Booster station inspection robot path guiding method

Abstract

The invention discloses a booster station inspection robot path guiding method, and relates to the technical field of inspection robot path guiding, in a booster station inspection process, a dynamic simulation model is established, so that the spatial layout and operation state of corresponding equipment in a booster station can be comprehensively known, and equipment information in the booster station is scanned by using a high-definition camera; therefore, detailed data such as equipment size, position and serial number are obtained, the dynamic simulation model is beneficial to reflecting the operation condition of the booster station in real time, it is ensured that the inspection robot has good adaptability and flexibility in a complex environment, the efficiency and accuracy of the inspection task are further improved, and in the inspection path priority analysis process, the inspection efficiency is improved. By acquiring the inspection influence parameters of the inspection paths, the inspection paths can be scientifically and reasonably selected, effective path allocation is performed on the inspection robot according to the importance and complexity of the paths, and autonomous intelligence of the inspection strategy can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robot path guidance, and in particular to a booster station inspection robot path guidance method. Background Art

[0002] Modern intelligent inspections require real-time monitoring and data analysis of equipment status in order to promptly detect anomalies, handle faults and perform maintenance. The path guidance method can integrate real-time monitoring technology to enable the inspection robot to dynamically adjust the inspection path based on real-time data, thereby improving operational flexibility and response speed.

[0003] Prior art, such as the invention patent application with announcement number CN117032259A, discloses a path guidance method for a booster station inspection robot, which belongs to the field of path guidance technology; it includes the following steps: making positioning anchor rods, installing positioning anchor rods at the four corners of the prohibited area, the positioning anchor rods sending corresponding position coordinates to the robot control system, the robot fitting the prohibited area position data according to the coordinates of the four feature points, and automatically updating the prohibited area data to the inspection map. The present invention discloses a path guidance method for a booster station inspection robot, which guides the path of the booster station inspection robot using the method of the present invention, so that the booster station inspection robot will not drive to the set prohibited area, and can quickly realize the intelligent inspection of various instruments, meters, knife switches and other equipment in the booster station, and the prohibited area data is automatically updated to the inspection map to realize the robot's prohibited area control.

[0004] With respect to the above scheme, there are at least the following technical problems: 1. The above scheme lacks an analytical method for determining the priority of inspection paths, which will lead to low inspection efficiency and waste of resources. Priority analysis is an important link in ensuring that important equipment is inspected in a timely manner. If there is no clear priority division, key equipment will not be inspected in a timely manner, thus affecting the overall safety and stable operation of the substation. The lack of a mechanism for evaluating the status of each inspection robot will lead to failure to timely identify and respond to performance problems that arise during the execution of tasks by the inspection robot. For example, if the robot is short of power or a fault is not detected in time, the inspection task will be interrupted, affecting the inspection effect and safety of the substation.

[0005] 2. The above scheme lacks a description of the abnormal warning mechanism of the inspection process, which will lead to the inability to respond to potential safety hazards in a timely manner during the inspection process. The detection and handling of abnormal situations are crucial to ensure the safe operation of the equipment. If the corresponding early warning system is not set up, the inspection robot may not be able to take effective measures when encountering equipment failure, environmental changes or other abnormal situations, which may lead to more serious consequences. Summary of the invention

[0006] The purpose of the present invention is to provide a path guidance method for a booster station inspection robot, which solves the problems existing in the background technology.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a path guidance method for a booster station inspection robot, including: Step 1, booster station model establishment: Obtain the corresponding equipment information in the specified booster station, thereby establishing a dynamic simulation model of the specified booster station.

[0008] Step 2: Inspection path priority analysis: Obtain the inspection impact parameters corresponding to each inspection path in the specified booster station, and then analyze the inspection path corresponding to each inspection robot.

[0009] Step 3: Inspection robot status assessment: Obtain the comprehensive inspection information corresponding to each inspection robot during the inspection process, thereby assessing whether each inspection robot can complete the inspection task of the corresponding inspection path.

[0010] Step 4: Inspection process analysis: Analyze the process of each inspection robot performing the corresponding inspection task.

[0011] Step 5: Warning of abnormalities during inspection process: When an inspection robot detects an abnormal situation during the inspection process, an abnormal situation warning will be issued.

[0012] The beneficial effects of the present invention are: 1. A path guidance method for a booster station inspection robot provided by the present invention, during the booster station inspection process, by establishing a dynamic simulation model, is conducive to a comprehensive understanding of the spatial layout and operating status of the corresponding equipment in the booster station, and a high-definition camera is used to scan the equipment information in the booster station, so as to obtain detailed data such as equipment size, location and serial number. The dynamic simulation model is conducive to real-time reflection of the operation status of the booster station, ensuring that the inspection robot has good adaptability and flexibility in complex environments, and further improving the efficiency and accuracy of the inspection tasks.

[0013] 2. In the process of inspection path priority analysis, the embodiment of the present invention obtains the inspection impact parameters of each inspection path, which is conducive to the scientific and reasonable selection of inspection paths, and effective path allocation for inspection robots according to the importance and complexity of the paths, which helps to achieve autonomous intelligence in inspection strategies, ensure that important paths are inspected first, and reduce potential fault hazards.

[0014] 3. The embodiments of the present invention facilitate real-time evaluation of the inspection robot's execution of tasks by acquiring and analyzing comprehensive inspection information. During the inspection process, the inspection robot can monitor the remaining inspection distance, remaining power and comprehensive importance evaluation index in real time, and evaluate the inspection status based on quantitative data. This can not only improve the success rate of the inspection tasks, but also adjust the inspection plan in time to avoid inspection delays caused by insufficient power or incomplete tasks.

[0015] 4. In the inspection process analysis of the embodiment of the present invention, by recording and analyzing the execution process of each inspection robot in detail, it is helpful to discover problems and optimize processes. By analyzing each link of the inspection robot's execution of tasks, it can identify potential risks and bottlenecks, promote the optimization of the inspection process, and ensure the efficient implementation of the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of the implementation steps of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1 As shown, the present invention provides a path guidance method for a booster station inspection robot, the method comprising: step one, establishing a booster station model: obtaining corresponding equipment information in a specified booster station, thereby establishing a dynamic simulation model of the specified booster station.

[0020] In a specific embodiment, the inspection influencing parameters include the number of key devices, the total equipment failure frequency and the path complexity, and the comprehensive inspection information includes the remaining inspection distance, the remaining power and the comprehensive importance evaluation index.

[0021] It should be noted that key equipment includes but is not limited to transformers, switchgear and mutual inductors.

[0022] In a specific embodiment, the dynamic simulation model of the designated booster station is established, and the specific analysis process is as follows: the equipment information in the designated booster station is scanned by a high-definition camera, the equipment information includes equipment size, equipment location and equipment serial number, and the designated booster station is dynamically simulated and modeled using computer modeling software to obtain the dynamic simulation model corresponding to the designated booster station.

[0023] According to the corresponding spatial layout information in the designated booster station displayed in the dynamic simulation model, the designated booster station is divided into inspection areas according to the area. Each inspection area corresponds to an inspection path, so as to determine the location of the parking place of each inspection robot in the designated booster station, and set a charging pile at the parking place of each inspection robot. When each inspection robot is not performing an inspection task, each inspection robot is parked at the corresponding inspection robot parking place and charged through the charging pile. When each inspection robot is performing an inspection task, the real-time positioning technology is used to display the corresponding position information of each inspection robot in real time in the dynamic simulation model, so as to realize the position monitoring of the inspection process of each inspection robot.

[0024] It should be noted that the dynamic simulation model is a mathematical model used to simulate and analyze the dynamic behavior of the system at different time points. It is implemented through computer software and can reflect the state changes and operation process of the system in real time. The dynamic simulation model is a prior art and will not be repeated here. The corresponding inspection paths in each inspection area refer to one inspection path corresponding to one inspection area. The spatial layout information refers to the location of all equipment and the location of the driving channel in the specified booster station. A parking place for an inspection robot is set in one inspection area, and parking places for inspection robots are set at the boundary entrances of each inspection area.

[0025] Step 2: Inspection path priority analysis: Obtain the inspection impact parameters corresponding to each inspection path in the specified booster station, and then analyze the inspection path corresponding to each inspection robot.

[0026] In a specific embodiment, the inspection impact parameters corresponding to each inspection path in the specified booster station are obtained, and the specific acquisition process is as follows: the equipment serial number in the specified booster station is scanned by a high-definition camera to obtain the number of key equipment corresponding to each inspection path in the specified booster station, and the total operating time of each equipment in each inspection area and the number of failures corresponding to each equipment are obtained from the database, and then the total equipment failure frequency corresponding to each inspection path is calculated. , the path length, number of bends and number of immovable obstacles corresponding to each inspection path are obtained from the dynamic simulation model, and then the path complexity corresponding to each inspection path is calculated ; According to the inspection impact parameters corresponding to each inspection path in the designated booster station, the comprehensive importance evaluation index corresponding to each inspection path in the designated booster station is analyzed.

[0027] It should be noted that the calculation formula , get the total equipment failure frequency corresponding to a certain inspection area , is the number corresponding to each device, , is any integer greater than 2, is the total number of all equipment in a given booster station, where , Respectively expressed as The inspection path corresponds to The number of failures and total operating time corresponding to each device are recorded as , and , respectively, by calculating the formula , and , get the path length score corresponding to each inspection path , Number of bends score and the number of immovable obstacles ,in , , are the longest path length, the largest number of bends, and the largest number of immovable obstacles among all inspection paths obtained from the dynamic simulation model, and then the formula is used to calculate , get the path complexity corresponding to each inspection path , , , They are the weight factor corresponding to the path length, the weight factor corresponding to the number of bends, and the weight factor corresponding to the number of immovable obstacles.

[0028] In a specific embodiment, the comprehensive importance evaluation index corresponding to each inspection path in the specified booster station is analyzed, and the specific analysis process is as follows: the standard control inspection impact parameters corresponding to the inspection path priority analysis in the specified booster station are obtained from the database, and the standard control inspection impact parameters include the number of standard control key equipment, the total failure frequency of standard control equipment and the complexity of the standard control path, which are respectively recorded as , and ; By calculating the formula , and obtain the comprehensive importance evaluation index corresponding to each inspection path in the specified booster station , is the number corresponding to each inspection path, , is any integer greater than 2, is the total number of inspection paths in the specified booster station, where Expressed as The number of key devices corresponding to the inspection paths, , , They are the weight factor corresponding to the set number of key devices, the weight factor corresponding to the total equipment failure frequency, and the weight factor corresponding to the path complexity.

[0029] It should be noted that , , The values ​​of are all greater than and less than .

[0030] It should also be noted that, for example, if there are 5 key devices in a designated booster station, and the failure of 2 of them will cause the entire system to crash, then the weight factor value including these 2 devices should be set higher. The weight factor of the total failure frequency of the equipment takes into account the historical failure record of the equipment. Assuming that a certain device has a failure frequency of up to 10 times in the past year, then the weight factor of the device should be higher than that of the device with a low failure frequency. The path complexity weight factor takes into account the compactness and complexity of the inspection path. For example, there are multiple obstacles in the inspection path where a certain device is located, and multiple avoidances are required during the inspection process. Therefore, the weight factors of the number of key devices, total failure frequency and path complexity are set to 0.4, 0.35 and 0.25 respectively.

[0031] In a specific embodiment, the inspection paths corresponding to each inspection robot are analyzed, and the specific analysis process is as follows: the comprehensive importance evaluation index interval corresponding to the priority of each inspection path is obtained from the database, and the comprehensive importance evaluation index corresponding to each inspection path in the specified booster station is compared with the comprehensive importance evaluation index interval corresponding to the priority of each inspection path. If the comprehensive importance evaluation index corresponding to a certain inspection path in the specified booster station belongs to the comprehensive importance evaluation index interval corresponding to the priority of a certain inspection path, it indicates that the priority of a certain inspection path in the specified booster station is the priority of the inspection path, thereby obtaining the priority corresponding to each inspection path in the specified booster station; The comprehensive performance level corresponding to each inspection robot is obtained from the database, and the priority of each inspection path and the comprehensive performance level of each inspection robot are sorted from large to small to obtain the priority ranking of each inspection path and the comprehensive performance level ranking of each inspection robot. Then, the inspection robot ranked first in the comprehensive performance level is arranged on the inspection path ranked first in the inspection priority, so as to obtain the inspection paths corresponding to each inspection robot.

[0032] It should be noted that the comprehensive performance level corresponding to each inspection robot refers to a performance indicator obtained based on a comprehensive evaluation of the inspection robot's task execution capability, intelligent decision-making, real-time response capability, fault handling and other aspects, which is used to measure its effectiveness and reliability in inspection tasks.

[0033] In the process of inspection path priority analysis, the embodiment of the present invention obtains the inspection impact parameters of each inspection path, which is conducive to the scientific and reasonable selection of inspection paths, and effectively allocates paths to inspection robots according to the importance and complexity of the paths, which helps to achieve autonomous intelligence in inspection strategies, ensure that important paths are inspected first, and reduce potential fault hazards.

[0034] Step 3: Inspection robot status assessment: Obtain the comprehensive inspection information corresponding to each inspection robot during the inspection process, thereby assessing whether each inspection robot can complete the inspection task of the corresponding inspection path.

[0035] In a specific embodiment, the comprehensive inspection information corresponding to each inspection robot during the inspection process is obtained, and the specific acquisition process is as follows: when each inspection robot is performing an inspection task, the remaining inspection distance and remaining power corresponding to each inspection robot during the inspection process are obtained through a dynamic simulation model. Each inspection path corresponds to each inspection robot. According to the comprehensive importance evaluation index corresponding to each inspection path, the corresponding comprehensive importance evaluation index of each inspection robot is obtained, which is recorded as .

[0036] It should be noted that one inspection robot is responsible for inspecting one inspection route. Each inspection robot has a built-in battery monitoring system. The battery monitoring system uploads the battery power information of each inspection robot to the dynamic simulation model in real time, and the dynamic simulation model displays the battery power of each inspection robot in real time.

[0037] The embodiments of the present invention facilitate real-time evaluation of the inspection robot's execution of tasks by acquiring and analyzing comprehensive inspection information. During the inspection process, the inspection robot can monitor the remaining inspection distance, remaining power and comprehensive importance evaluation index in real time, and evaluate the inspection status based on quantitative data. This can not only improve the success rate of the inspection tasks, but also adjust the inspection plan in time to avoid inspection delays caused by insufficient power or incomplete tasks.

[0038] Step 4: Inspection process analysis: Analyze the process of each inspection robot performing the corresponding inspection task.

[0039] In a specific embodiment, the evaluation of whether each inspection robot can complete the inspection task of the corresponding inspection path, the specific analysis process is as follows: based on the comprehensive inspection information corresponding to each inspection robot during the inspection process, the inspection status evaluation coefficient corresponding to each inspection robot in the specified booster station is calculated, and the values ​​of the inspection status evaluation coefficient are -1 and 1. When the inspection status evaluation coefficient corresponding to a patrol robot in the specified booster station is -1, it indicates that the patrol robot cannot complete the inspection task of the corresponding inspection path. When the inspection status evaluation coefficient corresponding to a patrol robot in the specified booster station is 1, it indicates that the patrol robot can complete the inspection task of the corresponding inspection path. In this way, it is evaluated whether each inspection robot can complete the inspection task of the corresponding inspection path.

[0040] In a specific embodiment, the inspection state evaluation coefficient corresponding to each inspection robot is calculated, and the specific calculation process is as follows: According to the inspection state evaluation expression: , and obtain the inspection status evaluation coefficient corresponding to each inspection robot , is the number corresponding to each inspection robot, , is any integer greater than 2, is the total number of inspection robots in a given booster station, where , Respectively expressed as The remaining inspection distance and remaining power of each inspection robot. , They are respectively expressed as the standard control remaining inspection distance and the standard control remaining power. , , They are the weight factors corresponding to the set remaining inspection distance, the weight factors corresponding to the remaining power, and the weight factors corresponding to the comprehensive importance evaluation index. It is expressed as the standard control inspection status evaluation coefficient threshold.

[0041] It should be noted that , , The values ​​of are all greater than and less than , It is the basis for evaluating whether each inspection robot can complete the inspection task of the corresponding inspection path. The value is 10, which is the inspection status evaluation coefficient of a certain inspection robot. When it is 15, it indicates that the inspection robot can complete the inspection task of the corresponding inspection path.

[0042] It should also be noted that, for example: the remaining inspection distance is directly related to the completion of the inspection task, so it is given a high weight value, such as 0.4; the remaining power is an important indicator that affects whether the inspection robot can continue to perform the task, but its impact is lower than that of the inspection distance, so the weight is set to 0.3; the comprehensive importance evaluation index reflects the importance of the inspection path, and the comprehensive importance evaluation index covers the equipment status and inspection efficiency, so the weight of the comprehensive importance evaluation index is set to 0.3.

[0043] The specific analysis process of analyzing the inspection robots executing the corresponding inspection tasks is as follows: obtaining the braking safety distances corresponding to the inspection robots from the database, and the braking safety distances correspond to the moving speed intervals.

[0044] When each inspection robot performs an inspection task within the corresponding inspection path, it uses a panoramic camera to photograph the booster station environment within each inspection path. When the inspection robot detects an abnormal situation, it takes an image of the location where the abnormal situation occurred and records the serial number of the equipment closest to the location where the abnormal situation occurred. The image and serial number are then uploaded to the abnormal situation processing center to complete the abnormal situation processing of each inspection robot.

[0045] The moving speed of each inspection robot is obtained in real time through the built-in speed sensor of each inspection robot. If the moving speed of the inspection robot is within a certain moving speed range, when the inspection robot detects during the inspection process that the distance to the obstacle in front is less than or equal to the braking safety distance corresponding to the moving speed range, the inspection robot starts to brake and slow down, thereby achieving obstacle avoidance of each inspection robot.

[0046] It should be noted that the inspection task refers to detecting whether there are any abnormal conditions in each inspection area. Abnormal conditions include but are not limited to abnormal equipment operation, illegal operation by workers and structural abnormalities. The braking force corresponding to each inspection robot is a pre-set fixed value. The braking force refers to the force or strength applied by the braking system.

[0047] In the inspection process analysis, the embodiment of the present invention records and analyzes the execution process of each inspection robot in detail, which is conducive to discovering problems and optimizing processes. By analyzing each link of the inspection robot's execution of tasks, potential risks and bottlenecks can be identified, promoting the optimization of the inspection process, and ensuring the efficient implementation of the inspection work.

[0048] Step 5: Warning of abnormalities during inspection process: When an inspection robot detects an abnormal situation during the inspection process, an abnormal situation warning will be issued.

[0049] It should be noted that when a patrol robot captures an image of the location where an abnormal situation occurs and uploads the image and serial number to the abnormal situation processing center, the image is identified through image recognition technology to obtain the type of abnormal situation. The abnormal level corresponding to the abnormal situation type stored in the database is used to obtain the abnormal level corresponding to the abnormal situation. The type of abnormal situation, the abnormal level and the serial number are then sent to the staff's information receiving terminal to achieve early warning of the abnormal situation.

[0050] The present invention provides a path guidance method for a booster station inspection robot. During the booster station inspection process, a dynamic simulation model is established to help fully understand the spatial layout and operating status of corresponding equipment in the booster station. A high-definition camera is used to scan equipment information in the booster station to obtain detailed data such as equipment size, location and serial number. The dynamic simulation model is conducive to real-time reflection of the operation status of the booster station, ensuring that the inspection robot has good adaptability and flexibility in complex environments, and further improving the efficiency and accuracy of inspection tasks.

[0051] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined in this specification, they shall all fall within the protection scope of the present invention.

Claims

1. A path guidance method for a booster station inspection robot, characterized in that: include: Step 1: Establishing a booster station model: Obtaining the corresponding equipment information in the specified booster station, thereby establishing a dynamic simulation model of the specified booster station; Step 2: Inspection path priority analysis: Obtain the inspection impact parameters corresponding to each inspection path in the specified booster station, and then analyze the inspection path corresponding to each inspection robot; Step 3: Inspection robot status assessment: Obtain the comprehensive inspection information corresponding to each inspection robot during the inspection process, thereby assessing whether each inspection robot can complete the inspection task of the corresponding inspection path; Step 4: Inspection process analysis: Analyze the process of each inspection robot performing the corresponding inspection task; Step 5: Warning of abnormalities during inspection process: When an inspection robot detects an abnormal situation during the inspection process, an abnormal situation warning will be issued.

2. A path guidance method for a booster station inspection robot according to claim 1, characterized in that: The inspection influencing parameters include the number of key devices, the total equipment failure frequency and the path complexity, and the comprehensive inspection information includes the remaining inspection distance, the remaining power and the comprehensive importance evaluation index.

3. A path guidance method for a booster station inspection robot according to claim 2, characterized in that: The specific analysis process of establishing a dynamic simulation model for a specified booster station is as follows: Scan the equipment information in the designated booster station through a high-definition camera, including equipment size, equipment location and equipment serial number, and use computer modeling software to dynamically simulate the designated booster station to obtain a dynamic simulation model corresponding to the designated booster station; According to the corresponding spatial layout information in the designated booster station displayed in the dynamic simulation model, the designated booster station is divided into inspection areas according to the area. Each inspection area corresponds to an inspection path, so as to determine the location of the parking place of each inspection robot in the designated booster station, and set a charging pile at the parking place of each inspection robot. When each inspection robot is not performing an inspection task, each inspection robot is parked at the corresponding inspection robot parking place and charged through the charging pile. When each inspection robot is performing an inspection task, the real-time positioning technology is used to display the corresponding position information of each inspection robot in real time in the dynamic simulation model, so as to realize the position monitoring of the inspection process of each inspection robot.

4. A path guidance method for a booster station inspection robot according to claim 3, characterized in that: The specific acquisition process of obtaining the inspection impact parameters corresponding to each inspection path in the specified booster station is as follows: Scan the serial numbers of the equipment in the specified booster station with a high-definition camera to obtain the number of key equipment corresponding to each inspection path in the specified booster station, obtain the total operating time of each equipment in each inspection area and the number of failures corresponding to each equipment from the database, and then calculate the total failure frequency of the equipment corresponding to each inspection path. , the path length, number of bends and number of immovable obstacles corresponding to each inspection path are obtained from the dynamic simulation model, and then the path complexity corresponding to each inspection path is calculated ; According to the inspection impact parameters corresponding to each inspection path in the designated booster station, the comprehensive importance evaluation index corresponding to each inspection path in the designated booster station is analyzed.

5. A path guidance method for a booster station inspection robot according to claim 4, characterized in that: The analysis specifies the comprehensive importance evaluation index corresponding to each inspection path in the booster station. The specific analysis process is as follows: Obtain the standard control inspection impact parameters corresponding to the inspection path priority analysis in the specified booster station from the database. The standard control inspection impact parameters include the number of standard control key equipment, the total failure frequency of standard control equipment, and the complexity of the standard control path, which are recorded as , and ; By calculating the formula , and obtain the comprehensive importance evaluation index corresponding to each inspection path in the specified booster station , is the number corresponding to each inspection path, , is any integer greater than 2, is the total number of inspection paths in the specified booster station, where Expressed as The number of key devices corresponding to the inspection paths, , , They are the weight factor corresponding to the set number of key devices, the weight factor corresponding to the total equipment failure frequency, and the weight factor corresponding to the path complexity.

6. A path guidance method for a booster station inspection robot according to claim 5, characterized in that: The specific analysis process of analyzing the inspection paths corresponding to each inspection robot is as follows: Obtain the comprehensive importance evaluation index interval corresponding to each inspection path priority from the database, and compare the comprehensive importance evaluation index corresponding to each inspection path in the specified booster station with the comprehensive importance evaluation index interval corresponding to each inspection path priority. If the comprehensive importance evaluation index corresponding to a certain inspection path in the specified booster station belongs to the comprehensive importance evaluation index interval corresponding to a certain inspection path priority, it indicates that the priority of a certain inspection path in the specified booster station is the inspection path priority, thereby obtaining the priority corresponding to each inspection path in the specified booster station; The comprehensive performance level corresponding to each inspection robot is obtained from the database, and the priority of each inspection path and the comprehensive performance level of each inspection robot are sorted from large to small to obtain the priority ranking of each inspection path and the comprehensive performance level ranking of each inspection robot. Then, the inspection robot ranked first in the comprehensive performance level is arranged on the inspection path ranked first in the inspection priority, so as to obtain the inspection paths corresponding to each inspection robot.

7. A path guidance method for a booster station inspection robot according to claim 6, characterized in that: The specific acquisition process of obtaining the comprehensive inspection information corresponding to each inspection robot during the inspection process is as follows: When each inspection robot is performing an inspection task, the remaining inspection distance and remaining power of each inspection robot during the inspection process are obtained through the dynamic simulation model. Each inspection path corresponds to each inspection robot. According to the comprehensive importance evaluation index corresponding to each inspection path, the corresponding comprehensive importance evaluation index of each inspection robot is obtained, which is recorded as .

8. A path guidance method for a booster station inspection robot according to claim 7, characterized in that: The specific analysis process of evaluating whether each inspection robot can complete the inspection task of the corresponding inspection path is as follows: According to the comprehensive inspection information corresponding to each inspection robot during the inspection process, the inspection status evaluation coefficient corresponding to each inspection robot in the specified booster station is calculated. The values ​​of the inspection status evaluation coefficient are -1 and 1. When the inspection status evaluation coefficient corresponding to a patrol robot in the specified booster station is -1, it indicates that the patrol robot cannot complete the inspection task of the corresponding inspection path. When the inspection status evaluation coefficient corresponding to a patrol robot in the specified booster station is 1, it indicates that the patrol robot can complete the inspection task of the corresponding inspection path. In this way, it is evaluated whether each patrol robot can complete the inspection task of the corresponding inspection path.

9. A path guidance method for a booster station inspection robot according to claim 8, characterized in that: The specific calculation process of calculating the inspection status evaluation coefficient corresponding to each inspection robot is as follows: Evaluate the expression based on the inspection status: , and obtain the inspection status evaluation coefficient corresponding to each inspection robot , is the number corresponding to each inspection robot, , is any integer greater than 2, is the total number of inspection robots in a given booster station, where , Respectively expressed as The remaining inspection distance and remaining power of each inspection robot. , They are respectively expressed as the standard control remaining inspection distance and the standard control remaining power. , , They are the weight factors corresponding to the set remaining inspection distance, the weight factors corresponding to the remaining power, and the weight factors corresponding to the comprehensive importance evaluation index. It is expressed as the standard control inspection status evaluation coefficient threshold.

10. A path guidance method for a booster station inspection robot according to claim 9, characterized in that: The specific analysis process of analyzing each inspection robot performing the corresponding inspection task is as follows: Obtain each braking safety distance corresponding to the inspection robot from the database, and each braking safety distance corresponds to each moving speed range; When each inspection robot performs inspection tasks in the corresponding inspection path, it uses a panoramic camera to shoot the booster station environment in each inspection path. When the inspection robot detects an abnormal situation, it takes an image of the location where the abnormal situation occurs and records the serial number of the device closest to the location where the abnormal situation occurs. The image and serial number are then uploaded to the abnormal situation processing center to complete the abnormal situation processing of each inspection robot; The moving speed of each inspection robot is obtained in real time through the built-in speed sensor of each inspection robot. If the moving speed of the inspection robot is within a certain moving speed range, when the inspection robot detects during the inspection process that the distance to the obstacle in front is less than or equal to the braking safety distance corresponding to the moving speed range, the inspection robot starts to brake and slow down, thereby achieving obstacle avoidance of each inspection robot.

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