A Dynamic Path Planning Method, Device and Electronic Equipment for Patrol Robots

Abstract

The present invention discloses a method, device and electronic device for dynamic path planning of an inspection robot. First, the pre-configured inspection route and inspection points are modeled. Based on the received inspection tasks, a set of longest necessary route segments is calculated and generated according to the inspection point sequence. The inspection robot searches for the longest necessary route segment to be preferentially processed according to the shortest path principle with the current position as the starting point, traverses the set of longest necessary route segments to dynamically obtain the longest necessary route segment to be preferentially processed until all inspection tasks are completed. At the endpoints of the longest necessary route segments for inspection that are three-way or more-way line endpoints, longer necessary route segments are dynamically checked and merged, further improving the length of the single inspection route segment and the calculation efficiency of the inspection path. The present invention can effectively solve the problem of the inspection robot obtaining the optimal inspection path in a complex line environment and supports dynamic update of the inspection path during the task execution process.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and particularly relates to a method, device, and electronic device for dynamically planning the path of an inspection robot. 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 for the safe operation of the power grid. The inspection work at the substation site plays an extremely important role in ensuring its safe operation. However, the traditional inspection method at the substation is manual inspection. To solve the problems of low efficiency of manual inspection, inconsistent standards, high labor intensity of personnel, and being affected by weather, etc., substation intelligent inspection systems and various inspection robots have emerged as the times require.

[0004] When the substation intelligent inspection system issues inspection tasks to the inspection robot, it will issue the inspection point information of the inspection tasks in the dimension of the equipment to be inspected. The path of the inspection robot during task execution should be planned in combination with the line information where the inspection points are located. For example, if multiple inspection points of a certain equipment are on different line segments, if mechanically following the inspection point list information issued by the substation intelligent inspection system for inspection in sequence, a large number of redundant lines will be walked, and even run back and forth on the line, resulting in low inspection efficiency. Existing path planning technologies mostly consider finding the optimal path with the inspection point as the smallest unit, and the calculation efficiency is relatively low. The optimal path between simple inspection points in a complex line network 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 dynamically planning the path of an inspection robot to solve the problems of relatively low calculation efficiency of existing path planning and the non-optimal overall path of the optimal path between simple inspection points in a complex line network.

[0006] To achieve the above technical purpose and reach the above technical effect, the present invention is realized through the following technical solutions:

[0007] According to one aspect of the present invention, there is provided a method for dynamically planning the path of an inspection robot, including

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

[0009] Step S200: Based on the received inspection tasks, according to the inspection point sequence, uniformly plan and calculate the longest necessary line segments on the inspection path, and generate a set of the longest necessary line segments;

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

[0011] According to some embodiments, the modeling of the pre-configured inspection route and inspection points is specifically as follows: On the configuration tool, complete the overall inspection route planning according to the requirements of the inspection points and the road conditions of the inspection site. Decompose the route into route segments and route endpoints. All inspection points are configured on the route segments. Implement the modeling of route segments, route endpoints, and inspection points in the inspection robot database, record the information of route segments and route endpoints and the endpoint positions, and record the belonging relationship between inspection points and route segments and the inspection point positions.

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

[0013] Step S201: Traverse the inspection point sequence. The route segment where the inspection point is located is the necessary route segment. If the connection point of adjacent necessary route segments is a binary point, then merge them into a new longest necessary route segment;

[0014] Step S202: Check the endpoints of all the longest necessary route segments generated in step S201. If neither of the two endpoints of the necessary route segment is a route endpoint with three or more branches or the origin of the inspection robot, then extend from the two endpoints to either a route endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and merge the shorter extended line segment with this necessary route segment into a 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 route endpoints with three or more branches in the middle, then calculate the total length of the necessary route segments on this route segment and compare it with the length of the non-necessary route segment. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segment, then this continuous route segment is merged into a new longest necessary route segment.

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

[0017] Step S301: At the start of the inspection, the inspection robot finds the endpoint of the longest necessary route segment with the shortest path from the current position, starts from the current position, arrives at this longest necessary route segment endpoint along the shortest path to start the inspection, until the inspection work of all inspection points on this longest necessary route segment is completed, and delete this longest necessary route segment from the set of necessary route segments;

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

[0019] According to some embodiments, in step S301, after deleting the longest necessary route segment of this item from the set of necessary route segments, it further includes: checking whether there are only two other longest necessary route segments meeting at the endpoints of the longest necessary route segment of this item. If so, merging the two longest necessary route segments into a new longest necessary route segment.

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

[0021] According to some embodiments, it further includes: when the inspection robot is performing an inspection task, that is, when the set of the longest necessary route segments 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 set of the longest necessary route segments, and the set of the longest necessary route segments with high priority is preferentially executed, and then the set of the longest necessary route segments with low priority is executed.

[0022] According to some embodiments, when starting the inspection in step S301, finding the endpoint of the longest necessary route segment with the shortest path from the current position of the inspection robot specifically includes: taking the current position of the inspection robot as a base point, searching for the endpoint of the longest necessary route segment in all branches in a breadth-first manner. When finding the endpoint of any longest necessary route segment, recording the shortest path, the shortest path distance, and the endpoint information until finding the endpoint of the longest necessary route segment with a shorter path next, and updating the shortest path, the shortest path distance, and the endpoint information. When calculating the path length of each branch in a breadth-first manner, if the branch path length is already greater than the recorded shortest path distance, then abandon this branch and continue to search the next branch until all branches of this endpoint are searched.

[0023] According to some embodiments, the calculation of the shortest path takes into account the line segment distance and the weight, where the weight is configured according to the time consumed by the inspection robot when traveling on this section of the road.

[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, there is provided an inspection robot path dynamic planning device, including:

[0026] A modeling configuration module, used for modeling the pre-configured inspection route and inspection points;

[0027] A path calculation and planning module, based on the received inspection task, calculates and generates a set of the longest necessary route segments according to the inspection point sequence;

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

[0029] An inspection task execution module, which is used to, according to the set of the longest necessary route segments calculated and generated by the path planning calculation module, start from the endpoint of the longest necessary route segment with the shortest path found from the current position, inspect the set of the longest necessary route segments, and complete the inspection task.

[0030] According to some embodiments, the modeling and configuration module is used to model the pre-configured inspection route and inspection points. Specifically: complete the overall inspection route planning according to the requirements of the inspection points and the road conditions of the inspection site, decompose the route into route segments and route endpoints, configure all inspection points on the route segments, implement the modeling of route segments, route endpoints, and inspection points in the inspection robot database, record the information of route segments and route endpoints and the endpoint positions, and record the belonging relationship between inspection points and route segments and the inspection point positions.

[0031] According to some embodiments, the path calculation and planning module, based on the received inspection task, calculates and generates a set of the longest necessary route segments according to the inspection point sequence. Specifically:

[0032] Traverse the inspection point sequence. The route segments where the inspection points are located are necessary route segments. If the connection points of adjacent necessary route segments are binary points, they are merged into a new longest necessary route segment;

[0033] Check the endpoints of all the generated longest necessary route segments. If both endpoints of a necessary route segment are not route endpoints with three or more branches or the origin of the inspection robot, extend from the two endpoints to any route endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and merge the shorter extended line segment with this necessary route segment into a new longest necessary route segment;

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

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

[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, the method described in any one of the above methods is implemented.

[0037] Advantages of the present invention: By uniformly planning all inspection points, calculating the longest necessary line segment on the inspection path as the minimum inspection execution unit, generating a set of the longest necessary line segments, and being able to dynamically adjust according to the task execution process, and real-time searching for the optimal path planning technical solution, effectively solving the problem of the inspection robot obtaining the optimal inspection path in a complex line environment, and supporting dynamic update of the inspection path during the task execution process, effectively improving the 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 to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is 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 It is a schematic flow diagram of generating a set of the longest necessary line segments in the method for dynamic path planning of an inspection robot provided by an exemplary embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of an inspection task provided by an exemplary embodiment of the present invention;

[0042] Figure 4 It is a block diagram of a device for dynamic path planning of an inspection robot provided by an exemplary embodiment of the present invention;

[0043] Figure 5 It is a block diagram of an electronic device provided according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] Now, the exemplary embodiments will be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various 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 thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote 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 any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present invention. However, those skilled in the art will realize that the technical solutions of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present invention.

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

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

[0048] It should be understood that although terms such as first, second, and third 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. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of the concept of the present invention. As used herein, the term "and / or" includes any one of the associated listed items and all combinations of one or more of them.

[0049] Those skilled in the art can understand that the drawings are only schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing the present invention, so they cannot be used to limit the protection scope of the present invention.

[0050] The technical solutions of the present invention will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

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

[0052] Step S100: Model the pre-configured inspection route and inspection points;

[0053] Step S200: Based on the received inspection task, according to the inspection point sequence, uniformly plan and calculate the longest necessary route segment on the inspection path, and generate a set of longest necessary route segments;

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

[0055] According to some preferred embodiments of the present invention, the modeling of the pre-configured inspection route and inspection points is specifically as follows: On the configuration tool, complete the overall inspection route planning according to the requirements of the inspection points and the road conditions of the inspection site, decompose the route into route segments and route endpoints, configure all inspection points on the route segments, and implement the modeling of route segments, route endpoints, and inspection points in the inspection robot database, record the information of route segments and route endpoints and the endpoint positions, and record the belonging relationship between inspection points and route segments and the inspection point positions.

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

[0057] Step S201: Traverse the inspection point sequence. The route segment where the inspection point is located is the necessary route segment. If the connection point of adjacent necessary route segments is a binary point, merge them into a new longest necessary 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 route endpoints with three or more branches or the origin of the inspection robot, extend from the two endpoints to any route endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and merge the shorter extended line segment with this necessary route segment into a new longest necessary route segment;

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

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

[0061] Figure 3Among them, if both the line segment Line(T51, T52) and the line segment Line(T52, T53) contain inspection points, then both the line segment Line(T51, T52) and the line segment Line(T52, T53) are necessary line segments, and their connection point is a binary point. Therefore, they are merged into a new longest necessary line segment Line(T51, T52, T53), which is marked with " / ".

[0062] Since the longest necessary line segment Line(T51, T52, T53) does not end with a line endpoint of three forks or more or the origin of the inspection robot, the longest necessary line segment Line(T51, T52, T53) is extended towards both ends. The T51 endpoint can be extended to T5 to reach a three-fork endpoint. Therefore, a new longest necessary line segment Line(T5, T51, T52, T53) is formed with the line segment Line(T5, T51), and the extended line segment is marked with the symbol " / / ".

[0063] For the continuous line segment Line(T13, T14, T15, T16, T36, T35, T34, T33), after steps S21 and S22, the line segments Line(T13, T14, T15, T16) and Line(T33, T34) are set as necessary line segments; since both ends of the continuous line segment Line(T13, T14, T15, T16, T36, T35, T34, T33) are necessary line segments, calculate the total length of the necessary line segments on this line segment, that is, the necessary line segment Line(T13, T14, T15, T16) + the necessary line segment Line(T34, T33), and compare it 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 segment (the calculation result is an assumption for illustrating the 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 new added part is marked with the symbol " / / ".

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

[0065] Step S301: When starting the inspection, the inspection robot searches for the endpoint of the longest necessary line segment with the shortest path from the current position. Starting from the current position, it reaches the endpoint of the longest necessary line segment along the shortest path to start the inspection until the inspection work of all inspection points on this longest necessary line segment is completed, and this longest necessary line segment is deleted from the set of necessary line segments.

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

[0067] According to some preferred embodiments of the present invention, in Step S301, after deleting this longest necessary route segment from the set of necessary route segments, it further includes: checking whether there are only two other longest necessary route segments meeting at the endpoints of this longest necessary route segment. If so, merge the two longest necessary route segments into a new longest necessary route segment.

[0068] According to some preferred embodiments of the present invention, it further includes: when the inspection robot is performing an inspection task, that is, when the set of the longest necessary route segments being executed is not empty, and the inspection robot receives a new inspection task, perform Step S201, Step S202, and Step S203 on the new inspection task to generate a new set of the longest necessary route segments, and perform the inspection task with the new set of the longest necessary route segments.

[0069] According to some preferred embodiments of the present invention, it further includes: when the inspection robot is performing an inspection task, that is, when the set of the longest necessary route segments being executed is not empty, and the inspection robot receives a high-priority inspection task, perform Step S201, Step S202, and Step S203 on the high-priority inspection task to generate a set of the longest necessary route segments, and preferentially execute the set of the longest necessary route segments with high priority, and then execute the set of the longest necessary route segments with low priority.

[0070] According to some preferred embodiments of the present invention, when starting the inspection in Step S301, to find the endpoint of the longest necessary route segment with the shortest path from the current position of the inspection robot, specifically: taking the current position of the inspection robot as the base point, searching for the endpoints of the longest necessary route segments in all branches in a breadth-first manner. When finding the endpoint of any longest necessary route segment, record the shortest path, the shortest path distance, and the endpoint information until finding the endpoint of the longest necessary route segment with a shorter path next, and update the shortest path, the shortest path distance, and the endpoint information. When calculating the path length of each branch in the breadth-first manner, if the branch path length is already greater than the recorded shortest path distance, abandon this branch and continue to search the next branch until all branches of this endpoint are searched.

[0071] According to some preferred embodiments of the present invention, the calculation of the shortest path considers the line segment distance and the weight, where the weight is configured according to the time consumed by the inspection robot when traveling on this section of the road.

[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 device embodiments of the present application are described below, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, reference may be made to the method embodiments of the present application.

[0074] Figure 4 The block diagram showing a device for dynamic path planning of an inspection robot provided according to an exemplary embodiment of the present invention includes:

[0075] The modeling and configuration module 410 is used to model the pre-configured inspection route and inspection points.

[0076] The path calculation and planning module 420, based on the received inspection task, according to 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.

[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 set of the longest necessary route segments calculated and generated by the path planning and calculation module 420.

[0078] The inspection task execution module 440 is used to, according to the set of the longest necessary route segments calculated and generated by the path planning and calculation module 420, start from the endpoint of the longest necessary route segment of the shortest path found from the current position, complete the inspection of the set of the longest necessary route segments, and complete the inspection task.

[0079] According to some preferred embodiments of the present invention, the modeling and configuration module 410 is used to model the pre-configured inspection route and inspection points. Specifically, it completes the overall inspection route planning according to the requirements of the inspection points and the road conditions of the inspection site, decomposes the route into route segments and route endpoints, configures all inspection points on the route segments, realizes the modeling of the route segments, route endpoints, and inspection points in the inspection robot database, records the route segment and route endpoint information and the endpoint positions, and records the belonging 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 and planning module 420 calculates and generates a set of the longest necessary route segments according to the inspection point sequence based on the received inspection task. Specifically:

[0081] Traverse the inspection point sequence. The route segment where the inspection point is located is the necessary route segment. If the connection point of adjacent necessary route segments is a binary point, it is merged into a new longest necessary route segment.

[0082] Check the endpoints of all the generated longest necessary path segments. If neither of the two endpoints of a necessary path segment is a line endpoint with three or more branches or the origin of the inspection robot, extend from the two endpoints to either a line endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and merge the shorter extended line segment with this necessary path segment into a new longest necessary path segment;

[0083] If there are necessary path segments at both ends of a continuous line segment without a line endpoint with three or more branches in the middle, calculate the total length of the necessary path segments on this line segment and compare it with the length of the non-necessary path segment. If the sum of the lengths of the necessary path segments is greater than the length of the non-necessary path segment, then this continuous line segment is merged into a new longest necessary path segment.

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

[0085] Figure 5 An electronic device provided includes a processor and a memory. The memory stores computer instructions. When the computer instructions are executed by the processor, the processor executes the computer instructions to implement the method and refinement scheme as Figure 1 shown.

[0086] It should be understood that the above system embodiments are illustrative only, and the system disclosed by the present invention can also be implemented in other ways. For example, the division of the above-mentioned units / modules is only a logical function division, and there can 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, without special instructions, in each embodiment of the present invention, each functional unit / module can be integrated in one unit / module, or each unit / module can exist physically alone, or two or more units / modules can be integrated together. The above integrated unit / module can be implemented in the form of hardware or in the form of a software program module.

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

[0089] When 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 this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned memory includes: USB flash drives, read-only memory (ROM), random access memory (RAM), external hard drives, magnetic disks, or optical discs, etc., all of which can store program codes.

[0090] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally 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 Including: Step S100: Model the pre-configured inspection route and inspection points; Step S200: Based on the received inspection tasks, according to the inspection point sequence, uniformly plan and calculate the longest necessary route segment on the inspection path, and generate a set of the longest necessary route segments; Specifically including: Step S201: Traverse the inspection point sequence. The line segment where the inspection point is located is the necessary route segment. If the connection point of adjacent necessary route segments is a binary point, merge them into a new longest necessary route segment; Step S202: Check the endpoints of all the longest necessary route segments generated in Step S201. If neither of the two endpoints of the necessary route segment is a line endpoint with three or more branches or the origin of the inspection robot, extend from the two endpoints to any line endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and merge the shorter extended line segment with this necessary route segment into a 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 line segment without a line endpoint with three or more branches in the middle, calculate the total length of the necessary route segments on this line segment, and compare it with the length of the non-necessary route segment. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segment, then this continuous line segment is merged into a new longest necessary route segment; Step S300: Execute the inspection task according to the set of the longest necessary route segments.

2. The path dynamic planning method of an inspection robot according to claim 1, wherein The modeling of the pre-configured inspection route and inspection points is specifically as follows: Complete the overall inspection route planning on the configuration tool according to the requirements of the inspection points and the road conditions information of the inspection site, decompose the route into line segments and line endpoints, configure all inspection points on the line segments, and implement the modeling of line segments, line endpoints, and inspection points in the inspection robot database, record the line segment and line endpoint information and the endpoint positions, and record the belonging relationship between the inspection points and the line segments and the inspection point positions.

3. The path dynamic planning method of an inspection robot according to claim 1, wherein, The specific content of Step S300 includes: Step S301: When starting the inspection, the inspection robot searches for the endpoint of the longest necessary route segment with the shortest path from the current position, starts from the current position, and reaches this endpoint of the longest necessary route segment along the shortest path to start the inspection until the inspection of all inspection points on this longest necessary route segment is completed, and delete this longest necessary route segment from the set of necessary route segments; Step S302: Check the set of the longest necessary route segments. If it is empty, the current inspection task ends; if it is not empty, continue to implement the inspection work in Step S301 from the current position until the set of the longest necessary route segments is empty, and complete the current inspection task.

4. The path dynamic planning method of an inspection robot according to claim 3, characterized in that In Step S301, after deleting this longest necessary route segment from the set of necessary route segments, it also includes: checking whether there are only two other longest necessary route segments meeting at this endpoint of this longest necessary route segment. If so, merge the two longest necessary route segments into a new longest necessary route segment.

5. The path dynamic planning method of an inspection robot according to claim 1, characterized in that, Also including: When the inspection robot is performing an inspection task, that is, when the set of the longest necessary route segments being executed is not empty and the inspection robot receives a new inspection task, steps S201, S202, and S203 are executed for the newly added inspection task to generate a new set of the longest necessary route segments, and the inspection task is executed with the new set of the longest necessary route segments.

6. The path dynamic planning method of an inspection robot according to claim 1, characterized in that It also includes: When the inspection robot is performing an inspection task, that is, when the set of the longest necessary route segments being executed is not empty and the inspection robot receives a high-priority inspection task, steps S201, S202, and S203 are executed for the high-priority inspection task to generate a set of the longest necessary route segments, and the set of the longest necessary route segments with high priority is preferentially executed, and then the set of the longest necessary route segments with low priority is executed.

7. The path dynamic planning method for a patrol robot according to claim 3, wherein, When starting the inspection in step S301, the endpoint of the longest necessary route segment with the shortest path is found from the current position of the inspection robot. Specifically: taking the current position of the inspection robot as the base point, the endpoints of the longest necessary route segment are searched in all branches in a breadth-first manner. 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 with a shorter path is found, and the shortest path, the shortest path distance, and the endpoint information are updated. When calculating the path length of each branch in a breadth-first manner, if the length of the branch path is greater than the recorded shortest path distance, the branch is abandoned and the search for the next branch continues until the search for all branches of the endpoint is completed.

8. The path dynamic planning method of an inspection robot according to claim 7, characterized in that, The calculation of the shortest path takes into account the line segment distance and the weight, where the weight is configured based on the time consumed by the inspection robot to travel on this section of the road.

9. A method for dynamic path planning of an inspection robot according to any one of claims 1 to 8, characterized in that The inspection robot is a wheeled inspection robot or a quadruped inspection robot.

10. A path dynamic planning device for a patrol robot, characterized in that, It includes: A modeling configuration module for modeling the pre-configured inspection route and inspection points ； A path calculation and planning module, based on the received inspection task, according to the inspection point sequence, uniformly plans and calculates the longest necessary route segments on the inspection path to generate a set of the longest necessary route segments; Specifically: Traverse the inspection point sequence. The line segments where the inspection points are located are necessary route segments. If the connection points of adjacent necessary route segments are binary points, they are merged into a new longest necessary route segment; Check the endpoints of all the generated longest necessary route segments. If both endpoints of a necessary route segment are not line endpoints with three or more branches or the origin of the inspection robot, extend from the two endpoints to any line endpoint with three or more branches or the origin of the inspection robot at both ends, compare the extended distances of the two endpoints, and the shorter extended line segment is merged with this necessary route segment into a new longest necessary route segment; If there are necessary route segments at both ends of a continuous line segment without line endpoints with three or more branches in the middle, calculate the total length of the necessary route segments on this line segment and compare it with the length of the non-necessary route segment. If the sum of the lengths of the necessary route segments is greater than the length of the non-necessary route segment, this continuous line segment is merged into a new longest necessary route segment; A storage unit module for storing the line segments of the inspection site and the pre-configured inspection point information, and storing the set of the longest necessary line segments calculated and generated by the path planning calculation module; An inspection task execution module for starting from the endpoint of the longest necessary line segment of the shortest path found from the current location according to the set of the longest necessary line segments calculated and generated by the path planning calculation module, and completing the inspection of the set of the longest necessary line segments to complete the inspection task.

11. The path dynamic planning device for a patrol robot according to claim 10, characterized in that The modeling configuration module is used for modeling the pre-configured inspection line and inspection points. Specifically, it completes the overall inspection line planning according to the requirements of the inspection points and the road conditions of the inspection site, decomposes the line into line segments and line endpoints, configures all inspection points on the line segments, realizes the modeling of line segments, line endpoints, and inspection points in the inspection robot database, records the information of line segments and line endpoints and the positions of the endpoints, and records the belonging relationship between the inspection points and the line segments and the positions of the inspection points.

12. An electronic device, characterized in that, including: a processor; a memory, and a computer program stored in the memory and executable on the processor, wherein the processor realizes the method according to any one of claims 1 to 9 when executing the computer program.

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