Method and device for dynamically planning path of inspection robot and electronic equipment

Abstract

The invention discloses an inspection robot path dynamic planning method and device and electronic equipment. The method comprises the following steps: firstly, modeling a pre-configured inspection line and inspection points, and calculating and generating a longest necessary line segment set according to an inspection point sequence based on a received inspection task; and the inspection robot searches the longest inevitable line section which is processed preferentially according to the shortest path principle by taking the current position as a starting point, and traverses the longest inevitable line section set to dynamically obtain the longest inevitable line section which is processed preferentially until all inspection tasks are completed. And when the endpoint of the longest inevitable line section subjected to routing inspection is a trifurcate or more line endpoint, the longer inevitable line section is dynamically inspected and combined, so that the length of the single routing inspection line section and the routing inspection path calculation efficiency are further improved. The problem that the inspection robot obtains the optimal inspection path in a complex line environment can be effectively solved, and dynamic updating of the inspection path in the task execution process is supported.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to a method, device and electronic equipment for dynamic planning of inspection robot paths. Background Art

[0002] With the development of automation technology, more and more robots can be seen in production and life.

[0003] As a node of the power grid, the substation is of decisive significance to the safe operation of the power grid. The on-site inspection of the substation plays an extremely important role in ensuring its safe operation. However, the traditional inspection method of substations is manual inspection. In order to solve the problems of low efficiency, inconsistent standards, high labor intensity, and weather influence, the substation intelligent inspection system and various inspection robots came into being.

[0004] When the intelligent patrol system of the substation issues a patrol task to the patrol robot, it will issue the patrol point information of the patrol task in the dimension of the inspected equipment. The path of the patrol robot when executing the task should be planned in combination with the line information of the patrol point. For example, if multiple patrol points of a certain equipment are on different line segments, if they are mechanically inspected in sequence according to the patrol point list information issued by the intelligent patrol system of the substation, a large number of redundant lines will be walked, and even back and forth on the line will be run, resulting in low patrol efficiency. Existing path planning technologies mostly consider finding the optimal path with the patrol point as the smallest unit, and the calculation efficiency is low. In a complex line network, the optimal path between simple patrol points cannot be confirmed as the overall optimal path. Summary of the invention

[0005] The purpose of the present invention is to provide a method, device and electronic device for dynamic path planning of an inspection robot to solve the problem that the existing path planning calculation efficiency is low and the optimal path between simple inspection points in a complex line network is not the overall optimal path.

[0006] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0007] According to one aspect of the present invention, a method for dynamic path planning of an inspection robot is provided, comprising:

[0008] Step S100: Modeling pre-configured inspection routes and inspection points;

[0009] Step S200: Based on the received inspection task and the inspection point sequence, the longest necessary route segment on the inspection path is calculated and planned in a unified manner to generate a set of the longest necessary route segments;

[0010] Step S300: performing inspection tasks according to the longest set of necessary route segments.

[0011] According to some embodiments, the modeling of preconfigured inspection routes and inspection points is specifically as follows: on the configuration tool, the overall inspection route planning is completed according to the requirements of the inspection points and the road condition information of the inspection site, the route is decomposed into route segments and route endpoints, all inspection points are configured on the route segments, and the modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, the route segment and route endpoint information and the endpoint positions are recorded, and the relationship between the inspection points and the route segments and the inspection point positions are recorded.

[0012] According to some embodiments, in step S200, the longest necessary route segment on the inspection path is calculated and planned uniformly according to all inspection point sequences to generate the longest necessary route segment set, which specifically includes:

[0013] Step S201: traverse the inspection point sequence, the route segment where the inspection point is located is the must-pass route segment, and if the connection point of adjacent must-pass route segments is a binary point, they are merged into a new longest must-pass route segment;

[0014] Step S202: Check the endpoints of all the longest necessary route segments generated in step S201. If both endpoints of the necessary route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to both ends to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended line segment with the shorter distance with the necessary route segment to form the new longest necessary route segment;

[0015] Step S203: Based on the results of step S201 and step S202, if there are necessary route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the necessary route segments on the route segment is calculated and compared with the length of the non-necessary route segments. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segments, the continuous route segments are merged into the new longest necessary route segment.

[0016] According to some embodiments, step S300 specifically includes:

[0017] Step S301: When starting the inspection, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path from the current position, and starts the inspection along the shortest path to the endpoint of the longest necessary route segment, until the inspection work of all inspection points of the longest necessary route segment is completed, and the longest necessary route segment is deleted from the necessary route segment set;

[0018] Step S302: Check the longest set of necessary route segments. If it is empty, the inspection task is completed. If it is not empty, continue to implement the inspection work of step S301 from the current position until the longest set of necessary route segments is empty, and the inspection task is completed.

[0019] According to some embodiments, in step S301, after deleting the longest necessary route segment from the necessary route segment set, it also includes: checking whether there are only two other longest necessary route segments at the endpoint of the longest necessary route segment that meet at the endpoint of the route; if so, merging the two longest necessary route segments into a new longest necessary route segment.

[0020] According to some embodiments, it also includes: when the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, the inspection robot receives a new inspection task, then steps S201, S202, and S203 are executed for the newly added inspection task, a new longest necessary route segment set is generated, and the inspection task is performed with the new longest necessary route segment set.

[0021] According to some embodiments, it also includes: when the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, and the inspection robot receives a high-priority inspection task, then steps S201, S202, and S203 are executed for the high-priority inspection task to generate a longest necessary route segment set, and the high-priority longest necessary route segment set is executed first, and then the low-priority longest necessary route segment set is executed.

[0022] According to some embodiments, when the inspection starts in step S301, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path at its current location, specifically: taking the current location of the inspection robot as the base point, the endpoint of the longest necessary route segment is searched in all branches with breadth first. When the endpoint of any longest necessary route segment is found, the shortest path, the shortest path distance and the endpoint information are recorded until the endpoint of the longest necessary route segment of the next shortest path is found, and the shortest path, the shortest path distance and the endpoint information are updated. When the path length of each branch is calculated with breadth first, if the branch path length is greater than the recorded shortest path distance, the branch is abandoned and the search for the next branch is continued until all branches of the endpoint are searched.

[0023] According to some embodiments, the calculation of the shortest path takes into account the route segment distance and weight, wherein the weight is configured based on the time the inspection robot consumes to travel on the route segment.

[0024] According to some embodiments, the inspection robot is a wheeled inspection robot or a quadruped inspection robot.

[0025] According to another aspect of the present invention, a patrol robot path dynamic planning device is provided, comprising:

[0026] Modeling configuration module, used to model pre-configured inspection routes and inspection points;

[0027] The path calculation and planning module calculates and generates the longest necessary route segment set based on the inspection point sequence based on the received inspection tasks;

[0028] A storage unit module is used to store the route segments of the inspection site and the pre-configured inspection point information, and store the longest necessary route segment set calculated by the path planning calculation module;

[0029] The inspection task execution module is used to start from the current location after finding the endpoint of the longest necessary route segment of the shortest path based on the longest necessary route segment set calculated by the path planning calculation module, and complete the inspection of the longest necessary route segment set to complete the inspection task.

[0030] According to some embodiments, the modeling configuration module is used to model preconfigured inspection routes and inspection points, specifically: completing the overall inspection route planning according to the requirements of the inspection points and the road condition information of the inspection site, decomposing the route into route segments and route endpoints, all inspection points are configured on the route segments, and modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, recording the route segment and route endpoint information and endpoint positions, and recording the relationship between the inspection points and the route segments and the inspection point positions.

[0031] According to some embodiments, the path calculation planning module generates the longest necessary route segment set based on the received inspection task and the inspection point sequence calculation, specifically:

[0032] Traverse the inspection point sequence. The line segment where the inspection point is located is the must-pass line segment. If the connection point of adjacent must-pass line segments is a binary point, they are merged into a new longest must-pass line segment.

[0033] Check the endpoints of all the generated longest must-pass route segments. If both endpoints of the must-pass route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended segment with the shorter distance with this must-pass route segment to form the new longest must-pass route segment.

[0034] If there are mandatory route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the mandatory route segments on the route segment is calculated and compared with the length of the non-mandatory route segments. If the sum of the lengths of the mandatory route segments is greater than the length of the non-mandatory route segments, the continuous route segments are merged into the new longest mandatory route segment.

[0035] According to a third aspect of the present invention, there is provided an electronic device, comprising:

[0036] A processor; a memory and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the above methods is implemented.

[0037] The beneficial effects of the present invention are as follows: by unified planning of all inspection points, the longest necessary line segment on the inspection path is calculated as the minimum inspection execution unit, a set of longest necessary line segments is generated, and dynamic adjustment can be made according to the task execution process. The technical solution of optimal path planning is found in real time, which effectively solves the problem of inspection robots obtaining the optimal inspection path in complex line environments, and supports dynamic updating of inspection paths during task execution, effectively improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A flowchart of a method for dynamic path planning of an inspection robot provided by an exemplary embodiment of the present invention;

[0040] Figure 2 In the path dynamic planning method of the inspection robot provided in the exemplary embodiment of the present invention, step S2 generates a flow chart of the longest necessary route segment set;

[0041] Figure 3 A schematic diagram of an inspection task provided for an exemplary embodiment of the present invention;

[0042] Figure 4 A block diagram of a patrol robot path dynamic planning device provided by an exemplary embodiment of the present invention;

[0043] Figure 5 A block diagram of an electronic device provided according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0044] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0045] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0046] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0047] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0048] It should be understood that although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another component. Therefore, the first component discussed below can be referred to as the second component without departing from the teachings of the present inventive concept. As used herein, the term "and / or" includes any one of the associated listed items and all combinations of one or more.

[0049] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of example embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing the present invention, and therefore cannot be used to limit the protection scope of the present invention.

[0050] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0051] Figure 1 A flowchart of a method for dynamic path planning of an inspection robot provided by an exemplary embodiment of the present invention is shown, the method comprising:

[0052] Step S100: Modeling pre-configured inspection routes and inspection points;

[0053] Step S200: Based on the received inspection task and the inspection point sequence, the longest necessary route segment on the inspection path is calculated and planned in a unified manner to generate a set of the longest necessary route segments;

[0054] Step S300: performing inspection tasks according to the longest set of necessary route segments.

[0055] According to some preferred embodiments of the present invention, the modeling of pre-configured inspection routes and inspection points is specifically as follows: on the configuration tool, the overall inspection route planning is completed according to the requirements of the inspection points and the road condition information of the inspection site, the route is decomposed into route segments and route endpoints, all inspection points are configured on the route segments, and the modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, the route segment and route endpoint information and the endpoint positions are recorded, and the relationship between the inspection points and the route segments and the inspection point positions are recorded.

[0056] According to some preferred embodiments of the present invention, the process of calculating and generating the longest necessary route segment set according to the inspection point sequence in step S200 is as follows: Figure 2 As shown, specifically including:

[0057] Step S201: traverse the inspection point sequence, the route segment where the inspection point is located is the must-pass route segment, and if the connection point of adjacent must-pass route segments is a binary point, they are merged into a new longest must-pass route segment;

[0058] Step S202: Check the endpoints of all the longest necessary route segments generated in step S201. If both endpoints of the necessary route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to both ends to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended line segment with the shorter distance with the necessary route segment to form the new longest necessary route segment;

[0059] Step S203: Based on the results of step S201 and step S202, if there are necessary route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the necessary route segments on the route segment is calculated and compared with the length of the non-necessary route segments. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segments, the continuous route segments should be merged into the new longest necessary route segment.

[0060] by Figure 3 An inspection task according to an exemplary embodiment of the present invention is provided to illustrate the above technical solution.

[0061] Figure 3In the figure, both the line segment Line(T51, T52) and the line segment Line(T52, T53) contain inspection points, so both the line segment Line(T51, T52) and the line segment Line(T52, T53) are necessary line segments, and their connection point is a fork point, so they are merged into the new longest necessary line segment Line(T51, T52, T53), marked with “ / ”.

[0062] Since the longest necessary route segment Line (T51, T52, T53) does not have a three-fork or above route endpoint or the inspection robot origin as its endpoint, the longest necessary route segment Line (T51, T52, T53) is extended to both ends. The T51 endpoint is extended to T5 to reach the three-fork endpoint, and thus forms a new longest necessary route segment Line (T5, T51, T52, T53) with the route segment Line (T5, T51). The extended route segment is marked with the " / / " symbol.

[0063] For the continuous line segment Line(T13, T14, T15, T16, T36, T35, T34, T33), after step S21 and step S22, the line segment Line(T13, T14, T15, T16) and the line segment Line(T33, T34) are set as the necessary line segments; since both ends of the continuous line segment Line(T13, T14, T15, T16, T36, T35, T34, T33) are the necessary line segments, the total length of the necessary line segments on the line segment is calculated, that is, the necessary line segment Li ne(T13,T14,T15,T16)+the necessary line segment Line(T34,T33), and compared with the length of the non-necessary line segment Line(T16,T36,T35,T34), the total length of the necessary line segments is greater than the length of the non-necessary line segments (the calculation results are assumed to illustrate the present technical solution), then the continuous line segment Line(T13,T14,T15,T16,T36,T35,T34,T33) is the new longest necessary line segment, and the newly added part is marked with the " / / " symbol.

[0064] According to some preferred embodiments of the present invention, step S300 specifically includes:

[0065] Step S301: When starting the inspection, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path from the current position, and starts the inspection along the shortest path to the endpoint of the longest necessary route segment, until the inspection work of all inspection points of the longest necessary route segment is completed, and the longest necessary route segment is deleted from the necessary route segment set;

[0066] Step S302: Check the longest set of necessary route segments. If it is empty, the inspection task is completed. If it is not empty, continue to implement the inspection work of step S301 from the current position until the longest set of necessary route segments is empty, and the inspection task is completed.

[0067] According to some preferred embodiments of the present invention, in step S301, after deleting the longest necessary route segment from the necessary route segment set, it also includes: checking whether there are only two other longest necessary route segments at the endpoint of the longest necessary route segment that meet at the endpoint of the route, and if so, merging the two longest necessary route segments into a new longest necessary route segment.

[0068] According to some preferred embodiments of the present invention, it also includes: when the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, the inspection robot receives a new inspection task, then steps S201, S202, and S203 are executed for the newly added inspection task, a new longest necessary route segment set is generated, and the inspection task is performed with the new longest necessary route segment set.

[0069] According to some preferred embodiments of the present invention, it also includes: when the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, and the inspection robot receives a high-priority inspection task, then steps S201, S202, and S203 are executed for the high-priority inspection task to generate a longest necessary route segment set, and the high-priority longest necessary route segment set is executed first, and then the low-priority longest necessary route segment set is executed.

[0070] According to some preferred embodiments of the present invention, when the inspection starts in step S301, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path at its current position, specifically: taking the current position of the inspection robot as the base point, the inspection robot searches for the endpoint of the longest necessary route segment in all branches with breadth first priority. When any endpoint of the longest necessary route segment is found, the shortest path, the shortest path distance and the endpoint information are recorded until the endpoint of the longest necessary route segment of the next shortest path is found, and the shortest path, the shortest path distance and the endpoint information are updated. When the path length of each branch is calculated with breadth first priority, if the branch path length is greater than the recorded shortest path distance, the branch is abandoned and the search for the next branch is continued until all branches of the endpoint are searched.

[0071] According to some preferred embodiments of the present invention, the calculation of the shortest path takes into account the route segment distance and weight, wherein the weight is configured based on the time consumed by the inspection robot to travel on the route segment.

[0072] According to some preferred embodiments of the present invention, the inspection robot is a wheeled inspection robot or a quadruped inspection robot.

[0073] The following describes an apparatus embodiment of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, reference can be made to the method embodiment of the present application.

[0074] Figure 4 A block diagram of a patrol robot path dynamic planning device provided according to an exemplary embodiment of the present invention is shown, comprising:

[0075] Modeling configuration module 410, used to model pre-configured inspection routes and inspection points;

[0076] The path calculation and planning module 420 calculates the longest necessary route segment on the inspection path based on the received inspection task and the inspection point sequence, and generates a set of the longest necessary route segments;

[0077] The storage unit module 430 is used to store the route segments of the inspection site and the pre-configured inspection point information, and store the longest necessary route segment set calculated and generated by the path planning calculation module 420;

[0078] The inspection task execution module 440 is used to start from the current location after finding the endpoint of the longest necessary route segment of the shortest path based on the longest necessary route segment set calculated and generated by the path planning calculation module 420, and inspect the longest necessary route segment set to complete the inspection task.

[0079] According to some preferred embodiments of the present invention, the modeling configuration module 410 is used to model preconfigured inspection routes and inspection points, specifically: completing the overall inspection route planning according to the requirements of the inspection points and the road condition information of the inspection site, decomposing the route into route segments and route endpoints, all inspection points are configured on the route segments, and modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, recording the route segment and route endpoint information and the endpoint positions, and recording the relationship between the inspection points and the route segments and the inspection point positions.

[0080] According to some preferred embodiments of the present invention, the path calculation planning module 420 generates the longest necessary route segment set based on the received inspection task and the inspection point sequence, specifically:

[0081] Traverse the inspection point sequence. The line segment where the inspection point is located is the must-pass line segment. If the connection point of adjacent must-pass line segments is a binary point, they are merged into a new longest must-pass line segment.

[0082] Check the endpoints of all the generated longest must-pass route segments. If both endpoints of the must-pass route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended segment with the shorter distance with this must-pass route segment to form the new longest must-pass route segment.

[0083] If there are mandatory route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the mandatory route segments on the route segment is calculated and compared with the length of the non-mandatory route segments. If the sum of the lengths of the mandatory route segments is greater than the length of the non-mandatory route segments, the continuous route segments are merged into the new longest mandatory route segment.

[0084] Figure 5 A structural diagram of an electronic device provided by the present invention is shown.

[0085] Figure 5 An electronic device is provided, comprising a processor and a memory. The memory stores computer instructions, and when the computer instructions are executed by the processor, the processor executes the computer instructions to achieve the following Figure 1 The method and refinement scheme shown.

[0086] It should be understood that the above system embodiments are only illustrative, and the system disclosed in the present invention can also be implemented in other ways. For example, the division of units / modules described in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0087] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0088] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not otherwise specified, the processor or chip may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the on-chip cache, the off-chip memory, and the memory may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0089] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0090] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for dynamic path planning of an inspection robot, characterized in that: include: Step S100: Modeling pre-configured inspection routes and inspection points; Step S200: Based on the received inspection task and the inspection point sequence, the longest necessary route segment on the inspection path is calculated and planned in a unified manner to generate a set of the longest necessary route segments; Step S300: performing inspection tasks according to the longest set of necessary route segments.

2. A method for dynamic path planning of an inspection robot as claimed in claim 1, characterized in that: The modeling of pre-configured inspection routes and inspection points is specifically as follows: on the configuration tool, the overall inspection route planning is completed according to the requirements of the inspection points and the road condition information of the inspection site, the route is decomposed into route segments and route endpoints, all inspection points are configured on the route segments, and the modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, the route segment and route endpoint information and the endpoint positions are recorded, and the relationship between the inspection points and the route segments and the inspection point positions are recorded.

3. A method for dynamic path planning of an inspection robot as claimed in claim 1, characterized in that: In step S200, the longest necessary route segment on the inspection path is calculated and planned uniformly according to the inspection point sequence, and a set of the longest necessary route segments is generated, which specifically includes: Step S201: traverse the inspection point sequence, the route segment where the inspection point is located is the must-pass route segment, and if the connection point of adjacent must-pass route segments is a binary point, they are merged into a new longest must-pass route segment; Step S202: Check the endpoints of all the longest necessary route segments generated in step S201. If both endpoints of the necessary route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to both ends to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended line segment with the shorter distance with the necessary route segment to form the new longest necessary route segment; Step S203: Based on the results of step S201 and step S202, if there are necessary route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the necessary route segments on the route segment is calculated and compared with the length of the non-necessary route segments. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segments, the continuous route segments are merged into the new longest necessary route segment.

4. A method for dynamic path planning of an inspection robot as claimed in claim 1, characterized in that: The step S300 specifically includes: Step S301: When starting the inspection, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path from the current position, and starts the inspection along the shortest path to the endpoint of the longest necessary route segment, until the inspection work of all inspection points of the longest necessary route segment is completed, and the longest necessary route segment is deleted from the necessary route segment set; Step S302: Check the longest set of necessary route segments. If it is empty, the inspection task is completed. If it is not empty, continue to implement the inspection work of step S301 from the current position until the longest set of necessary route segments is empty, and the inspection task is completed.

5. A method for dynamic path planning of an inspection robot as claimed in claim 4, characterized in that: In the step S301, after deleting the longest necessary route segment from the necessary route segment set, it also includes: checking whether there are only two other longest necessary route segments at the endpoint of the longest necessary route segment that meet at the endpoint of the route; if so, merging the two longest necessary route segments into a new longest necessary route segment.

6. A method for dynamic path planning of an inspection robot as claimed in claim 3, characterized in that: Also includes: When the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, the inspection robot receives a new inspection task, then executes steps S201, S202, and S203 for the newly added inspection task, generates a new longest necessary route segment set, and performs the inspection task with the new longest necessary route segment set.

7. A method for dynamic path planning of an inspection robot as claimed in claim 3, characterized in that: Also includes: When the inspection robot is performing an inspection task, that is, the longest necessary route segment set being executed is not empty, and the inspection robot receives a high-priority inspection task, it executes steps S201, S202, and S203 to generate the longest necessary route segment set for the high-priority inspection task, and preferentially executes the highest priority longest necessary route segment set, and then executes the lowest priority longest necessary route segment set.

8. A method for dynamic path planning of an inspection robot as claimed in claim 4, characterized in that: When the inspection starts in step S301, the inspection robot searches for the endpoint of the longest necessary route segment of the shortest path at its current location. Specifically, the inspection robot uses its current location as a base point and searches for the endpoint of the longest necessary route segment in all branches with breadth first priority. When any endpoint of the longest necessary route segment is found, the shortest path, the shortest path distance and the endpoint information are recorded until the endpoint of the longest necessary route segment of the next shorter path is found. The shortest path, the shortest path distance and the endpoint information are updated. When the path length of each branch is calculated with breadth first priority, if the branch path length is greater than the recorded shortest path distance, the branch is abandoned and the search continues for the next branch until all branches of the endpoint are searched.

9. A method for dynamic path planning of an inspection robot as claimed in claim 1, characterized in that: The calculation of the shortest path takes into account the route segment distance and weight, wherein the weight is configured based on the time the inspection robot consumes traveling on the route segment.

10. A method for dynamic path planning of an inspection robot according to any one of claims 1 to 9, characterized in that: The inspection robot is a wheeled inspection robot or a four-legged inspection robot.

11. A dynamic path planning device for an inspection robot, characterized in that: include: Modeling configuration module for modeling pre-configured inspection routes and inspection points ； The path calculation and planning module, based on the received inspection tasks and the inspection point sequence, uniformly plans and calculates the longest necessary route segment on the inspection path, and generates a set of the longest necessary route segments; A storage unit module is used to store the route segments of the inspection site and the pre-configured inspection point information, and store the longest necessary route segment set calculated by the path planning calculation module; The inspection task execution module is used to start from the current location after finding the endpoint of the longest necessary route segment of the shortest path based on the longest necessary route segment set calculated by the path planning calculation module, and complete the inspection of the longest necessary route segment set to complete the inspection task.

12. A patrol robot path dynamic planning device as claimed in claim 11, characterized in that: The modeling configuration module is used to model the preconfigured inspection routes and inspection points, specifically: completing the overall inspection route planning according to the requirements of the inspection points and the road condition information of the inspection site, decomposing the route into route segments and route endpoints, all inspection points are configured on the route segments, and modeling of route segments, route endpoints, and inspection points is implemented in the inspection robot database, recording the route segment and route endpoint information and endpoint positions, and recording the relationship between the inspection points and the route segments and the inspection point positions.

13. A patrol robot path dynamic planning device as claimed in claim 11, characterized in that: The path calculation and planning module, based on the received inspection task and the inspection point sequence, uniformly plans and calculates the longest necessary route segment on the inspection path, and generates a set of the longest necessary route segments, specifically: Traverse the inspection point sequence. The line segment where the inspection point is located is the must-pass line segment. If the connection point of adjacent must-pass line segments is a binary point, they are merged into a new longest must-pass line segment. Check the endpoints of all the generated longest must-pass route segments. If both endpoints of the must-pass route segment are not the endpoints of a three-fork or higher route or the origin of the inspection robot, extend from the two endpoints to any three-fork or higher route endpoint or the origin of the inspection robot, compare the extended distances of the two endpoints, and merge the extended segment with the shorter distance with this must-pass route segment to form the new longest must-pass route segment. If there are mandatory route segments at both ends of a continuous route segment without three-fork or more route endpoints in the middle, the total length of the mandatory route segments on the route segment is calculated and compared with the length of the non-mandatory route segments. If the sum of the lengths of the mandatory route segments is greater than the length of the non-mandatory route segments, the continuous route segments are merged into the new longest mandatory route segment.

14. An electronic device, characterized in that: include: processor; A memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 10 when executing the computer program.

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