Position correction control method of electric power inspection robot

Abstract

The invention relates to the technical field of position correction, and discloses a position correction control method of an electric power inspection robot. Comprising the steps of marking inspection point locations in an electronic map of a to-be-inspected area, screening out a target inspection path, marking detection point locations in the target inspection path, judging whether to enter a correction control mode or not, obtaining a target correction value from the electric power inspection robot to a safe area line, and generating a corresponding correction control instruction. Controlling the electric power inspection robot to perform position correction; compared with the prior art, a large amount of data irrelevant to position correction can be eliminated, the target inspection path with the highest reliability can be screened out, and meanwhile through detection and calculation of the distance between the left side and the right side of the detection point, high burden caused by whole-process position detection of the target inspection path can be avoided; meanwhile, the position deviation condition of the electric power inspection robot can be accurately known, and the safety and stability of the inspection state of the electric power inspection robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of position correction, and more specifically, to a position correction control method for an electric power inspection robot. Background Art

[0002] When the power inspection robot enters the inspection site to conduct power inspection, when there are interference factors such as the power inspection robot collides with obstacles or the inspection road is uneven, the real-time inspection position of the power inspection robot will be offset, thereby causing the accuracy of the power inspection to decrease. Therefore, it is necessary to correct and control the inspection position of the power inspection robot.

[0003] The patent application with reference publication number CN112000109A discloses a position correction method of an electric power inspection robot, an electric power inspection robot and a medium. By detecting the current position of the electric power inspection robot and determining a target control cabinet among multiple control cabinets to be inspected, when the current position of the electric power inspection robot is within a preset range of the target control cabinet, the electric power inspection robot is controlled to rotate in situ to make the X direction of the electric power inspection robot parallel to the horizontal coordinate direction of the target control cabinet, so that the electric power inspection robot can be aligned with the target control cabinet in the X direction, and the Y direction of the electric power inspection robot is controlled to correspond to the position of the line between the midpoints of the two horizontal coordinate boundaries of the target control cabinet to complete the position correction of the electric power inspection robot, so that the electric power inspection robot is aligned with the target control cabinet in the Y direction, thereby completing the position correction of the electric power inspection robot, thereby effectively ensuring the electric power inspection robot's inspection of each control cabinet to be inspected;

[0004] When performing position correction, the existing power inspection robots adopt a method of manually controlling the mobile inspection of the power inspection robots, and combine ranging sensors, cameras and other intelligent devices to continuously detect the real-time inspection position of the power inspection robots to identify and correct the position of the power inspection robots. Although the correction control effect of the inspection position can be achieved, a large amount of inspection position data needs to be continuously collected, and the inspection position data needs to be analyzed and calculated in real time, so that a large amount of data will bring a high amount of work calculation, which not only increases the operating burden of the power inspection robots, but also increases the error probability of the inspection position correction control.

[0005] In view of this, the present invention proposes a position correction control method for an electric power inspection robot to solve the above problem. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a position correction control method of a power inspection robot, applied to a correction server, comprising:

[0007] S1: marking inspection points on the electronic map of the area to be inspected, and constructing the inspection area based on the area construction criterion. The area construction criterion is: excluding the area outside the expanded boundary line;

[0008] S2: Plan a path to be verified in the inspection area, obtain verification parameters of the path to be verified, calculate the path reliability coefficient, and select the target inspection path from the path to be verified. The verification parameters include path duplication value and path excess value.

[0009] S3: Mark the inspection points in the target inspection path, obtain the safety inspection width of the inspection points, and determine whether to enter the correction control mode. The safety inspection width includes the first inspection width and the second inspection width. If it is determined to enter the correction control mode, execute S4-S5; if it is determined not to enter the correction control mode, repeat S3;

[0010] S4: Draw a safety area line of the power inspection robot, obtain a target correction value of the power inspection robot to the safety area line, and generate a corresponding correction control instruction, the safety area line includes a first area line and a second area line;

[0011] S5: According to the correction control instruction, the power inspection robot is controlled to perform position correction until it stops entering the correction control mode.

[0012] Furthermore, the marking method of the inspection point includes:

[0013] The electronic map of the area to be inspected is queried from the database, and all power equipment and inspection roads are marked on the electronic map to obtain i power equipment and k inspection roads;

[0014] The attribute status of i power devices is queried one by one through the attribute management system, and the power devices with the attribute status of waiting for inspection are recorded as devices to be inspected, so as to obtain p devices to be inspected;

[0015] The longitude and latitude of p devices to be inspected are queried through the technical parameter table, and the points corresponding to the longitude and latitude of the p devices to be inspected are marked on the electronic map to obtain p inspection points.

[0016] Furthermore, the method for constructing the inspection area includes:

[0017] Taking p inspection points as base points, measure the distances from the inspection points to the inspection roads horizontally to the left and right sides and vertically to the upper and lower sides, and obtain p first point-road distance values, p second point-road distance values, p third point-road distance values, and p fourth point-road distance values;

[0018] The inspection roads corresponding to the minimum value of the first point-to-road distance value, the minimum value of the second point-to-road distance value, the minimum value of the third point-to-road distance value, and the minimum value of the fourth point-to-road distance value of the p inspection points are recorded as first valid roads, and w first valid roads are obtained;

[0019] Query the attribute values ​​of k inspection roads one by one, and record the inspection roads whose attribute values ​​are the entrance road and the exit road as the second valid road and the third valid road respectively;

[0020] Using computer vision technology, an inspection road connecting the second valid road and the first valid road, and an inspection road connecting the third valid road and the first valid road are identified, which are recorded as a first associated road and a second associated road respectively;

[0021] The second valid road, the third valid road, the first associated road, the second associated road and w first valid roads are combined and summarized to obtain a target road;

[0022] Identify the target road located outside, and use the outer boundary of the target road outside as the extension starting point, extend outward by a standard extension distance, and obtain an extended boundary line;

[0023] The area outside the expanded boundary line is eliminated, and the area within the expanded boundary line is recorded as the inspection area.

[0024] Furthermore, the method for obtaining the path repetition value includes:

[0025] Taking the location of the second valid road as the starting point and the location of the third valid road as the end point, all target roads in the s to-be-verified paths are numbered in ascending order;

[0026] Query the passing values ​​of all target roads in order from small to large numbers;

[0027] The target roads with a passing value greater than 1 are recorded as repeated roads, x repeated roads are obtained, and the number of passing times of the x repeated roads is counted in sequence to obtain x passing times values;

[0028] The lengths of x repeated roads are measured in sequence to obtain x length values, and x sub-repeated values ​​are obtained based on the x length values ​​and the x number of passing times;

[0029] The expression for the sub-repeat value is:

[0030] CF zsx =CD zsx *CS zsx .

[0031] Where, CF zsx is the x-th sub-repetition value of the s-th path to be verified, CD zsxis the xth length value of the sth path to be verified, CS zsx is the xth number of passes of the sth path to be verified;

[0032] After accumulating x sub-repetition values, the path repetition value is obtained;

[0033] The expression for the path repetition value is:

[0034]

[0035] In the formula, LJ cfs is the path repetition value of the sth path to be verified, CF zsa It is the a-th sub-repetition value of the s-th path to be verified.

[0036] Furthermore, the method for obtaining the path excess value includes:

[0037] The target road with a passing value equal to 1 is recorded as a non-repeated road, and the lengths of the non-repeated roads in the s paths to be verified are measured one by one to obtain z non-repeated lengths;

[0038] After accumulating z non-repeating lengths, add them to the path repetition value to obtain s first total lengths;

[0039] The expression for the first total length is:

[0040]

[0041] In the formula, CD z1s is the first total length of the sth path to be verified, CD fcsb The bth non-repeating length of the sth path to be verified;

[0042] Query the standard inspection distances of p devices to be inspected one by one through the technical parameter table, and obtain p standard distance values;

[0043] Measure the distances from p inspection points to all target roads in s to-be-verified paths one by one, and record the minimum value of the distances as the inspection span value, to obtain p inspection span values;

[0044] Subtract the p inspection span values ​​from the corresponding p standard distance values, and then add up the differences to obtain s second total lengths;

[0045] The expression for the second total length is:

[0046]

[0047] In the formula, CD z2s is the second total length of the sth path to be verified, XJ kdsc is the cth inspection span value of the sth path to be verified, BZjlsc is the cth standard distance value of the sth path to be verified;

[0048] The s first total lengths and the s second total lengths are added together and subtracted from the standard total length to obtain s path excess values;

[0049] The expression for the path excess value is:

[0050] LJ ces =CD z1s +CD z2s -CD bz ;

[0051] In the formula, LJ ces is the path excess value of the sth path to be verified, CD bz The standard overall length.

[0052] Furthermore, the method for screening the target inspection path includes:

[0053] Based on the s path repetition values ​​and the s path excess values, the s path reliability coefficients are calculated;

[0054] The expression of path reliability coefficient is:

[0055]

[0056] In the formula, LJ kks is the path reliability coefficient of the sth path to be verified, σ1 and σ2 are weight factors greater than 0;

[0057] Arrange the s path reliability coefficients in descending order from large to small, and record the to-be-verified path corresponding to the first path reliability coefficient as the target inspection path;

[0058] When the to-be-verified path corresponding to the first path reliability coefficient is not unique, the s path excess values ​​are arranged in ascending order from small to large, and the to-be-verified path corresponding to the first path excess value is recorded as the target inspection path.

[0059] Furthermore, the method for obtaining the first inspection width and the second inspection width includes:

[0060] Scan the electronic map where the target inspection path is located to obtain a path scan map, and identify the boundaries on both sides of the target inspection path through computer vision technology to obtain a first boundary and a second boundary;

[0061] Using the preset interval distance as a standard, r interval points are marked on the first boundary and the second boundary respectively, and the r interval points are numbered in ascending order according to the order in which the interval points are marked;

[0062] Connect two interval points with the same number to obtain r interval connection lines, measure the lengths of the r interval connection lines respectively, and record the midpoints of the r interval connection lines as detection points to obtain r detection points;

[0063] The camera installed on the power inspection robot takes a panoramic view of the inspection points;

[0064] In the panoramic point map, draw lines along the left and right boundaries of the target inspection path to obtain boundary line 1 and boundary line 2, and mark the midpoint of the power inspection robot;

[0065] The distances from the midpoint of the machine body to the first boundary line and the second boundary line are measured by a scale and recorded as the first inspection width and the second inspection width respectively.

[0066] Furthermore, the method for determining whether to enter the correction control mode includes:

[0067] When the first inspection width is equal to the second inspection width, it is determined that the correction control mode is not entered;

[0068] When the first inspection width is not equal to the second inspection width, it is determined to enter the correction control mode.

[0069] Furthermore, the method for obtaining the target correction value includes:

[0070] In the panoramic point map, the first boundary line is taken as the first reference line, and a safety reserved length is moved in the direction of the second boundary line to obtain the first safety position, and a parallel line parallel to the boundary line is drawn through the first safety position to obtain the first area line;

[0071] Taking the second boundary line as the second reference line, move a safety reserved length in the direction of the first boundary line to obtain a second safety position, and draw a parallel line parallel to the second boundary line through the second safety position to obtain a second area line;

[0072] Identify the outer boundary of the power inspection robot in the panoramic point map, and draw a line along the location of the outer boundary of the power inspection robot to obtain the robot contour line;

[0073] The distances from the robot contour line to the first area line and the second area line are measured by a scale to obtain y first correction values ​​and y second correction values;

[0074] The minimum value of the first correction value and the minimum value of the second correction value are compared, and the compared minimum value is recorded as the target correction value.

[0075] Further, the correction control instruction includes a left turn instruction, a right turn instruction, an emergency stop and left turn instruction, and an emergency stop and right turn instruction;

[0076] The method for generating the left turn command, the right turn command, the emergency stop and left turn command, and the emergency stop and right turn command includes:

[0077] The body width value of the power inspection robot is found through the technical parameter table, and half of the body width value is recorded as the fixed distance value;

[0078] When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the first correction value, a right turn instruction is generated;

[0079] When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the second correction value, generating a left turn instruction;

[0080] When the target correction value is less than the fixed distance value and the target correction value is the first correction value, an emergency stop and right turn instruction is generated;

[0081] When the target correction value is less than the fixed distance value and the target correction value is the second correction value, an emergency stop and left turn instruction is generated.

[0082] The technical effects and advantages of the position correction control method of a power inspection robot of the present invention are as follows:

[0083] The present invention marks inspection points in an electronic map of the area to be inspected, constructs an inspection area based on an area construction criterion, plans a path to be verified in the inspection area, obtains verification parameters of the path to be verified, calculates a path reliability coefficient, and screens out a target inspection path, marks detection points in the target inspection path, obtains a safe inspection width of the inspection points, determines whether to enter a correction control mode, draws a safe area line for the power inspection robot, obtains a target correction value from the power inspection robot to the safe area line, generates a corresponding correction control instruction, and controls the power inspection robot to turn left or right according to the correction control instruction until it stops when it does not enter the correction control mode; compared with the prior art, a smaller inspection area can be constructed from a larger area to be inspected, thereby eliminating a large number of position corrections. Irrelevant data can be collected to narrow the scope of position identification and correction data, and by calculating the path reliability coefficient of the path to be verified, the target inspection path with the highest reliability can be accurately screened out from many paths to be verified with different reliabilities, which plays the best guiding role for the inspection route of the power inspection robot. At the same time, by detecting and calculating the position distance between the left and right sides of the power inspection robot at the detection point, it can avoid the high burden of full-process position detection of the target inspection path and reduce the error rate of inspection position correction control. At the same time, it can also accurately understand the position offset of the power inspection robot, so as to formulate targeted correction control instructions to ensure that the inspection position of the power inspection robot can be corrected and controlled in a timely and accurate manner, thereby improving the safety and stability of the inspection state of the power inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 A schematic flow chart of a position correction control method for a power inspection robot provided in Embodiment 1 of the present invention;

[0085] Figure 2 A module schematic diagram of a position correction control system for an electric power inspection robot provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0086] 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.

[0087] Example 1: Please refer to Figure 1 As shown, the position correction control method of a power inspection robot described in this embodiment is applied to a correction server, and includes:

[0088] S1: Mark the inspection points on the electronic map of the area to be inspected, and construct the inspection area based on the area construction criteria;

[0089] Inspection points refer to points marked on electronic maps that can indicate the actual specific locations of equipment to be inspected in the inspection area, thus serving as the locations of equipment for subsequent power inspection robots to conduct power inspections;

[0090] Inspection point marking methods include:

[0091] The electronic map of the area to be inspected is queried from the database, and all power equipment and inspection roads are marked on the electronic map to obtain i power equipment and k inspection roads;

[0092] The attribute status of i power devices is queried one by one through the attribute management system, and the power devices with the attribute status of waiting for inspection are recorded as the devices to be inspected, and p devices to be inspected are obtained; the attribute status is used to indicate whether the power equipment is the device to be inspected during this power inspection, so as to identify whether each power equipment needs to be inspected; the attribute status includes the waiting for inspection status and the non-inspection status, the waiting for inspection status indicates that the power equipment needs the power inspection this time, and the non-inspection status indicates that the power equipment does not need the power inspection this time;

[0093] The longitude and latitude of p devices to be inspected are queried through the technical parameter table, and the points corresponding to the longitude and latitude of the p devices to be inspected are marked on the electronic map to obtain p inspection points.

[0094] After the inspection points are obtained, the inspection area can be constructed on the electronic map according to the different distribution of the inspection points, so that the inspection area can be used as the area range for normal power inspection and correction control of the subsequent power inspection robot;

[0095] Since there may be more than one device to be inspected, there may also be more than one inspection point. When the distribution positions of multiple inspection points are different, it is necessary to ensure that multiple inspection points can be effectively associated with the starting point to ensure the accuracy of subsequent inspection area construction. Therefore, it is necessary to construct the inspection area with the help of area construction criteria.

[0096] The area construction criterion is: remove the area outside the expanded boundary line; by removing the area outside the expanded boundary line, the overall area of ​​the inspection area can be reduced and the detailed features in the inspection area can be magnified. At the same time, the interference of data in the non-inspection area on subsequent data collection and calculation can be avoided, thereby improving the accuracy of data collection and calculation;

[0097] The construction methods of the inspection area include:

[0098] Taking p inspection points as base points, measure the distances from the inspection points to the inspection roads horizontally to the left and right sides and vertically to the upper and lower sides, and obtain p first point-road distance values, p second point-road distance values, p third point-road distance values, and p fourth point-road distance values;

[0099] The inspection roads corresponding to the minimum value of the first point-to-road distance value, the minimum value of the second point-to-road distance value, the minimum value of the third point-to-road distance value, and the minimum value of the fourth point-to-road distance value of the p inspection points are recorded as first valid roads, and w first valid roads are obtained;

[0100] Query the attribute values ​​of k inspection roads one by one, and record the inspection roads whose attribute values ​​are the entrance road and the exit road as the second valid road and the third valid road respectively; the attribute value is used to represent the type of the inspection road, so as to accurately identify the specific type of each inspection road, specifically, the attribute value includes the entrance road, exit road, sub-road, main road, etc.;

[0101] Using computer vision technology, an inspection road connecting the second valid road and the first valid road, and an inspection road connecting the third valid road and the first valid road are identified, which are recorded as a first associated road and a second associated road respectively;

[0102] The second valid road, the third valid road, the first associated road, the second associated road and w first valid roads are combined and summarized to obtain a target road;

[0103] Identify the target road located outside, and use the outer boundary of the target road as the expansion starting point, expand outward by a standard expansion distance, and obtain the expanded boundary line; the standard expansion distance is used to represent the data between the expanded boundary line and the outer boundary of the target road outside, which can ensure that there is a certain space between the expanded boundary line and the outer boundary of the target road outside to avoid the overlap between the two, thereby facilitating the identification and calculation of subsequent inspection positions;

[0104] The area outside the expanded boundary line is eliminated, and the area within the expanded boundary line is recorded as the inspection area.

[0105] S2: Plan a path to be verified in the inspection area, obtain verification parameters of the path to be verified, calculate the path reliability coefficient, and select the target inspection path from the path to be verified;

[0106] The path to be verified refers to the path automatically planned by the path planning system according to the actual situation of the target road in the inspection area, so that the path to be verified can ensure that the power inspection robot enters from the entrance road, passes through all the equipment to be inspected in sequence, and finally moves out from the exit road;

[0107] Since the path to be verified is automatically planned and generated by the path planning system, each path to be verified may have repeated path selection or excessive path distance. Therefore, it is necessary to calculate the reliability of each path to be verified and use it as the basis for subsequent screening of target inspection paths. The inspection path refers to the path to be verified with the highest reliability screened out from the paths to be verified, which can be used as the path for subsequent power inspection robots to conduct power inspections.

[0108] Verification parameters refer to parameters that can affect the reliability of the path to be verified and serve as the data basis for the subsequent calculation of the path reliability coefficient;

[0109] Validation parameters include path duplication value and path excess value;

[0110] The path repetition value refers to the numerical representation of the distance of the same target road contained in the path to be verified, that is, it can be used to represent the length of the repeated paths on the path to be verified. When the path repetition value is larger, it means that the distance of the same target road contained in the path to be verified is larger, the repeated paths on the path to be verified are longer, the reliability of the path to be verified is lower, and the path reliability coefficient is smaller;

[0111] Methods for obtaining path duplication values ​​include:

[0112] Taking the location of the second valid road as the starting point and the location of the third valid road as the end point, all target roads in the S to-be-verified paths are numbered in ascending order;

[0113] Query the passing values ​​of all target roads in order from small to large numbers; the passing value is used to count the number of times the target road is repeatedly passed in the path to be verified, that is, to numerically represent the passing situation of the target road in the path to be verified; the passing value is a positive integer greater than or equal to 1;

[0114] The target road with a passing value greater than 1 is recorded as a repeated road, and the x Repeated roads are counted, and the number of times the x repeated roads are passed is counted in turn to obtain x passing number values;

[0115] The lengths of x repeated roads are measured in sequence to obtain x length values, and x sub-repeated values ​​are obtained based on the x length values ​​and the x number of passing times;

[0116] The expression for the sub-repeat value is:

[0117] CF zsx =CD zsx *CS zsx .

[0118] Where, CF zsxis the x-th sub-repetition value of the s-th path to be verified, CD zsx is the xth length value of the sth path to be verified, CS zsx is the xth number of passes of the sth path to be verified;

[0119] After accumulating x sub-repetition values, the path repetition value is obtained;

[0120] The expression for the path repetition value is:

[0121]

[0122] In the formula, LJ cfs is the path repetition value of the sth path to be verified, CF zsa It is the a-th sub-repetition value of the s-th path to be verified.

[0123] The path excess value refers to the difference between the total length of the target road included in the path to be verified and the standard total length, which can be used to represent the excess amplitude of the path passed by the path to be verified. The larger the path excess value, the larger the difference between the total length of the target road included in the path to be verified and the standard total length, the larger the total length of the path passed by the path to be verified, the lower the reliability of the path to be verified, and the smaller the path reliability coefficient;

[0124] Methods for obtaining the path excess value include:

[0125] The target road with a passing value equal to 1 is recorded as a non-repeated road, and the lengths of the non-repeated roads in the s paths to be verified are measured one by one to obtain z non-repeated lengths;

[0126] After accumulating z non-repeating lengths, add them to the path repetition value to obtain s first total lengths;

[0127] The expression for the first total length is:

[0128]

[0129] In the formula, CD z1s is the first total length of the sth path to be verified, CD fcsb The bth non-repeating length of the sth path to be verified;

[0130] The standard inspection distances of p devices to be inspected are queried one by one through the technical parameter table to obtain p standard distance values; the standard inspection distance refers to the maximum distance between the devices to be inspected when the power inspection robot can perform standard inspection operations, so that the power inspection robot does not need to contact the devices to be inspected, thereby improving the safety and convenience of power inspection;

[0131] Measure the distances from p inspection points to all target roads in s to-be-verified paths one by one, and record the minimum value of the distances as the inspection span value, to obtain p inspection span values;

[0132] Subtract the p inspection span values ​​from the corresponding p standard distance values, and then add up the differences to obtain s second total lengths;

[0133] The expression for the second total length is:

[0134]

[0135] In the formula, CD z2s is the second total length of the sth path to be verified, XJ kdsc is the cth inspection span value of the sth path to be verified, BZ jlsc is the cth standard distance value of the sth path to be verified;

[0136] The s first total lengths and the s second total lengths are added and subtracted from the standard total length to obtain s path excess values; the standard total length is used to represent the maximum value of the moving distance of the power inspection robot during the inspection process, and serves as a basis for judging whether the total length of the path to be verified exceeds the limit;

[0137] The expression for the path excess value is:

[0138] LJ ces =CD z1s +CD z2s -CD bz ;

[0139] In the formula, LJ ces is the path excess value of the sth path to be verified, CD bz The standard overall length.

[0140] After obtaining the path duplication value and path excess value, the path reliability coefficient of each path to be verified can be calculated, and the target inspection path can be screened out according to the path reliability coefficient, so that the target inspection path can be the most reliable path to be verified and serve as the walking route for the subsequent power inspection robot to conduct power inspection;

[0141] The target inspection path screening methods include:

[0142] Based on the s path repetition values ​​and the s path excess values, the s path reliability coefficients are calculated;

[0143] The expression of path reliability coefficient is:

[0144]

[0145] In the formula, LJkks is the path reliability coefficient of the sth path to be verified, σ1 and σ2 are weight factors greater than 0;

[0146] Among them, σ1+σ2=1, exemplarily, σ1 is 0.56, and σ2 is 0.44; the setting of σ1 and σ2 is used to adjust the proportion of the path repetition value and the path excess value in the path reliability coefficient, so that when the path repetition value and the path excess value change, the path reliability coefficient can be caused to change in a relatively balanced size, thereby improving the stability of the change of the path reliability coefficient;

[0147] Arrange the s path reliability coefficients in descending order from large to small, and record the to-be-verified path corresponding to the first path reliability coefficient as the target inspection path;

[0148] When the path reliability coefficient in the first position corresponds to the path to be verified is not unique, s The path excess values ​​are arranged in ascending order from small to large, and the to-be-verified path corresponding to the first path excess value is recorded as the target inspection path.

[0149] It should be noted that, since the path planning system will not have two completely duplicated paths when planning the paths to be verified, there is no s Path repeat values ​​and s In the case where the excess values ​​of the paths are all the same, after the target inspection path is obtained, the power inspection robot can be arranged to perform power inspection according to the sequence of the target roads included in the target inspection path.

[0150] S3: Mark the inspection points in the target inspection path, obtain the safe inspection width of the inspection points, and determine whether to enter the correction control mode;

[0151] The detection point refers to the point in the target inspection path used to detect whether the real-time inspection position of the power inspection robot is offset. By marking the detection point, some positions can be adaptively selected for detection in the target inspection path with a longer overall length, thereby avoiding the burden of real-time and uninterrupted detection of the entire target inspection path. The safe inspection width refers to the distance between the power inspection robot at the detection point and the boundaries on both sides of the target road, which can indicate the inspection position of the power inspection robot at the detection point;

[0152] The safety inspection width includes the first inspection width and the second inspection width; the first inspection width refers to the distance between the power inspection robot and the left boundary of the target inspection path, and the second inspection width refers to the distance between the power inspection robot and the right boundary of the target inspection path;

[0153] The method for obtaining the first inspection width and the second inspection width includes:

[0154] Scan the electronic map where the target inspection path is located to obtain a path scan map, and identify the boundaries on both sides of the target inspection path through computer vision technology to obtain a first boundary and a second boundary;

[0155] Taking the preset interval distance as the standard, r interval points are marked on the first boundary and the second boundary respectively, and the r interval points are numbered in ascending order according to the order of the interval point marking; the preset interval distance is used to numerically represent the distance between two adjacent detection points, which can ensure that the two adjacent detection points are not too close or too far, so that the position data of each detection point remains independent, and at the same time, it can also avoid the high burden caused by full-path detection of the target inspection path, and achieve the fixed-point inspection position detection effect;

[0156] Connect two interval points with the same number to obtain r interval connection lines, measure the lengths of the r interval connection lines respectively, and record the midpoints of the r interval connection lines as detection points to obtain r detection points;

[0157] The camera installed on the power inspection robot takes a panoramic view of the inspection points;

[0158] In the panoramic point map, draw lines along the left and right boundaries of the target inspection path to obtain boundary line 1 and boundary line 2, and mark the midpoint of the power inspection robot;

[0159] The distances from the midpoint of the machine body to the first boundary line and the second boundary line are measured by a scale and recorded as the first inspection width and the second inspection width respectively.

[0160] After the first inspection width and the second inspection width are obtained, it can be preliminarily determined whether the position of the power inspection robot is offset according to the size of the first inspection width and the second inspection width, and the correction control mode can be entered if the offset occurs;

[0161] The determination method of whether to enter the correction control mode includes:

[0162] When the first inspection width is equal to the second inspection width, it means that the inspection position of the power inspection robot at the detection point does not have inconsistent distances from the left and right sides to the boundary. At this time, the inspection position of the power inspection robot is normal, and it is determined not to enter the correction control mode;

[0163] When the first inspection width is not equal to the second inspection width, it means that the inspection position of the power inspection robot at the detection point has inconsistent distances to the boundaries on the left and right sides. At this time, the inspection position of the power inspection robot is offset, and it is determined to enter the correction control mode.

[0164] S4: Draw a safety area line of the power inspection robot, obtain a target correction value of the power inspection robot to the safety area line, and generate a corresponding correction control instruction;

[0165] The safety area line refers to the area boundary line where the power inspection robot can perform position correction control without stopping in the full-view point map, which can ensure that the power inspection robot can perform position correction control in the inspection state;

[0166] The safety area line includes a first area line and a second area line; the first area line refers to the area boundary line located on the left side of the power inspection robot, and the second area line refers to the area boundary line located on the right side of the power inspection robot;

[0167] Methods for obtaining target correction values ​​include:

[0168] In the panoramic point map, the first boundary line is taken as the first reference line, and a safety reserved length is moved in the direction of the second boundary line to obtain the first safety position, and a parallel line parallel to the boundary line is drawn through the first safety position to obtain the first area line;

[0169] Taking the second boundary line as the second reference line, move a safety reserved length in the direction of the first boundary line to obtain a second safety position, and draw a parallel line parallel to the second boundary line through the second safety position to obtain a second area line;

[0170] Identify the outer boundary of the power inspection robot in the panoramic point map, and draw a line along the location of the outer boundary of the power inspection robot to obtain the robot contour line;

[0171] The distances from the robot contour line to the first area line and the second area line are measured by a scale to obtain y first correction values ​​and y second correction values;

[0172] The minimum value of the first correction value and the minimum value of the second correction value are compared, and the compared minimum value is recorded as the target correction value.

[0173] When the target correction value is obtained, the target correction value can be used as a basis to compare it with the fixed distance value, and a corresponding correction control instruction can be formulated according to the comparison result, thereby correcting and controlling the position of the power inspection robot;

[0174] The correction control instructions include a left turn instruction, a right turn instruction, an emergency stop and left turn instruction, and an emergency stop and right turn instruction;

[0175] The method for generating the left turn command, the right turn command, the emergency stop and left turn command, and the emergency stop and right turn command includes:

[0176] The body width value of the power inspection robot is found through the technical parameter table, and half of the body width value is recorded as the fixed distance value;

[0177] When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the first correction value, it means that the position of the power inspection robot is offset in the direction of the first area line, and the distance to the first area line is far, and there is no need to stop and turn, so a right turn instruction is generated;

[0178] When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the second correction value, it means that the position of the power inspection robot is offset in the direction of the second area line, and the distance to the second area line is far, and there is no need to stop and turn, so a left turn instruction is generated;

[0179] When the target correction value is less than the fixed distance value, and the target correction value is the first correction value, it means that the position of the power inspection robot is offset in the direction of the first area line, and the distance to the first area line is close, and it needs to stop and turn, then an emergency stop and right turn instruction is generated;

[0180] When the target correction value is less than the fixed distance value and the target correction value is the second correction value, it means that the position of the power inspection robot is offset in the direction of the second area line and the distance to the second area line is close, so it needs to stop and turn, and an emergency stop and left turn command is generated.

[0181] S5: According to the correction control instruction, the power inspection robot is controlled to perform position correction until it stops entering the correction control mode.

[0182] After the left turn command, right turn command, emergency stop and left turn command and emergency stop and right turn command are generated, the correction server will send corresponding instructions to the controller of the power inspection robot, so that the controller controls the steering mechanism and power mechanism of the power inspection robot to perform steering and parking operations, so that the power inspection robot can realize diversified operations such as left turn, right turn and shutdown steering, and stop the execution of the correction control command until the power inspection robot does not enter the correction control mode, thereby finally achieving efficient and precise position correction control effect of the power inspection robot.

[0183] In this embodiment, inspection points are marked on the electronic map of the area to be inspected, and an inspection area is constructed based on the area construction criteria. A path to be verified is planned in the inspection area, verification parameters of the path to be verified are obtained, the path reliability coefficient is calculated, and the target inspection path is screened out. The detection points are marked in the target inspection path, the safe inspection width of the inspection points is obtained, and it is determined whether to enter the correction control mode, the safe area line of the power inspection robot is drawn, the target correction value of the power inspection robot to the safe area line is obtained, and the corresponding correction control instruction is generated. According to the correction control instruction, the power inspection robot is controlled to turn left and right until it stops when it does not enter the correction control mode. Compared with the prior art, a smaller inspection area can be constructed from a larger area to be inspected, eliminating a large number of alignments. The irrelevant data can be corrected, thereby reducing the collection scope of position identification and correction data, and by calculating the path reliability coefficient of the path to be verified, the target inspection path with the highest reliability can be accurately screened out from many paths to be verified with varying reliabilities, which plays the best guiding role for the inspection route of the power inspection robot. At the same time, by detecting and calculating the position distance between the left and right sides of the power inspection robot at the detection point, it can avoid the high burden of full-process position detection of the target inspection path and reduce the error rate of inspection position correction control. At the same time, it can also accurately understand the position offset of the power inspection robot, thereby formulating targeted correction control instructions to ensure that the inspection position of the power inspection robot can be corrected and controlled in a timely and accurate manner, thereby improving the safety and stability of the inspection state of the power inspection robot.

[0184] Example 2: Please refer to Figure 2 As shown, the part not described in detail in this embodiment is described in the first embodiment, which provides a position correction control system for an electric power inspection robot, which is applied to a correction server and is used to implement a position correction control method for an electric power inspection robot, including an area construction module, a path screening module, a mode determination module, an instruction generation module and an instruction execution module, wherein each module is connected via a wired or wireless network;

[0185] The area construction module is used to mark the inspection points in the electronic map of the area to be inspected, and construct the inspection area based on the area construction criteria. The area construction criteria are: excluding the area outside the expanded boundary line;

[0186] The path screening module is used to plan the path to be verified in the inspection area, obtain the verification parameters of the path to be verified, calculate the path reliability coefficient, and screen the target inspection path from the path to be verified. The verification parameters include the path duplication value and the path excess value.

[0187] A mode determination module is used to mark the detection points in the target inspection path, obtain the safety inspection width of the inspection points, and determine whether to enter the correction control mode, the safety inspection width includes the first inspection width and the second inspection width;

[0188] An instruction generation module is used to draw a safety area line of the power inspection robot, obtain a target correction value of the power inspection robot to the safety area line, and generate a corresponding correction control instruction, the safety area line includes a first area line and a second area line;

[0189] The instruction execution module is used to control the power inspection robot to perform position correction according to the correction control instruction until it stops entering the correction control mode.

[0190] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A position correction control method for a power inspection robot, applied to a correction server, characterized in that: include: S1: marking inspection points on the electronic map of the area to be inspected, and constructing the inspection area based on the area construction criterion. The area construction criterion is: excluding the area outside the expanded boundary line; S2: Plan a path to be verified in the inspection area, obtain verification parameters of the path to be verified, calculate the path reliability coefficient, and select the target inspection path from the path to be verified. The verification parameters include path duplication value and path excess value. S3: Mark the inspection points in the target inspection path, obtain the safety inspection width of the inspection points, and determine whether to enter the correction control mode, where the safety inspection width includes the first inspection width and the second inspection width; If it is determined to enter the correction control mode, execute S4-S5; If it is determined that the correction control mode is not entered, S3 is repeated; S4: Draw a safety area line of the power inspection robot, obtain a target correction value of the power inspection robot to the safety area line, and generate a corresponding correction control instruction, the safety area line includes a first area line and a second area line; S5: According to the correction control instruction, the power inspection robot is controlled to perform position correction until it stops entering the correction control mode.

2. The position correction control method of a power inspection robot according to claim 1, characterized in that: The marking method of the inspection point includes: The electronic map of the area to be inspected is queried from the database, and all power equipment and inspection roads are marked on the electronic map to obtain i power equipment and k inspection roads; The attribute status of i power devices is queried one by one through the attribute management system, and the power devices with the attribute status of waiting for inspection are recorded as devices to be inspected, so as to obtain p devices to be inspected; The longitude and latitude of p devices to be inspected are queried through the technical parameter table, and the points corresponding to the longitude and latitude of the p devices to be inspected are marked on the electronic map to obtain p inspection points.

3. The position correction control method of a power inspection robot according to claim 2, characterized in that: The method for constructing the inspection area includes: Taking p inspection points as base points, measure the distances from the inspection points to the inspection roads horizontally to the left and right sides and vertically to the upper and lower sides, and obtain p first point-road distance values, p second point-road distance values, p third point-road distance values, and p fourth point-road distance values; The inspection roads corresponding to the minimum value of the first point-to-road distance value, the minimum value of the second point-to-road distance value, the minimum value of the third point-to-road distance value, and the minimum value of the fourth point-to-road distance value of the p inspection points are recorded as first valid roads, and w first valid roads are obtained; Query the attribute values ​​of k inspection roads one by one, and record the inspection roads whose attribute values ​​are the entrance road and the exit road as the second valid road and the third valid road respectively; Using computer vision technology, an inspection road connecting the second valid road and the first valid road, and an inspection road connecting the third valid road and the first valid road are identified, which are recorded as a first associated road and a second associated road respectively; The second valid road, the third valid road, the first associated road, the second associated road and w first valid roads are combined and summarized to obtain a target road; Identify the target road located outside, and use the outer boundary of the target road outside as the extension starting point, extend outward by a standard extension distance, and obtain an extended boundary line; The area outside the expanded boundary line is eliminated, and the area within the expanded boundary line is recorded as the inspection area.

4. The position correction control method of a power inspection robot according to claim 3, characterized in that: The method for obtaining the path repetition value includes: Taking the location of the second valid road as the starting point and the location of the third valid road as the end point, all target roads in the s to-be-verified paths are numbered in ascending order; Query the passing values ​​of all target roads in order from small to large numbers; The target roads with a passing value greater than 1 are recorded as repeated roads, X repeated roads are obtained, and the number of passing times of the X repeated roads is counted in sequence to obtain X passing times values; The lengths of X repeated roads are measured in sequence to obtain x length values, and X sub-repeated values ​​are obtained based on the x length values ​​and the X number of passing times; The expression for the sub-repeat value is: CF zsx =CD zsx *CS zsx ; Where, CF zsx is the x-th sub-repetition value of the s-th path to be verified, CD zsx is the xth length value of the sth path to be verified, CS zsx is the Xth pass value of the Sth path to be verified; After accumulating X sub-repetition values, the path repetition value is obtained; The expression for the path repetition value is: In the formula, LJ cfs is the path repetition value of the sth path to be verified, CF zsa It is the a-th sub-repetition value of the s-th path to be verified.

5. The position correction control method of a power inspection robot according to claim 4, characterized in that: The method for obtaining the path excess value includes: The target road with a passing value equal to 1 is recorded as a non-repeated road, and the lengths of the non-repeated roads in the S paths to be verified are measured one by one to obtain Z non-repeated lengths; After accumulating z non-repeating lengths, add them to the path repetition value to obtain s first total lengths; The expression for the first total length is: In the formula, CD z1s is the first total length of the sth path to be verified, CDf csb The bth non-repeating length of the sth path to be verified; Query the standard inspection distances of p devices to be inspected one by one through the technical parameter table, and obtain p standard distance values; Measure the distances from p inspection points to all target roads in s to-be-verified paths one by one, and record the minimum value of the distances as the inspection span value, to obtain p inspection span values; Subtract the p inspection span values ​​from the corresponding p standard distance values, and then add up the differences to obtain s second total lengths; The expression for the second total length is: In the formula, CD z2s is the second total length of the sth path to be verified, XJ kdsc is the cth inspection span value of the sth path to be verified, BZ jlsc is the cth standard distance value of the sth path to be verified; S path excess values ​​are obtained by adding the S first total lengths and the S second total lengths and subtracting them from the standard total length; The expression for the path excess value is: LJ ces =CD Z1s +CD z2s -CD bz ; In the formula, LJ ces is the path excess value of the Sth path to be verified, CD bz The standard overall length.

6. The position correction control method of a power inspection robot according to claim 5, characterized in that: The method for screening the target inspection path includes: Based on the S path duplication values ​​and the S path excess values, the S path reliability coefficients are calculated; The expression of path reliability coefficient is: In the formula, LJ kks is the path reliability coefficient of the sth path to be verified, σ1 and σ2 are weight factors greater than 0; Arrange the s path reliability coefficients in descending order from large to small, and record the to-be-verified path corresponding to the first path reliability coefficient as the target inspection path; When the to-be-verified path corresponding to the first path reliability coefficient is not unique, the s path excess values ​​are arranged in ascending order from small to large, and the to-be-verified path corresponding to the first path excess value is recorded as the target inspection path.

7. The position correction control method of a power inspection robot according to claim 6, characterized in that: The method for obtaining the first inspection width and the second inspection width includes: Scan the electronic map where the target inspection path is located to obtain a path scan map, and identify the boundaries on both sides of the target inspection path through computer vision technology to obtain a first boundary and a second boundary; Using the preset interval distance as a standard, r interval points are marked on the first boundary and the second boundary respectively, and the r interval points are numbered in ascending order according to the order in which the interval points are marked; Connect two interval points with the same number to obtain r interval connection lines, measure the lengths of the r interval connection lines respectively, and record the midpoints of the r interval connection lines as detection points to obtain r detection points; The camera installed on the power inspection robot takes a panoramic view of the inspection points; In the panoramic point map, draw lines along the left and right boundaries of the target inspection path to obtain boundary line 1 and boundary line 2, and mark the midpoint of the power inspection robot. The distances from the midpoint of the machine body to the first boundary line and the second boundary line are measured by a scale and recorded as the first inspection width and the second inspection width respectively.

8. The position correction control method of a power inspection robot according to claim 7, characterized in that: The method for determining whether to enter the correction control mode includes: When the first inspection width is equal to the second inspection width, it is determined that the correction control mode is not entered; When the first inspection width is not equal to the second inspection width, it is determined to enter the correction control mode.

9. The position correction control method of a power inspection robot according to claim 8, characterized in that: The method for obtaining the target correction value includes: In the panoramic point map, the first boundary line is taken as the first reference line, and a safety reserved length is moved in the direction of the second boundary line to obtain the first safety position, and a parallel line parallel to the boundary line is drawn through the first safety position to obtain the first area line; Taking the second boundary line as the second reference line, move a safety reserved length in the direction of the first boundary line to obtain a second safety position, and draw a parallel line parallel to the second boundary line through the second safety position to obtain a second area line; Identify the outer boundary of the power inspection robot in the panoramic point map, and draw a line along the location of the outer boundary of the power inspection robot to obtain the robot contour line; The distances from the robot contour line to the first area line and the second area line are measured by a scale to obtain y first correction values ​​and y second correction values; The minimum value of the first correction value and the minimum value of the second correction value are compared, and the compared minimum value is recorded as the target correction value.

10. The position correction control method of a power inspection robot according to claim 9, characterized in that: The correction control instructions include a left turn instruction, a right turn instruction, an emergency stop and left turn instruction, and an emergency stop and right turn instruction; The method for generating the left turn command, the right turn command, the emergency stop and left turn command, and the emergency stop and right turn command includes: The body width value of the power inspection robot is found through the technical parameter table, and half of the body width value is recorded as the fixed distance value; When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the first correction value, a right turn instruction is generated; When the target correction value is greater than or equal to the fixed distance value, and the target correction value is the second correction value, generating a left turn instruction; When the target correction value is less than the fixed distance value and the target correction value is the first correction value, an emergency stop and right turn instruction is generated; When the target correction value is less than the fixed distance value and the target correction value is the second correction value, an emergency stop and left turn instruction is generated.

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