Autonomous cruising method and system for maintenance vehicle based on multi-objective path planning optimization

Abstract

The present invention discloses an autonomous cruising method and system for a maintenance vehicle based on multi-objective path planning and optimization, and relates to the field of intelligent vehicle technology, including obtaining inspection information, planning a cruising path for the maintenance vehicle according to the inspection information, obtaining cruise planning path information, cruising the maintenance vehicle based on the cruise planning path information, and judging whether the cruise planning path needs to be adjusted according to the position information of the maintenance vehicle. The present invention realizes the classification of inspection targets through target inspection indexes, improves the efficiency of cruise path planning, verifies the inspection data of the maintenance vehicle through the starting path, ensures the accuracy and reliability of the inspection data, effectively selects the optimal path through the cruise priority index, improves the cruising efficiency, adjusts the path in real time through the steering coefficient and path deviation coefficient of the maintenance vehicle, enhances the safety and reliability of operation, and realizes flexible scheduling of the cruise path.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent trolleys, and in particular to an autonomous cruising method and system for a maintenance trolley based on multi-objective path planning and optimization. Background Art

[0002] At present, there are still problems with the autonomous cruising of maintenance vehicles, such as the inability to classify inspection targets according to their different characteristics, the inability to accurately plan the cruising path according to the inspection targets, which makes the inspection data lack stability and the inability to make effective path adjustments when the maintenance vehicle encounters obstacles. Summary of the invention

[0003] In order to solve the above technical problems, a method and system for autonomous cruising of a maintenance vehicle based on multi-objective path planning and optimization are provided. This technical solution solves the problems raised in the above background technology, namely, the inability to classify inspection targets according to the different characteristics of multiple inspection targets, the inability to accurately plan the cruising path according to the inspection targets, resulting in the lack of stability of the inspection data and the inability to make effective path adjustments when the maintenance vehicle encounters obstacles.

[0004] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0005] The autonomous cruising method of the maintenance vehicle based on multi-objective path planning optimization includes:

[0006] Obtaining inspection information, wherein the inspection information includes inspection target information and inspection area information;

[0007] According to the inspection information, the cruise path of the maintenance vehicle is planned to obtain the cruise planning path information, wherein the cruise planning path information includes the cruise starting point information and the cruise planning path information between several sections of different inspection targets;

[0008] Based on the cruise planning path information, the maintenance vehicle cruises. Whenever the maintenance vehicle cruises to the inspection target, the next inspection target of the inspection target in the cruise planning path is used as the current cruise target.

[0009] If the maintenance vehicle detects an obstacle, it will avoid the obstacle until it detects that there is no obstacle between the maintenance vehicle and the current cruising target, and obtain the location information of the maintenance vehicle;

[0010] According to the position information of the maintenance trolley, determine whether the cruise planning path needs to be adjusted. If not, adjust the cruise trajectory of the maintenance trolley position and the current cruise target, and the cruise trajectory path after the current cruise target remains unchanged. If so, adjust the cruise planning path.

[0011] Preferably, the planning of the cruise path of the maintenance vehicle according to the inspection information and obtaining the cruise planning path information specifically includes:

[0012] According to the inspection information, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained;

[0013] According to the inspection area model information, one of the secondary inspection targets is used as the starting point, and the nearest secondary inspection target is used as the next connection point, until the number of secondary inspection targets reaches five, and the starting path design scheme information is obtained, wherein the starting path design scheme includes the starting path design scheme with each secondary inspection target as the starting point;

[0014] Screening the starting path design scheme to obtain the starting path planning information, wherein the fifth secondary inspection target of the starting path is the secondary cruise starting point;

[0015] Taking the secondary cruise starting point as the reference, the inspection target characteristic coefficient is calculated according to the coordinate information of the primary inspection target;

[0016] The distance between the first-level inspection target with the smallest inspection target characteristic coefficient and the secondary cruise starting point is used as the first preset distance, and the distance between the first-level inspection target with the largest inspection target characteristic coefficient and the secondary cruise starting point is used as the second preset distance;

[0017] The range area whose distance from the secondary cruise starting point is less than the first preset distance is used as the first inspection range area, the range area whose distance from the secondary cruise starting point is greater than the first preset distance and less than the second preset distance is used as the second inspection range area, and the range area whose distance from the secondary cruise starting point is greater than the first preset distance is used as the third inspection range area;

[0018] Plan the cruise path of each inspection range area, and connect the cruise planning paths of the three inspection range areas in the order from the first inspection range area to the second inspection range area and then to the third inspection range area to obtain the cruise planning path information;

[0019] Among them, the calculation formula of the inspection target characteristic coefficient is:

[0020]

[0021] In the formula, is the inspection target characteristic coefficient of the yth first-level inspection target is the target inspection index of the yth first-level inspection target, is the distance between the yth primary inspection target and the starting point of the secondary cruise.

[0022] Preferably, the inspection targets are divided into primary inspection targets and secondary inspection targets according to the inspection information, and the inspection target classification information is obtained, specifically including:

[0023] Based on the inspection target work content analysis, the inspection targets are divided into primary targets and secondary targets, and different weights are set;

[0024] According to the inspection information, a regional plane model is established to obtain inspection regional model information, wherein the inspection regional model information includes inspection target coordinate information;

[0025] Based on the different weights of the primary and secondary targets and the inspection target coordinate information, the target inspection index is obtained;

[0026] Based on the target inspection index, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained;

[0027] Among them, if the target inspection index of the xth inspection target , then the inspection target is a first-level inspection target, , then the inspection target is a secondary inspection target, is the maximum value of the target inspection index;

[0028] The calculation formula of the target inspection index is:

[0029]

[0030] In the formula, is the target inspection index of the xth inspection target, is the weight of the xth inspection target, is the weight of the i-th inspection target, where if the inspection target is the main target, then , if the inspection target is a secondary target, then , is the distance between the xth inspection target and the ith inspection target, and n is the total number of inspection targets.

[0031] Preferably, the screening of the starting path design scheme to obtain the starting path planning information specifically includes:

[0032] Acquire inspection target historical data, wherein the inspection target historical data includes historical inspection data of each inspection target;

[0033] According to the normal data of the inspection target in the historical data of the inspection target, the inspection target state change rate is obtained, that is, the change range of the inspection target state per unit time;

[0034] Calculate the quality index of the starting path according to the starting path design scheme information and the inspection target state change rate;

[0035] The starting path design scheme with the largest starting path quality index is used as the starting path of the maintenance vehicle to obtain the starting path planning information;

[0036] The calculation formula of the initial path quality index is:

[0037] ;

[0038] In the formula, is the starting path quality index, is the inspection target state change rate of the jth secondary inspection target in the initial path design scheme, is the inspection target state change rate of the j+1th secondary inspection target in the initial path design scheme, It is the cruising path length between the jth secondary inspection target and the j+1th secondary inspection target in the initial path design scheme.

[0039] Preferably, the planning of the cruise path for each inspection range area specifically includes:

[0040] Obtaining maintenance trolley parameter information, wherein the maintenance trolley parameter information includes maintenance trolley turning radius information, maintenance trolley speed information, and maintenance trolley sensor parameter information;

[0041] According to the first inspection range area, the second inspection range area and the third inspection range area, obtaining inspection target information in each inspection range area;

[0042] Taking the inspection path feature point in each inspection range as the starting point of the cruise path, taking the inspection target with the largest cruise priority index as the next inspection target, and obtaining the cruise planning path for each inspection range;

[0043] Among them, the inspection path characteristic point of the first inspection range area is the secondary patrol starting point, the inspection path characteristic point of the second inspection range area is the first-level inspection target with the smallest inspection target characteristic coefficient, and the inspection path characteristic point of the third inspection range area is the first-level inspection target with the largest inspection target characteristic coefficient;

[0044] The calculation formula of the cruise priority index is:

[0045]

[0046] Where G is the cruise priority index, is the inspection index of the inspection target, H is the distance between the inspection target and the previous inspection target in the cruise planning path, is the angle between the cruise planning path of the inspection target and the cruise planning path of the previous inspection target in the cruise planning path, r is the minimum turning radius of the maintenance vehicle, It is the turning arc length when the maintenance trolley has the minimum turning radius.

[0047] Preferably, judging whether the cruise planning path needs to be adjusted according to the position information of the maintenance vehicle specifically includes:

[0048] Obtaining avoidance action path information, wherein the avoidance action path information is a driving path of the maintenance vehicle for performing avoidance action, and the avoidance action path information includes obstacle avoidance starting point information;

[0049] According to the position information of the maintenance trolley, the position of the maintenance trolley and the cruising trajectory of the current cruising target are planned to obtain obstacle avoidance correction path information;

[0050] According to the obstacle avoidance correction path information and the avoidance action path information, the steering coefficient of the maintenance vehicle is obtained:

[0051]

[0052] In the formula, To inspect the steering coefficient of the trolley, The angle between the obstacle avoidance correction path and the avoidance action path;

[0053] Among them, if , then the original cruising path of the maintenance vehicle before the evasive action is obtained according to the cruising planning path information;

[0054] Obtain the path deviation coefficient according to the avoidance action path and the original cruising path;

[0055] Based on the inspection requirements of the maintenance vehicle, the path deviation coefficient threshold is obtained;

[0056] If the path deviation coefficient does not exceed the path deviation coefficient threshold, the maintenance car cruises the current cruising target according to the obstacle avoidance correction path information;

[0057] like Or if the path deviation coefficient exceeds the path deviation coefficient threshold, the uninspected target information is obtained based on the cruise planning path information and the maintenance vehicle position information;

[0058] Based on the cruise priority index of the uninspected target information, the cruise path of the uninspected target is replanned to obtain the cruise path secondary planning information;

[0059] According to the secondary planning information of the cruise path, cruise the uninspected target information;

[0060] The calculation formula of the path deviation coefficient is:

[0061]

[0062] In the formula, is the path deviation coefficient, is the distance between the obstacle avoidance starting point and the position of the maintenance vehicle, It is the angle between the avoidance path and the original cruising path.

[0063] Furthermore, an autonomous cruising system for a maintenance vehicle based on multi-objective path planning and optimization is proposed to realize the autonomous cruising method as described above, including:

[0064] A main control module, wherein the main control module is used to divide the inspection targets into primary inspection targets and secondary inspection targets according to the target inspection index, obtain inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain starting path planning information, determine whether it is necessary to adjust the cruise planning path according to the position information of the maintenance trolley, plan the cruise path of the maintenance trolley according to the inspection information, obtain cruise planning path information, and cruise the maintenance trolley based on the cruise planning path information. According to the position information of the maintenance trolley, plan the cruise trajectory of the maintenance trolley position and the current cruise target, obtain obstacle avoidance correction path information, re-plan the cruise path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain cruise path secondary planning information;

[0065] An information acquisition module, the information acquisition module is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model based on the inspection information, acquire inspection area model information, acquire inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate based on the inspection target normal data in the inspection target historical data;

[0066] An evaluation module, wherein the evaluation module is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the initial path quality index according to the initial path design scheme information and the inspection target state change rate, calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference, obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and obtain the path deviation coefficient according to the avoidance action path and the original cruise path;

[0067] A display module interacts with the main control module and is used to display inspection targets, cruise planning path information, obstacle avoidance correction path information, avoidance action path information and cruise path secondary planning information.

[0068] Optionally, the main control module specifically includes:

[0069] A control unit, the control unit is used to plan a cruising path for the maintenance trolley according to the inspection information, obtain the cruise planning path information, cruise the maintenance trolley based on the cruise planning path information, plan the cruising trajectory of the maintenance trolley position and the current cruising target according to the maintenance trolley position information, obtain obstacle avoidance correction path information, re-plan the cruising path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain the cruise path secondary planning information;

[0070] An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit;

[0071] A judgment unit is used to divide the inspection target into a primary inspection target and a secondary inspection target according to the target inspection index, obtain the inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain the starting path planning information, and judge whether the cruise planning path needs to be adjusted according to the maintenance trolley position information.

[0072] Optionally, the information acquisition module specifically includes:

[0073] A first acquisition unit, the first acquisition unit is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model according to the inspection information, and acquire inspection area model information;

[0074] The second acquisition unit is used to acquire the inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate according to the inspection target normal data in the inspection target historical data.

[0075] Optionally, the evaluation module specifically includes:

[0076] A first evaluation unit, the first evaluation unit is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the starting path quality index according to the starting path design scheme information and the inspection target state change rate, and calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference;

[0077] The second evaluation unit is used to obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and to obtain the path deviation coefficient according to the avoidance action path and the original cruising path.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] The present invention proposes an autonomous cruising method and system for a maintenance vehicle based on multi-objective path planning and optimization. The inspection targets are classified through target inspection indexes, thereby improving the efficiency of cruise path planning. The inspection data of the maintenance vehicle is checked through a starting path to ensure the accuracy and reliability of the inspection data. The optimal path is effectively selected through a cruise priority index to improve the cruise efficiency. The path is adjusted in real time through a steering coefficient and a path deviation coefficient of the maintenance vehicle to enhance the safety and reliability of operation and achieve flexible scheduling of the cruise path. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 This is a flow chart of the autonomous cruising method of the maintenance vehicle based on multi-objective path planning and optimization proposed by the present invention;

[0081] Figure 2 This is a flow chart for obtaining cruise planning path information in the present invention;

[0082] Figure 3 This is a flow chart for obtaining inspection target classification information in the present invention;

[0083] Figure 4 This is a flowchart of obtaining information for secondary planning of the cruise path in the present invention;

[0084] Figure 5 This is a structural block diagram of the maintenance vehicle autonomous cruising system based on multi-objective path planning and optimization proposed by the present invention. DETAILED DESCRIPTION

[0085] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0086] Reference Figure 1 - Figure 4 As shown, the autonomous cruising method of the maintenance vehicle based on multi-objective path planning and optimization in the embodiment of the present invention includes:

[0087] Obtaining inspection information, wherein the inspection information includes inspection target information and inspection area information;

[0088] According to the inspection information, the cruise path of the maintenance vehicle is planned to obtain the cruise planning path information, wherein the cruise planning path information includes the cruise starting point information and the cruise planning path information between several sections of different inspection targets;

[0089] Specifically, according to the inspection information, the cruise path of the maintenance vehicle is planned, and the cruise planning path information is obtained, including:

[0090] According to the inspection information, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained;

[0091] According to the inspection area model information, one of the secondary inspection targets is used as the starting point, and the nearest secondary inspection target is used as the next connection point, until the number of secondary inspection targets reaches five, and the starting path design scheme information is obtained, wherein the starting path design scheme includes the starting path design scheme with each secondary inspection target as the starting point;

[0092] Screening the starting path design scheme to obtain the starting path planning information, wherein the fifth secondary inspection target of the starting path is the secondary cruise starting point;

[0093] Taking the secondary cruise starting point as the reference, the inspection target characteristic coefficient is calculated according to the coordinate information of the primary inspection target;

[0094] The distance between the first-level inspection target with the smallest inspection target characteristic coefficient and the secondary cruise starting point is used as the first preset distance, and the distance between the first-level inspection target with the largest inspection target characteristic coefficient and the secondary cruise starting point is used as the second preset distance;

[0095] The range area whose distance from the secondary cruise starting point is less than the first preset distance is used as the first inspection range area, the range area whose distance from the secondary cruise starting point is greater than the first preset distance and less than the second preset distance is used as the second inspection range area, and the range area whose distance from the secondary cruise starting point is greater than the first preset distance is used as the third inspection range area;

[0096] Plan the cruise path of each inspection range area, and connect the cruise planning paths of the three inspection range areas in the order from the first inspection range area to the second inspection range area and then to the third inspection range area to obtain the cruise planning path information;

[0097] Among them, the calculation formula of the inspection target characteristic coefficient is:

[0098]

[0099] In the formula, is the inspection target characteristic coefficient of the yth first-level inspection target is the target inspection index of the yth first-level inspection target, is the distance between the yth primary inspection target and the starting point of the secondary cruise.

[0100] In this scheme, the entire inspection area is divided into three range areas, namely the first inspection range area, the second inspection range area and the third inspection range area, through the inspection target characteristic coefficient. The cruise path planning is carried out separately for each inspection range area, and the cruise paths of the three inspection range areas are connected in sequence to form a complete cruise planning path, which improves the efficiency of cruise path planning, ensures timely detection of equipment abnormalities, effectively extends the service life of the equipment, and further improves economic benefits;

[0101] Specifically, according to the inspection information, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained, which specifically includes:

[0102] Based on the inspection target work content analysis, the inspection targets are divided into primary targets and secondary targets, and different weights are set;

[0103] According to the inspection information, a regional plane model is established to obtain inspection regional model information, wherein the inspection regional model information includes inspection target coordinate information;

[0104] Based on the different weights of the primary and secondary targets and the inspection target coordinate information, the target inspection index is obtained;

[0105] Based on the target inspection index, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained;

[0106] Among them, if the target inspection index of the xth inspection target , then the inspection target is a first-level inspection target. , then the inspection target is a secondary inspection target, is the maximum value of the target inspection index;

[0107] The calculation formula of the target inspection index is:

[0108]

[0109] In the formula, is the target inspection index of the xth inspection target, is the weight of the xth inspection target, is the weight of the i-th inspection target, where if the inspection target is the main target, then , if the inspection target is a secondary target, then , is the distance between the xth inspection target and the ith inspection target, and n is the total number of inspection targets.

[0110] In this scheme, the inspection targets are divided into primary targets and secondary targets, and different weights are set. Based on the different weights of the primary targets and secondary targets and the inspection target coordinate information, the target inspection index is obtained. Based on the target inspection index, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained. The classification of the inspection targets is realized, and the efficiency of cruise path planning is improved.

[0111] It is understandable that for the power system, the inspection priorities of equipment with different functions are also different. For example, the main inspection targets such as insurance equipment and control equipment are often closely related to the safety and stability of the power system. The abnormalities of the main targets are the main inspection objects during the patrol process. Although the secondary targets such as ventilation equipment and connection equipment are also related to the safety of the power system, there are certain differences in the degree of connection. Therefore, classifying the inspection targets will help to better plan the patrol route.

[0112] Specifically, the starting path design scheme is screened to obtain the starting path planning information, including:

[0113] Acquire inspection target historical data, wherein the inspection target historical data includes historical inspection data of each inspection target;

[0114] According to the normal data of the inspection target in the historical data of the inspection target, the inspection target state change rate is obtained, that is, the change range of the inspection target state per unit time;

[0115] Calculate the quality index of the starting path according to the starting path design scheme information and the inspection target state change rate;

[0116] The starting path design scheme with the largest starting path quality index is used as the starting path of the maintenance vehicle to obtain the starting path planning information;

[0117] The calculation formula of the initial path quality index is:

[0118]

[0119] In the formula, is the starting path quality index, is the inspection target state change rate of the jth secondary inspection target in the initial path design scheme, is the inspection target state change rate of the j+1th secondary inspection target in the initial path design scheme, It is the cruising path length between the jth secondary inspection target and the j+1th secondary inspection target in the initial path design scheme.

[0120] In this scheme, the inspection target state change rate, the starting path design scheme information and the inspection target state change rate are obtained through the inspection target normal data in the inspection target historical data, and the starting path quality index is calculated. The starting path design scheme with the largest starting path quality index is used as the starting path of the maintenance trolley, and the starting path planning information is obtained. The appropriate starting path is selected through the starting path quality index, and the inspection data of the maintenance trolley is tested through the starting path to avoid inspection data abnormalities caused by sensor failures of the maintenance trolley, thereby ensuring the accuracy and reliability of the inspection data;

[0121] It is understandable that the inspection data represents the status of the inspection target, and the accuracy of the inspection data directly affects the evaluation and judgment of the status of the inspection target. The accuracy of the inspection data is closely related to the detection of the maintenance trolley sensor. Therefore, the detection accuracy of the maintenance trolley sensor is crucial. The detection status of the maintenance trolley is judged by the five secondary inspection targets in the starting path. If the inspection data of the five secondary inspection targets all indicate that the inspection target is abnormal, the maintenance trolley needs to be inspected to prevent abnormal inspection data caused by the maintenance trolley's own fault.

[0122] Specifically, the patrol route for each inspection area is planned, including:

[0123] Obtaining maintenance trolley parameter information, wherein the maintenance trolley parameter information includes maintenance trolley turning radius information, maintenance trolley speed information, and maintenance trolley sensor parameter information;

[0124] According to the first inspection range area, the second inspection range area and the third inspection range area, obtaining inspection target information in each inspection range area;

[0125] Taking the inspection path feature point in each inspection range as the starting point of the cruise path, taking the inspection target with the largest cruise priority index as the next inspection target, and obtaining the cruise planning path for each inspection range;

[0126] Among them, the inspection path characteristic point of the first inspection range area is the secondary patrol starting point, the inspection path characteristic point of the second inspection range area is the first-level inspection target with the smallest inspection target characteristic coefficient, and the inspection path characteristic point of the third inspection range area is the first-level inspection target with the largest inspection target characteristic coefficient;

[0127] The calculation formula of the cruise priority index is:

[0128]

[0129] Where G is the cruise priority index, is the inspection index of the inspection target, H is the distance between the inspection target and the previous inspection target in the cruise planning path, is the angle between the cruise planning path of the inspection target and the cruise planning path of the previous inspection target in the cruise planning path, r is the minimum turning radius of the maintenance vehicle, It is the turning arc length when the maintenance trolley has the minimum turning radius.

[0130] In this scheme, by taking the inspection path feature point in each inspection range as the starting point of the cruise path, and taking the inspection target with the largest cruise priority index as the next inspection target, the cruise planning path of each inspection range is obtained, and the optimal path is effectively selected through the cruise priority index, thereby improving the cruise efficiency;

[0131] It can be understood that when planning the cruise path for each inspection range area, the first-level inspection target with the smallest inspection target characteristic coefficient is used as the end point of the cruise planning path for the first inspection range area, and the first-level inspection target with the largest inspection target characteristic coefficient is used as the end point of the cruise planning path for the second inspection range area. When the cruise paths of the three inspection range areas are connected, the first-level inspection target with the smallest inspection target characteristic coefficient and the first-level inspection target with the largest inspection target characteristic coefficient are used as the connection points of the cruise paths of different inspection range areas, thereby ensuring the continuity of the cruise paths.

[0132] Based on the cruise planning path information, the maintenance vehicle cruises. Whenever the maintenance vehicle cruises to the inspection target, the next inspection target of the inspection target in the cruise planning path is used as the current cruise target.

[0133] If the maintenance vehicle detects an obstacle, it will avoid the obstacle until it detects that there is no obstacle between the maintenance vehicle and the current cruising target, and obtain the location information of the maintenance vehicle;

[0134] According to the position information of the maintenance trolley, determine whether the cruise planning path needs to be adjusted. If not, adjust the cruise trajectory of the maintenance trolley position and the current cruise target, and the cruise trajectory path after the current cruise target remains unchanged. If so, adjust the cruise planning path.

[0135] Specifically, according to the position information of the maintenance vehicle, it is determined whether the cruise planning path needs to be adjusted, including:

[0136] Obtaining avoidance action path information, wherein the avoidance action path information is a driving path of the maintenance vehicle for performing avoidance action, and the avoidance action path information includes obstacle avoidance starting point information;

[0137] According to the position information of the maintenance trolley, the position of the maintenance trolley and the cruising trajectory of the current cruising target are planned to obtain obstacle avoidance correction path information;

[0138] According to the obstacle avoidance correction path information and the avoidance action path information, the steering coefficient of the maintenance vehicle is obtained:

[0139]

[0140] In the formula, To inspect the steering coefficient of the trolley, The angle between the obstacle avoidance correction path and the avoidance action path;

[0141] Among them, if , then the original cruising path of the maintenance vehicle before the evasive action is obtained according to the cruising planning path information;

[0142] Obtain the path deviation coefficient according to the avoidance action path and the original cruising path;

[0143] Based on the inspection requirements of the maintenance vehicle, the path deviation coefficient threshold is obtained;

[0144] If the path deviation coefficient does not exceed the path deviation coefficient threshold, the maintenance car cruises the current cruising target according to the obstacle avoidance correction path information;

[0145] like Or if the path deviation coefficient exceeds the path deviation coefficient threshold, the uninspected target information is obtained based on the cruise planning path information and the maintenance vehicle position information;

[0146] Based on the cruise priority index of the uninspected target information, the cruise path of the uninspected target is replanned to obtain the cruise path secondary planning information;

[0147] According to the secondary planning information of the cruise path, cruise the uninspected target information;

[0148] The calculation formula of the path deviation coefficient is:

[0149]

[0150] In the formula, is the path deviation coefficient, is the distance between the obstacle avoidance starting point and the position of the maintenance vehicle, It is the angle between the avoidance path and the original cruising path.

[0151] In this solution, the steering coefficient of the maintenance car is obtained through the obstacle avoidance correction path information and the avoidance action path information. The steering coefficient of the maintenance car is used to determine whether the obstacle avoidance correction path meets the cruising path requirements. The path deviation coefficient is obtained through the avoidance action path and the original cruising path. The path deviation coefficient is used to determine whether the cruising path needs to be adjusted, which enhances the safety and reliability of operation and realizes flexible scheduling of the cruising path.

[0152] Reference Figure 5As shown, further, combined with the above-mentioned maintenance vehicle autonomous cruising method based on multi-objective path planning optimization, a maintenance vehicle autonomous cruising system based on multi-objective path planning optimization is proposed, including:

[0153] A main control module, wherein the main control module is used to divide the inspection targets into primary inspection targets and secondary inspection targets according to the target inspection index, obtain inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain starting path planning information, determine whether it is necessary to adjust the cruise planning path according to the position information of the maintenance trolley, plan the cruise path of the maintenance trolley according to the inspection information, obtain cruise planning path information, and cruise the maintenance trolley based on the cruise planning path information. According to the position information of the maintenance trolley, plan the cruise trajectory of the maintenance trolley position and the current cruise target, obtain obstacle avoidance correction path information, re-plan the cruise path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain cruise path secondary planning information;

[0154] An information acquisition module, the information acquisition module is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model based on the inspection information, acquire inspection area model information, acquire inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate based on the inspection target normal data in the inspection target historical data;

[0155] An evaluation module, wherein the evaluation module is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the initial path quality index according to the initial path design scheme information and the inspection target state change rate, calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference, obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and obtain the path deviation coefficient according to the avoidance action path and the original cruise path;

[0156] A display module interacts with the main control module and is used to display inspection targets, cruise planning path information, obstacle avoidance correction path information, avoidance action path information and cruise path secondary planning information.

[0157] Main control module, including:

[0158] A control unit, the control unit is used to plan a cruising path for the maintenance trolley according to the inspection information, obtain the cruise planning path information, cruise the maintenance trolley based on the cruise planning path information, plan the cruising trajectory of the maintenance trolley position and the current cruising target according to the maintenance trolley position information, obtain obstacle avoidance correction path information, re-plan the cruising path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain the cruise path secondary planning information;

[0159] An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit;

[0160] A judgment unit is used to divide the inspection target into a primary inspection target and a secondary inspection target according to the target inspection index, obtain the inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain the starting path planning information, and judge whether the cruise planning path needs to be adjusted according to the maintenance trolley position information.

[0161] Information acquisition module, specifically including:

[0162] A first acquisition unit, the first acquisition unit is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model according to the inspection information, and acquire inspection area model information;

[0163] The second acquisition unit is used to acquire the inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate according to the inspection target normal data in the inspection target historical data.

[0164] Assessment modules include:

[0165] A first evaluation unit, the first evaluation unit is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the starting path quality index according to the starting path design scheme information and the inspection target state change rate, and calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference;

[0166] The second evaluation unit is used to obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and to obtain the path deviation coefficient according to the avoidance action path and the original cruising path.

[0167] In summary, the advantages of the present invention are: through the different weights of the main target and the secondary target and the inspection target coordinate information, the target inspection index is obtained, the inspection target is classified through the target inspection index, and the cruise path planning efficiency is improved; the starting path quality index is calculated through the starting path design scheme information and the inspection target state change rate; the appropriate starting path is selected through the starting path quality index; the inspection data of the maintenance car is checked through the starting path to avoid inspection data abnormalities caused by sensor failures of the maintenance car, thereby ensuring the accuracy and reliability of the inspection data; the optimal path is effectively selected through the cruise priority index, and the cruise efficiency is improved; the path is adjusted in real time through the steering coefficient and path deviation coefficient of the maintenance car to enhance the safety and reliability of the operation and realize flexible scheduling of the cruise path.

[0168] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. The autonomous cruising method of maintenance vehicle based on multi-objective path planning and optimization is characterized by: include: Obtaining inspection information, wherein the inspection information includes inspection target information and inspection area information; According to the inspection information, the cruise path of the maintenance vehicle is planned to obtain the cruise planning path information, wherein the cruise planning path information includes the cruise starting point information and the cruise planning path information between several sections of different inspection targets; Based on the cruise planning path information, the maintenance vehicle cruises. Whenever the maintenance vehicle cruises to the inspection target, the next inspection target of the inspection target in the cruise planning path is used as the current cruise target. If the maintenance vehicle detects an obstacle, it will avoid the obstacle until it detects that there is no obstacle between the maintenance vehicle and the current cruising target, and obtain the location information of the maintenance vehicle; According to the position information of the maintenance trolley, determine whether the cruise planning path needs to be adjusted. If not, adjust the position of the maintenance trolley and the cruise trajectory of the current cruise target. The cruise trajectory path after the current cruise target remains unchanged. If yes, adjust the cruise planning path; The method of planning the cruise path of the maintenance vehicle according to the inspection information and obtaining the cruise planning path information specifically includes: According to the inspection information, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained; According to the inspection area model information, one of the secondary inspection targets is used as the starting point, and the nearest secondary inspection target is used as the next connection point, until the number of secondary inspection targets reaches five, and the starting path design scheme information is obtained, wherein the starting path design scheme includes the starting path design scheme with each secondary inspection target as the starting point; Screening the starting path design scheme to obtain the starting path planning information, wherein the fifth secondary inspection target of the starting path is the secondary cruise starting point; Taking the secondary cruise starting point as the reference, the inspection target characteristic coefficient is calculated according to the coordinate information of the primary inspection target; The distance between the first-level inspection target with the smallest inspection target characteristic coefficient and the secondary cruise starting point is used as the first preset distance, and the distance between the first-level inspection target with the largest inspection target characteristic coefficient and the secondary cruise starting point is used as the second preset distance; The range area whose distance from the secondary cruise starting point is less than the first preset distance is used as the first inspection range area, the range area whose distance from the secondary cruise starting point is greater than the first preset distance and less than the second preset distance is used as the second inspection range area, and the range area whose distance from the secondary cruise starting point is greater than the first preset distance is used as the third inspection range area; Plan the cruise path of each inspection range area, and connect the cruise planning paths of the three inspection range areas in the order from the first inspection range area to the second inspection range area and then to the third inspection range area to obtain the cruise planning path information; Among them, the calculation formula of the inspection target characteristic coefficient is: ； In the formula, is the inspection target characteristic coefficient of the yth first-level inspection target, is the target inspection index of the yth first-level inspection target, is the distance between the yth primary patrol target and the secondary patrol starting point; According to the inspection information, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained, specifically including: Based on the inspection target work content analysis, the inspection targets are divided into primary targets and secondary targets, and different weights are set; According to the inspection information, a regional plane model is established to obtain inspection regional model information, wherein the inspection regional model information includes inspection target coordinate information; Based on the different weights of the primary and secondary targets and the inspection target coordinate information, the target inspection index is obtained; Based on the target inspection index, the inspection targets are divided into primary inspection targets and secondary inspection targets, and the inspection target classification information is obtained; Among them, if the target inspection index of the xth inspection target , then the inspection target is a first-level inspection target. , then the inspection target is a secondary inspection target, is the maximum value of the target inspection index; The calculation formula of the target inspection index is: In the formula, is the target inspection index of the xth inspection target, is the weight of the xth inspection target, is the weight of the i-th inspection target, where if the inspection target is the main target, then , if the inspection target is a secondary target, then , is the distance between the xth inspection target and the ith inspection target, and n is the total number of inspection targets; The planning of the cruise path for each inspection range area specifically includes: Obtaining maintenance trolley parameter information, wherein the maintenance trolley parameter information includes maintenance trolley turning radius information, maintenance trolley speed information, and maintenance trolley sensor parameter information; According to the first inspection range area, the second inspection range area and the third inspection range area, obtaining inspection target information in each inspection range area; Taking the inspection path feature point in each inspection range as the starting point of the cruise path, taking the inspection target with the largest cruise priority index as the next inspection target, and obtaining the cruise planning path for each inspection range; Among them, the inspection path characteristic point of the first inspection range area is the secondary patrol starting point, the inspection path characteristic point of the second inspection range area is the first-level inspection target with the smallest inspection target characteristic coefficient, and the inspection path characteristic point of the third inspection range area is the first-level inspection target with the largest inspection target characteristic coefficient; The calculation formula of the cruise priority index is: Where G is the cruise priority index, is the inspection index of the inspection target, H is the distance between the inspection target and the previous inspection target in the cruise planning path, is the angle between the cruise planning path of the inspection target and the cruise planning path of the previous inspection target in the cruise planning path. The minimum turning radius of the maintenance trolley. The turning arc length of the maintenance trolley at the minimum turning radius; According to the position information of the maintenance vehicle, determine whether the cruise planning path needs to be adjusted, including: Obtaining avoidance action path information, wherein the avoidance action path information is a driving path of the maintenance vehicle for performing avoidance action, and the avoidance action path information includes obstacle avoidance starting point information; According to the position information of the maintenance trolley, the position of the maintenance trolley and the cruising trajectory of the current cruising target are planned to obtain obstacle avoidance correction path information; According to the obstacle avoidance correction path information and the avoidance action path information, the steering coefficient of the maintenance vehicle is obtained: In the formula, To inspect the steering coefficient of the trolley, The angle between the obstacle avoidance correction path and the avoidance action path; Among them, if , then the original cruising path of the maintenance vehicle before the evasive action is obtained according to the cruising planning path information; Obtain the path deviation coefficient according to the avoidance action path and the original cruising path; Based on the inspection requirements of the maintenance vehicle, the path deviation coefficient threshold is obtained; If the path deviation coefficient does not exceed the path deviation coefficient threshold, the maintenance car cruises the current cruising target according to the obstacle avoidance correction path information; like Or if the path deviation coefficient exceeds the path deviation coefficient threshold, the uninspected target information is obtained based on the cruise planning path information and the maintenance vehicle position information; Based on the cruise priority index of the uninspected target information, the cruise path of the uninspected target is replanned to obtain the cruise path secondary planning information; According to the secondary planning information of the cruise path, cruise the uninspected target information; The calculation formula of the path deviation coefficient is: ； In the formula, is the path deviation coefficient, is the distance between the obstacle avoidance starting point and the position of the maintenance vehicle, It is the angle between the avoidance path and the original cruising path.

2. The autonomous cruising method for maintenance vehicles based on multi-objective path planning and optimization according to claim 1 is characterized in that: The screening of the starting path design scheme to obtain the starting path planning information specifically includes: Acquire inspection target historical data, wherein the inspection target historical data includes historical inspection data of each inspection target; According to the normal data of the inspection target in the historical data of the inspection target, the inspection target state change rate is obtained, that is, the change range of the inspection target state per unit time; Calculate the quality index of the starting path according to the starting path design scheme information and the inspection target state change rate; The starting path design scheme with the largest starting path quality index is used as the starting path of the maintenance vehicle to obtain the starting path planning information; The calculation formula of the initial path quality index is: In the formula, is the starting path quality index, is the inspection target state change rate of the jth secondary inspection target in the initial path design scheme, is the inspection target state change rate of the j+1th secondary inspection target in the initial path design scheme, It is the cruising path length between the jth secondary inspection target and the j+1th secondary inspection target in the initial path design scheme.

3. An autonomous cruising system for a maintenance vehicle based on multi-objective path planning and optimization, used to implement the autonomous cruising method as described in any one of claims 1-2, characterized in that: include: A main control module, wherein the main control module is used to divide the inspection targets into primary inspection targets and secondary inspection targets according to the target inspection index, obtain inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain starting path planning information, determine whether it is necessary to adjust the cruise planning path according to the position information of the maintenance trolley, plan the cruise path of the maintenance trolley according to the inspection information, obtain cruise planning path information, and cruise the maintenance trolley based on the cruise planning path information. According to the position information of the maintenance trolley, plan the cruise trajectory of the maintenance trolley position and the current cruise target, obtain obstacle avoidance correction path information, re-plan the cruise path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain cruise path secondary planning information; An information acquisition module, the information acquisition module is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model based on the inspection information, acquire inspection area model information, acquire inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate based on the inspection target normal data in the inspection target historical data; An evaluation module, wherein the evaluation module is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the initial path quality index according to the initial path design scheme information and the inspection target state change rate, calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference, obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and obtain the path deviation coefficient according to the avoidance action path and the original cruise path; A display module, which interacts with the main control module and is used to display inspection targets, cruise planning path information, obstacle avoidance correction path information, avoidance action path information and cruise path secondary planning information; The main control module specifically includes: A control unit, the control unit is used to plan a cruising path for the maintenance trolley according to the inspection information, obtain the cruise planning path information, cruise the maintenance trolley based on the cruise planning path information, plan the cruising trajectory of the maintenance trolley position and the current cruising target according to the maintenance trolley position information, obtain obstacle avoidance correction path information, re-plan the cruising path of the uninspected target based on the cruise priority index of the uninspected target information, and obtain the cruise path secondary planning information; An information receiving unit, which interacts with the information acquisition module and the evaluation module to receive data and transmit it to the judgment unit; A judgment unit, the judgment unit is used to classify the inspection target into a primary inspection target and a secondary inspection target according to the target inspection index, obtain inspection target classification information, use the starting path design scheme with the largest starting path quality index as the starting path of the maintenance trolley, obtain starting path planning information, and judge whether it is necessary to adjust the cruise planning path according to the position information of the maintenance trolley; The information acquisition module specifically includes: A first acquisition unit, the first acquisition unit is used to acquire inspection information, inspection target information and inspection area information, establish a regional plane model according to the inspection information, and acquire inspection area model information; A second acquisition unit, the second acquisition unit is used to acquire inspection target historical data, maintenance trolley parameter information, maintenance trolley turning radius information, maintenance trolley speed information and maintenance trolley sensor parameter information, and acquire the inspection target state change rate according to the inspection target normal data in the inspection target historical data; Assessment modules include: A first evaluation unit, the first evaluation unit is used to obtain a target inspection index according to different weights of the primary target and the secondary target and the inspection target coordinate information, calculate the starting path quality index according to the starting path design scheme information and the inspection target state change rate, and calculate the inspection target characteristic coefficient based on the coordinate information of the primary inspection target with the secondary cruise starting point as the reference; The second evaluation unit is used to obtain the steering coefficient of the maintenance vehicle according to the obstacle avoidance correction path information and the avoidance action path information, and to obtain the path deviation coefficient according to the avoidance action path and the original cruising path.

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