transportation, and park safety. They are equipped with various sensors, cameras, radars and other equipment to achieve high-precision perception of the environment and data collection, greatly improving inspection efficiency and accuracy. However, in order for inspection robots to truly play their advantages, an efficient and stable control method is crucial.

[0003] The existing inspection robot control methods still have the following defects, which are specifically manifested as follows: 1. The existing methods mainly focus on the path length standard for selecting inspection paths corresponding to each inspection point, that is, selecting the inspection path with the shortest path length, but no detailed understanding of the road conditions and road efficiency of the inspection path is conducted. Although selecting the shortest path can ensure that a specific inspection point is reached within the specified time to a certain extent, this is not absolutely feasible. The single dimension of inspection path selection may affect the overall performance of the inspection robot, the safety and efficiency of task execution.

[0004] 2. The existing methods lack the ability to control and manage the speed of the inspection robot during its actual movement, resulting in the inspection robot being delayed due to various factors during its actual movement and unable to fully guarantee that the specific inspection point will arrive within the specified time, which in turn affects the smooth and efficient completion of the inspection task. Summary of the invention

[0005] In view of this, in order to solve the problems raised in the above background technology, a control method of an inspection robot is now proposed.

[0006] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides a patrol robot control method, including: S1. Patrol point input: input each patrol point within the park monitoring time period to the target patrol robot, and divide each patrol point into scheduled points and non-scheduled points according to whether there is a corresponding limited arrival time point.

[0007] S2. Obtaining reference inspection paths: Based on the non-scheduled points and scheduled points within the park monitoring period, obtain the reference inspection paths of the target inspection robot on the park patrol area map stored in the WEB cloud.

[0008] S3. Reference inspection path evaluation: obtain the basic information of the target inspection robot and the road information of each reference inspection path, analyze the road condition evaluation coefficient and road efficiency evaluation coefficient of each reference inspection path of the target inspection robot, and then calculate the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot.

[0009] S4. Optimal inspection path screening: Screen the reference inspection path corresponding to the maximum value of the comprehensive travel evaluation coefficient as the optimal inspection path of the target inspection robot and provide feedback.

[0010] S5. Speed ​​control of inspection robot: record the time points corresponding to the set time lengths before the specified arrival time points as the monitoring time points. When the target inspection robot is traveling on the optimal inspection path, determine whether there is a need for speed control at each monitoring time point. Analyze the increased speed values ​​of the target inspection robot at each monitoring time point where there is a need for speed control, and then perform speed control on the target inspection robot.

[0011] Preferably, the obtaining of each reference inspection path of the target inspection robot includes: generating a basic subsequence of inspection points for each timed point according to the chronological order of its corresponding limited arrival time point, randomly inserting each non-timed point into the basic subsequence of inspection points to generate each reference inspection point sequence of the target inspection robot, searching for the shortest path between each adjacent point in each reference inspection point sequence of the target inspection robot in the park patrol area map, connecting and generating corresponding inspection paths for each reference inspection point sequence of the target inspection robot, which are recorded as each reference inspection path of the target inspection robot.

[0012] Preferably, the basic information includes type, model, service life and historical average obstacle avoidance operation record duration.

[0013] The road information includes the width, length, overall curvature value of each branch road, the traffic flow of each historical day corresponding to the monitoring time period, and the maximum turning angle and minimum turning angle of the turning intersection.

[0014] Preferably, the analyzing the road condition evaluation coefficient of each reference inspection path of the target inspection robot includes: obtaining the minimum turning radius r of the target inspection robot from the WEB cloud according to the type and model in the basic information of the target inspection robot min and the distance d between the front and rear axles, combined with the width l of each branch road in the road information of each reference inspection path of the target inspection robot ij , the maximum turning angle θ′ of the turning mouth ij and minimum turning angle θ″ ij, where i is the number of each reference inspection path of the target inspection robot, i = 1, 2,..., a, j is the number of each branch, j = 1, 2,..., b, and calculate the driving operation safety degree q of each branch of each reference inspection path of the target inspection robot. ij , where e is the natural constant.

[0015] According to the overall curvature value s of each branch in the road information of each reference inspection path of the target inspection robot. ij and the traffic flow m corresponding to each monitoring time period in each historical day. ijz , z is the number of each historical day, z = 1, 2,..., p, and calculate the driving operation complexity f of each branch of each reference inspection path of the target inspection robot. ij , where p is the number of historical days.

[0016] Combined with the length c of each branch in the road information of each reference inspection path of the target inspection robot. ij , analyze the road condition evaluation coefficient β of each reference inspection path of the target inspection robot. i , and its calculation formula is: where b is the number of branches.

[0017] Preferably, the analysis of the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot includes: dividing the reference inspection path into each timing section according to the position of each positioning point in the reference inspection path, and then obtaining the number n of inspection points of each timing section and the length c' of each reference inspection path of the target inspection robot. iw and length c'. iw , w is the number of each timing section, w = 1, 2,..., h, and according to the corresponding limited arrival time point of each positioning point and the start time point of the monitoring time period, obtain the maximum limited driving duration of each timing section of each reference inspection path of the target inspection robot.

[0018] According to the type and model in the basic information of the target inspection robot, obtain the designed service life T and the maximum safe driving speed v of the target inspection robot from the WEB cloud. max , combined with the service life T in the basic information of the target inspection robot. 使 and the historical average obstacle avoidance operation record duration Δt. 障 , calculate the reference driving duration t' of each timing section of each reference inspection path of the target inspection robot. iw , where Δt. 训 is the reference inspection duration of a single inspection point of the inspection robot stored in the WEB cloud.

[0019] Compare the reference travel duration of each timed section of each reference patrol path of the target patrol robot with the maximum defined travel duration. If the reference travel duration of a certain timed section is less than or equal to its corresponding maximum defined travel duration, set the travel efficiency factor of this timed section to 1; otherwise, set it to 0. Obtain the travel efficiency factor δ of each timed section of each reference patrol path of the target patrol robot iw , δ iw = 1 or 0.

[0020] Analyze the road efficiency evaluation coefficient of each reference patrol path of the target patrol robot Its calculation formula is:

[0021] Preferably, the calculation formula for the comprehensive travel evaluation coefficient of each reference patrol path of the target patrol robot is:

[0022] Preferably, determining whether the target patrol robot has a speed regulation requirement at each monitoring time point includes: corresponding each monitoring time point to each timed position point one by one, comparing the travel position of the target patrol robot at each monitoring time point with the position of its corresponding timed position point. If the travel position of the target patrol robot at a certain monitoring time point is after the position of the corresponding timed position point at this monitoring time point, it is determined that the target patrol robot does not have a speed regulation requirement at this monitoring time point. If the travel position of the target patrol robot at a certain monitoring time point is before the position of the corresponding timed position point at this monitoring time point, record the section between the travel position of the target patrol robot at this monitoring time point and its corresponding timed position point as the inspection section at this monitoring time point, and obtain the length c of the inspection section at this monitoring time point 考 , use the speed sensor installed on the target patrol robot to obtain the travel speed v of the target patrol robot at this monitoring time point, and then from the formula obtain the basic travel duration for the target patrol robot to travel to the corresponding timed position point at this monitoring time point.

[0023] Obtain the number of inspection points of the inspection section at this monitoring time point, and use the product of it and the reference patrol duration of a single inspection point of the patrol robot as the basic patrol duration for the target patrol robot to travel to the corresponding timed position point at this monitoring time point

[0024] Take the midpoint of the road section under inspection as the pre - determined driving point of the target inspection robot, obtain the corresponding pre - determined driving route of the target inspection robot for the road section under inspection at this monitoring time point, use the park's all - around monitoring equipment to track the running status and occupied area coverage of various roadblocks on the road section under inspection at this monitoring time point, screen out each obstacle - avoiding roadblock on the road section under inspection of the target inspection robot at this monitoring time point and count the number of obstacle - avoiding roadblocks, and take the product of the number of obstacle - avoiding roadblocks and the historical average obstacle - avoiding operation record duration of the target inspection robot as the basic obstacle - avoiding duration for the target inspection robot to drive to the corresponding timing point at this monitoring time point

[0025] Furthermore, from the formula obtain the effective duration for the target inspection robot to drive to the corresponding timing point at this monitoring time point, and compare it with the set duration t0. If then it is determined that the target inspection robot has a speed regulation requirement at this monitoring time point; otherwise, it is determined that the target inspection robot has no speed regulation requirement at this monitoring time point. Furthermore, obtain the judgment results on whether the target inspection robot has a speed regulation requirement at each monitoring time point

[0026] Preferably, the above - mentioned screening of each obstacle - avoiding roadblock on the road section under inspection of the target inspection robot at this monitoring time point includes: screening out each roadblock whose occupied area coverage is on the corresponding pre - determined driving route of the road section under inspection of the target inspection robot at this monitoring time point, and recording them as each potential roadblock. If a certain potential roadblock meets any one of the conditions that the running status is a static state, the running status is a moving state and the moving direction is opposite to that of the target inspection robot, it means that this potential roadblock is an obstacle - avoiding roadblock; otherwise, it means that this potential roadblock is a non - obstacle - avoiding roadblock. Furthermore, screen out each obstacle - avoiding roadblock on the road section under inspection of the target inspection robot at this monitoring time point

[0027] Preferably, the analysis of the increased speed value of the target inspection robot at each monitoring time point with a speed regulation requirement includes: extracting the driving speed v of the target inspection robot at each monitoring time point with a speed regulation requirement τ and the length c of the corresponding road section under inspection τ考 , τ is the number of each monitoring time point with a speed regulation requirement

[0028] Extract the effective duration for the target inspection robot to drive to the corresponding timing point at each monitoring time point with a speed regulation requirement

[0029] From the formula obtain the increased speed value Δv of the target inspection robot at each monitoring time point with a speed regulation requirement τ上 .

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By setting constraint conditions for the arrival time points corresponding to each timing point, the present invention generates a sequence of reference inspection points for the target inspection robot and searches for the shortest path between adjacent points in the sequence, obtaining the reference inspection paths for the target inspection robot, providing a basis for the selection of the optimal inspection path during the monitoring period of the target inspection robot.

[0031] (2) By combining the driving operation safety, driving operation complexity, and length of each branch of the reference inspection paths of the target inspection robot, the present invention comprehensively analyzes the road condition evaluation coefficient of each reference inspection path of the target inspection robot, helping to understand in detail the driving road conditions of each reference inspection path of the target inspection robot. This can not only reduce potential safety hazards during the inspection drive but also reduce the complexity of the inspection drive operation, thereby improving the overall inspection efficiency and providing a basis for the target inspection robot to select the optimal inspection path.

[0032] (3) By comparing the reference driving duration and the maximum limited driving duration of each timing section of the reference inspection paths of the target inspection robot, the present invention analyzes the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot, effectively understanding whether the target inspection robot can reach each timing point on time, providing a quantitative basis for the path planning of the target inspection robot, and thus improving the reliability and stability of the entire inspection process.

[0033] (4) When the target inspection robot is driving on the optimal inspection path, the present invention determines whether there is a speed regulation requirement at each monitoring time point of the target inspection robot and analyzes the upward speed value at each monitoring time point where there is a speed regulation requirement, and then performs speed regulation processing on the target inspection robot, more accurately ensuring that the target inspection robot can reach each timing point on time during the actual travel process, thereby making the travel management of the inspection robot more refined and helping to improve the control and adjustment capabilities of the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0035] Figure 1 It is a flowchart of the method implementation steps of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1 As shown, the present invention provides a patrol robot control method, including: S1. patrol point input: input each patrol point within the park monitoring time period to the target patrol robot, and divide each patrol point into scheduled points and non-scheduled points according to whether there is a corresponding limited arrival time point.

[0038] S2. Obtaining reference inspection paths: Based on the non-scheduled points and scheduled points within the park monitoring period, obtain the reference inspection paths of the target inspection robot on the park patrol area map stored in the WEB cloud.

[0039] Specifically, the obtaining of each reference inspection path of the target inspection robot includes: generating a basic subsequence of inspection points for each timed point according to the chronological order of its corresponding limited arrival time point, randomly inserting each non-timed point into the basic subsequence of inspection points to generate each reference inspection point sequence of the target inspection robot, searching for the shortest path between each adjacent point in each reference inspection point sequence of the target inspection robot in the park patrol area map, connecting and generating corresponding inspection paths for each reference inspection point sequence of the target inspection robot, which are recorded as each reference inspection path of the target inspection robot.

[0040] The embodiment of the present invention generates a sequence of reference inspection points for the target inspection robot and searches for the shortest path between adjacent points in the sequence under the constraint that each timing point corresponds to a limited arrival time point, thereby obtaining reference inspection paths for the target inspection robot, and providing a basis for selecting the optimal inspection path within the monitoring time period of the target inspection robot.

[0041] S3. Reference inspection path evaluation: obtain the basic information of the target inspection robot and the road information of each reference inspection path, analyze the road condition evaluation coefficient and road efficiency evaluation coefficient of each reference inspection path of the target inspection robot, and then calculate the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot.

[0042] Specifically, the basic information includes type, model, service life and historical average obstacle avoidance operation record duration.

[0043] The road information includes the width, length, overall curvature value of each branch road, the traffic flow of each historical day corresponding to the monitoring time period, and the maximum turning angle and minimum turning angle of the turning intersection.

[0044] It should be noted that the basic information of the above-mentioned target inspection robot is extracted from the management log of the target inspection robot.

[0045] It should also be noted that the road information of each reference inspection path of the above-mentioned target inspection robot is obtained by on-site measurement by relevant personnel constructing the park patrol area map. A branch road refers to the section between adjacent points within the reference inspection path. Specifically, the width, length, and overall curvature value of the branch road can be monitored by a total station instrument, the traffic flow corresponding to each monitoring time period for each day in the history of the branch road can be monitored by a traffic counter, and the maximum turning angle and minimum turning angle of the branch road turning intersection can be monitored by an angle measuring instrument.

[0046] Specifically, the evaluation coefficient of the road conditions of each reference inspection path of the analysis target inspection robot includes: obtaining the minimum turning radius r of the target inspection robot from the WEB cloud according to the type and model in the basic information of the target inspection robot min and the wheelbase d between the front and rear axles, and combining the width l of each branch road in the road information of each reference inspection path of the target inspection robot ij 、the maximum turning angle θ′ of the turning intersection ij and the minimum turning angle θ″ ij , where i is the number of each reference inspection path of the target inspection robot, i = 1, 2,..., a, and j is the number of each branch road, j = 1, 2,..., b, calculate the driving operation safety degree q of each branch road of each reference inspection path of the target inspection robot ij , where e is the natural constant.

[0047] According to the overall curvature value s of each branch road in the road information of each reference inspection path of the target inspection robot ij and the traffic flow m corresponding to each monitoring time period for each day in the history ijz , where z is the number of each day in the history, z = 1, 2,..., p, calculate the driving operation complexity f of each branch road of each reference inspection path of the target inspection robot ij , where p is the number of historical days.

[0048] Combining the length c of each branch road in the road information of each reference inspection path of the target inspection robot ij , analyze the road condition evaluation coefficient β of each reference inspection path of the target inspection robot i , and its calculation formula is: where b is the number of branch roads.

[0049] The embodiment of the present invention combines the three dimensions of driving operation safety, driving operation complexity and length of each branch of each reference inspection path of the target inspection robot, and comprehensively analyzes the road condition evaluation coefficient of each reference inspection path of the target inspection robot, so as to help understand the driving road conditions of each reference inspection path of the target inspection robot in detail, which can not only reduce the safety hazards in the inspection driving process, but also reduce the complexity of the inspection driving operation, thereby improving the overall inspection efficiency, and providing a basis for the target inspection robot to select the optimal inspection path.

[0050] Specifically, the analysis of the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot includes: dividing the reference inspection path into each timed section according to the position of each positioning point on the reference inspection path, and then obtaining each timed section of each reference inspection path of the target inspection robot and the number of inspection points n thereof iw and length c′ iw , w is the number of each timed section, w = 1, 2, ..., h, according to the corresponding limited arrival time point of each positioning point and the starting time point of the monitoring time period, the maximum limited driving time of each timed section of each reference inspection path of the target inspection robot is obtained.

[0051] It should be noted that the number and length of inspection points of each timed section of each reference inspection path of the target inspection robot can be obtained by referring to the park inspection area map.

[0052] It should be noted that the maximum limited driving time of each timed section of each reference inspection path of the above-mentioned target inspection robot is obtained by the absolute difference between the limited arrival time points of each timed section of each reference inspection path of the target inspection robot and its previous timed section. It should be noted in particular that the maximum limited driving time of the first timed section is obtained by the absolute difference between its corresponding limited arrival time point and the starting time point of the monitoring time period.

[0053] According to the type and model of the target inspection robot in the basic information, obtain the design service life T and maximum safe driving speed v of the target inspection robot from the WEB cloud max , combined with the basic information of the target inspection robot and the service life T 使 and the historical average obstacle avoidance operation record duration Δt 障 , calculate the reference driving time t′ of each timed section of each reference inspection path of the target inspection robot iw , Where Δt 训 It is the reference inspection duration of a single inspection point of the inspection robot stored in the WEB cloud.

[0054] It should be noted that the minimum turning radius, the wheel spacing between the front and rear axles, the designed service life, and the maximum safe driving speed of the above-mentioned target inspection robot are all specified in detail in the technical specification by the inspection robot manufacturer stored in the WEB cloud according to the type and model of the target inspection robot, and thus can be directly obtained from the WEB cloud.

[0055] Compare the reference driving duration of each timed section of each reference inspection path of the target inspection robot with the maximum defined driving duration. If the reference driving duration of a certain timed section is less than or equal to its corresponding maximum defined driving duration, set the driving efficiency factor of this timed section to 1; otherwise, set it to 0, and obtain the driving efficiency factor δ of each timed section of each reference inspection path of the target inspection robot. iw , δ iw = 1 or 0.

[0056] Analyze the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot. Its calculation formula is:

[0057] In the embodiment of the present invention, by comparing the reference driving duration of each timed section of each reference inspection path of the target inspection robot with the maximum defined driving duration, and analyzing the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot, it can effectively understand whether the target inspection robot can reach each timed point on time, provide a quantitative basis for the path planning of the target inspection robot, and thus improve the reliability and stability of the entire inspection process.

[0058] S4. Optimal inspection path screening: Screen the reference inspection path corresponding to the maximum value of the comprehensive travel evaluation coefficient as the optimal inspection path of the target inspection robot and give feedback.

[0059] Specifically, the calculation formula of the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot is:

[0060] S5. Inspection robot speed regulation: Denote the time point of the set duration before the corresponding defined arrival time point of each timed point as each monitoring time point. When the target inspection robot is traveling on the optimal inspection path, judge whether there is a speed regulation requirement for the target inspection robot at each monitoring time point, and analyze the upward speed value of the target inspection robot at each monitoring time point with a speed regulation requirement, and then perform speed regulation processing on the target inspection robot.

[0061] Specifically, the method of judging whether there is a need for speed control of the target inspection robot at each monitoring time point includes: making a one-to-one correspondence between each monitoring time point and each timing point, comparing the driving position of the target inspection robot at each monitoring time point with the position of its corresponding timing point, and if the driving position of the target inspection robot at a certain monitoring time point is after the position of the timing point corresponding to the monitoring time point, judging that there is no need for speed control of the target inspection robot at the monitoring time point; if the driving position of the target inspection robot at a certain monitoring time point is before the position of the timing point corresponding to the monitoring time point, recording the section between the driving position of the target inspection robot at the monitoring time point and its corresponding timing point as the inspection section at the monitoring time point, and obtaining the length c of the inspection section at the monitoring time point. 考 , the speed sensor deployed by the target inspection robot is used to obtain the driving speed v of the target inspection robot at the monitoring time point, and then the formula The basic driving time of the target inspection robot to the timing point corresponding to the monitoring time point is obtained.

[0062] Obtain the number of inspection points on the inspection section at the monitoring time point, and multiply it by the reference inspection time of a single inspection point of the inspection robot as the basic inspection time for the target inspection robot to travel to the corresponding timing point at the monitoring time point.

[0063] The midpoint of the inspection section is used as the scheduled driving point of the target inspection robot, and the scheduled driving route corresponding to the inspection section of the target inspection robot at the monitoring time point is obtained. The operation status and coverage of each roadblock on the inspection section at the monitoring time point are tracked by using the park's all-round monitoring equipment. The obstacle avoidance roadblocks on the inspection section of the target inspection robot at the monitoring time point are screened out and the number of obstacle avoidance roadblocks is counted. The product of the number of obstacle avoidance roadblocks and the historical average obstacle avoidance operation record time of the target inspection robot is used as the basic obstacle avoidance time for the target inspection robot to travel to the timing point corresponding to the monitoring time point.

[0064] Then by the formula Get the effective time of the target inspection robot driving to the corresponding timing point at the monitoring time point, and compare it with the set time t0. It is judged that the target inspection robot has a speed control demand at the monitoring time point, otherwise it is judged that the target inspection robot does not have a speed control demand at the monitoring time point, and then the judgment result of whether the target inspection robot has a speed control demand at each monitoring time point is obtained.

[0065] Specifically, the above-mentioned obstacles to be avoided on the inspection section of the target inspection robot at this monitoring time point include: screening out each obstacle on the inspection section corresponding to the pre-booked driving route of the target inspection robot at this monitoring time point, which are recorded as potential obstacles. If a potential obstacle meets any of the conditions that the operating state is a stationary state, the operating state is a moving state and the moving direction is opposite to that of the target inspection robot, it means that the potential obstacle is an obstacle to be avoided; otherwise, it means that the potential obstacle is not an obstacle to be avoided. Furthermore, each obstacle to be avoided on the inspection section of the target inspection robot at this monitoring time point is screened out.

[0066] Specifically, the analysis of the increased speed values of the target inspection robot at each monitoring time point with a speed regulation requirement includes: extracting the driving speed v of the target inspection robot at each monitoring time point with a speed regulation requirement τ and the length c of the corresponding inspection section τ考 , where τ is the number of each monitoring time point with a speed regulation requirement

[0067] extracting the effective duration when the target inspection robot travels to the corresponding timing point at each monitoring time point with a speed regulation requirement

[0068] From the formula the increased speed value Δv of the target inspection robot at each monitoring time point with a speed regulation requirement is obtained τ上 .

[0069] In the embodiment of the present invention, when the target inspection robot travels on the optimal inspection path, it is judged whether there is a speed regulation requirement for the target inspection robot at each monitoring time point, and the increased speed value of the target inspection robot at each monitoring time point with a speed regulation requirement is analyzed. Furthermore, speed regulation processing is performed on the target inspection robot, which more precisely ensures that the target inspection robot can arrive at the position of each timing point on time during the actual travel process, thereby making the travel management of the inspection robot more refined and helping to improve the control and adjustment capabilities of the inspection process.

[0070] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A control method for an inspection robot, characterized in that: The method includes: S1. Inspection point input: input the inspection points within the park monitoring period to the target inspection robot, and divide the inspection points into scheduled points and non-scheduled points according to whether there are corresponding limited arrival time points; S2. Obtaining the reference inspection path: According to the non-scheduled points and scheduled points during the park monitoring period, obtain the reference inspection paths of the target inspection robot on the park inspection area map stored in the WEB cloud; S3. Reference inspection path evaluation: obtain the basic information of the target inspection robot and the road information of each reference inspection path, analyze the road condition evaluation coefficient and road efficiency evaluation coefficient of each reference inspection path of the target inspection robot, and then calculate the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot; S4. Optimal inspection path screening: screening the reference inspection path corresponding to the maximum value of the comprehensive travel evaluation coefficient as the optimal inspection path of the target inspection robot and providing feedback; S5. Speed ​​control of inspection robot: record the time points corresponding to the set time before the limited arrival time points as the monitoring time points. When the target inspection robot is driving on the optimal inspection path, determine whether the target inspection robot has a speed control demand at each monitoring time point, and analyze the speed increase value of the target inspection robot at each monitoring time point where there is a speed control demand, and then perform speed control on the target inspection robot; The analysis of the road condition evaluation coefficients of each reference inspection path of the target inspection robot includes: obtaining the minimum turning radius of the target inspection robot from the WEB cloud according to the type and model in the basic information of the target inspection robot and front and rear axle wheel spacing , combined with the width of each branch road in the road information of each reference inspection path of the target inspection robot , Maximum turning angle at the turning point and minimum turning angle ,in is the number of each reference inspection path of the target inspection robot, , is the number of each branch, , calculate the driving operation safety of each branch of the reference inspection path of the target inspection robot , ,in is a natural constant; According to the overall curvature value of each branch in the road information of each reference inspection path of the target inspection robot And the traffic flow of each day in the corresponding monitoring period , The numbers of the historical days. , calculate the driving operation complexity of each branch of each reference inspection path of the target inspection robot , ,in is the number of historical days; Combined with the length of each branch road in the road information of each reference inspection path of the target inspection robot , analyze the road condition evaluation coefficients of each reference inspection path of the target inspection robot , and its calculation formula is: ,in is the number of branches; The analysis of the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot includes: dividing the reference inspection path into each timed section according to the position of each positioning point on the reference inspection path, and then obtaining each timed section and the number of inspection points of each reference inspection path of the target inspection robot. and length , is the number of each timed section, , according to the limited arrival time points corresponding to each positioning point and the starting time point of the monitoring time period, the maximum limited driving time of each timed section of each reference inspection path of the target inspection robot is obtained; According to the type and model of the target inspection robot's basic information, obtain the design service life of the target inspection robot from the WEB cloud and maximum safe driving speed , combined with the basic information of the target inspection robot and its service life And the historical average obstacle avoidance operation record time , calculate the reference driving time of each timed section of each reference inspection path of the target inspection robot , ,in It is the reference inspection time of a single inspection point of the inspection robot stored in the WEB cloud; Compare the reference driving time of each timed section of each reference inspection path of the target inspection robot with the maximum limited driving time. If the reference driving time of a timed section is less than or equal to its corresponding maximum limited driving time, set the driving efficiency factor of the timed section to 1, otherwise it is set to 0. Obtain the driving efficiency factor of each timed section of each reference inspection path of the target inspection robot. , ; Analyze the road efficiency evaluation coefficient of each reference inspection path of the target inspection robot , and its calculation formula is: .

2. A patrol robot control method according to claim 1, characterized in that: The method of obtaining each reference inspection path of the target inspection robot includes: generating a basic subsequence of inspection points for each scheduled point according to the order of their corresponding limited arrival time points, randomly inserting each non-scheduled point into the basic subsequence of inspection points to generate each reference inspection point sequence of the target inspection robot, searching for the shortest path between each adjacent point in each reference inspection point sequence of the target inspection robot in the park patrol area map, connecting and generating corresponding inspection paths of each reference inspection point sequence of the target inspection robot, which are recorded as each reference inspection path of the target inspection robot.

3. A patrol robot control method according to claim 1, characterized in that: The basic information includes type, model, service life and historical average obstacle avoidance operation record duration; The road information includes the width, length, overall curvature value of each branch road, the traffic flow of each historical day corresponding to the monitoring time period, and the maximum turning angle and minimum turning angle of the turning intersection.

4. The inspection robot control method according to claim 1, characterized in that: The calculation formula of the comprehensive travel evaluation coefficient of each reference inspection path of the target inspection robot is: .

5. The inspection robot control method according to claim 1, characterized in that: The method of judging whether there is a need for speed control of the target inspection robot at each monitoring time point includes: making a one-to-one correspondence between each monitoring time point and each timing point, comparing the driving position of the target inspection robot at each monitoring time point with its corresponding timing point position, and if the driving position of the target inspection robot at a certain monitoring time point is after the timing point position corresponding to the monitoring time point, then judging that there is no need for speed control of the target inspection robot at the monitoring time point, and if the driving position of the target inspection robot at a certain monitoring time point is before the timing point position corresponding to the monitoring time point, then recording the section between the driving position of the target inspection robot at the monitoring time point and its corresponding timing point as the inspection section at the monitoring time point, and obtaining the length of the inspection section at the monitoring time point. , use the speed sensor deployed by the target inspection robot to obtain the driving speed of the target inspection robot at the monitoring time point , and then by the formula Obtain the basic driving time of the target inspection robot to the timing point corresponding to the monitoring time point; Obtain the number of inspection points on the inspection section at the monitoring time point, and multiply it by the reference inspection time of a single inspection point of the inspection robot as the basic inspection time of the target inspection robot driving to the corresponding timing point at the monitoring time point. ; The midpoint of the inspection section is used as the scheduled driving point of the target inspection robot, and the scheduled driving route corresponding to the inspection section of the target inspection robot at the monitoring time point is obtained. The operation status and coverage of each roadblock on the inspection section of the monitoring time point are tracked by using the park's all-round monitoring equipment. The obstacle avoidance roadblocks on the inspection section of the target inspection robot at the monitoring time point are screened out and the number of obstacle avoidance roadblocks is counted. The product of the number of obstacle avoidance roadblocks and the historical average obstacle avoidance operation record time of the target inspection robot is used as the basic obstacle avoidance time for the target inspection robot to travel to the timing point corresponding to the monitoring time point. ; Then by the formula Get the effective time of the target inspection robot driving to the timing point corresponding to the monitoring time point and the set time For comparison, if , it is judged that the target inspection robot has a speed control demand at the monitoring time point, otherwise it is judged that the target inspection robot does not have a speed control demand at the monitoring time point, and then the judgment result of whether the target inspection robot has a speed control demand at each monitoring time point is obtained.

6. A patrol robot control method according to claim 5, characterized in that: The above-mentioned screening out of the obstacle avoidance roadblocks on the inspection section of the target inspection robot at that monitoring time point includes: screening out the roadblocks whose coverage area is on the scheduled driving route corresponding to the inspection section of the target inspection robot at that monitoring time point, recorded as potential roadblocks, if a potential roadblock meets any one of the conditions of being in a stationary state, being in a moving state and having a moving direction relative to the target inspection robot, then it indicates that the potential roadblock is an obstacle avoidance roadblock, otherwise it indicates that the potential roadblock is a non-obstacle avoidance roadblock, thereby screening out the obstacle avoidance roadblocks on the inspection section of the target inspection robot at that monitoring time point.

7. The inspection robot control method according to claim 5, characterized in that: The analysis of the increased speed value of the target inspection robot at each monitoring time point where speed control needs to be applied comprises: extracting the driving speed of the target inspection robot at each monitoring time point where speed control needs to be applied And the length of the corresponding inspection section , is the number of each monitoring time point where speed control is required, ; Extract the effective time of the target inspection robot driving to each monitoring time point corresponding to the timing point where speed control is required ; By formula Get the speed increase value of the target inspection robot at each monitoring time point where speed control is required .

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