Inspection path determination method and device, electronic equipment and storage medium

Abstract

The invention discloses an inspection path determination method and device, electronic equipment and a storage medium, and relates to the technical field of power equipment inspection. The method comprises the following steps: determining a to-be-inspected area of to-be-inspected power equipment, and performing data processing on map data corresponding to the to-be-inspected area to obtain a corresponding grid map; planning a plurality of initial inspection paths for the inspection execution equipment based on the inspection task of the to-be-inspected power equipment and the grid map; and selecting a target inspection path from the plurality of initial inspection paths based on a target constraint condition of the to-be-inspected area. According to the technical scheme provided by the invention, the inspection path meeting the actual requirements can be quickly and accurately planned for the inspection execution equipment, and the inspection work efficiency of the to-be-inspected power equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power equipment inspection, and in particular to a method, device, electronic device and storage medium for determining an inspection path. Background Art

[0002] As the amount of electricity consumed in society increases, the power grid system becomes more and more complex. Power inspection is an important means to ensure the stable operation of the power grid system and the safety of power supply. Against the background of the continuous development of the digital level of the power grid, drone inspection is an intelligent, flexible, efficient and safe inspection method. It is of great significance to actively explore new models of drone power inspection.

[0003] At present, there are usually two methods for selecting the flight path for UAV power inspection. The first method: relying on the pilot's experience and mainly operating by the pilot during the flight, which is easy to cause human losses and does not meet the actual application requirements of the scene; the second method: first draw the trajectory on the software, and then conduct the UAV inspection; however, due to the long transmission and transformation lines and complex targets, it usually takes a long time to draw the trajectory path, which will reduce the efficiency of the inspection. Summary of the invention

[0004] The present application provides a method, device, electronic device and storage medium for determining an inspection path, which can quickly and accurately plan an inspection path that meets actual needs for the inspection execution equipment, and can improve the inspection work efficiency of the inspected power equipment.

[0005] In a first aspect, the present application provides a method for determining an inspection path, the method comprising:

[0006] Determine an inspection area of ​​the power equipment to be inspected, and process the map data corresponding to the inspection area to obtain a corresponding grid map;

[0007] Planning a plurality of initial inspection paths for the inspection execution device based on the inspection task of the power equipment to be inspected and the grid map;

[0008] A target inspection path is selected from the multiple initial inspection paths based on the target constraint conditions of the area to be inspected.

[0009] Furthermore, determining the inspection area of ​​the power equipment to be inspected includes: obtaining the model code and coordinate data of the power equipment to be inspected; determining the inspection radius of the power equipment to be inspected according to the model code; and performing data calculations on the coordinate data and the inspection radius to obtain the inspection area.

[0010] Furthermore, the data processing of the map data corresponding to the area to be inspected to obtain the corresponding grid map includes: rasterizing the map data to obtain the corresponding grid data; marking the grid data according to the obstacle information of the area to be inspected to obtain the grid map of the area to be inspected.

[0011] Furthermore, the inspection task of the power equipment to be inspected and the grid map are used to plan multiple initial inspection paths for the inspection execution device, including: determining a starting node and an ending node based on the inspection task; searching the first adjacent node with the smallest cost value for the starting node in the grid map as the next node corresponding to the starting node; taking the next node as the current node, and determining multiple second neighbor nodes corresponding to the current node, wherein the second neighbor nodes are nodes that have not been searched and are adjacent to the current node; calculating the cumulative cost value of each second neighbor node, and determining the next node corresponding to the current node from the multiple second neighbor nodes based on the cumulative cost value; until the next node is the ending node, multiple path nodes are obtained; and the multiple path nodes are connected in series to obtain the multiple initial inspection paths.

[0012] Furthermore, the target constraint conditions include environmental sub-constraint conditions and trajectory sub-constraint conditions; the target inspection path is selected from the multiple initial inspection paths based on the target constraint conditions of the area to be inspected, including: determining whether there is a first inspection path among the multiple initial inspection paths in which all path nodes are within the area to be inspected based on the environmental sub-constraint conditions; if so, determining the first inspection path as an intermediate inspection path; if not, selecting a second inspection path that meets preset criteria from the multiple initial inspection paths, wherein the preset criteria is that the number of path nodes of the initial inspection path that are located outside the area to be inspected is the least; performing path optimization processing on the second inspection path to obtain the intermediate inspection path; performing trajectory optimization processing on the intermediate inspection path based on the trajectory sub-constraint conditions to obtain the target inspection path.

[0013] Furthermore, the path optimization processing is performed on the second inspection path to obtain the intermediate inspection path, including: determining a first path node in the second inspection path that is located outside the area to be inspected; determining a corresponding alternative path node for the first path node on the boundary of the area to be inspected; and replacing the first path node in the second inspection path with the alternative path node to obtain the intermediate inspection path.

[0014] Furthermore, the trajectory optimization processing of the intermediate inspection path is performed based on the trajectory sub-constraint conditions to obtain the target inspection path, including: performing equal-time sampling on the intermediate inspection path to obtain multiple sub-paths; solving overdetermined equations for each of the multiple sub-paths to obtain control points corresponding to each sub-path; performing trajectory optimization processing on each sub-path based on a preset algorithm and the control points corresponding to each sub-path to obtain each optimized sub-path; and determining the target inspection path based on each optimized sub-path.

[0015] In a second aspect, the present application provides a device for determining an inspection path, the device comprising:

[0016] A grid map determination module is used to determine the inspection area of ​​the power equipment to be inspected, and to process the map data corresponding to the inspection area to obtain a corresponding grid map;

[0017] A first path determination module, configured to plan a plurality of initial inspection paths for an inspection execution device based on the inspection task of the power equipment to be inspected and the grid map;

[0018] The second path determination module is used to select a target inspection path from the multiple initial inspection paths based on the target constraint conditions of the area to be inspected.

[0019] In a third aspect, the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the inspection path described in any embodiment of the present application.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining an inspection path described in any embodiment of the present application when executed.

[0021] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for determining the inspection path described in any embodiment of the present application.

[0022] In order to solve the defects of the prior art in the background technology, an embodiment of the present application provides a method for determining an inspection path, and executing this method can bring the following beneficial effects: the present application first determines the corresponding area to be inspected for the power equipment to be inspected according to its attribute characteristics, and then converts the area to be inspected into a grid map, and then, on the basis of planning multiple initial inspection paths for the inspection execution equipment, adds target constraints that are more in line with actual needs, so as to select the target inspection path from the multiple initial inspection paths. The present application can quickly and accurately plan inspection paths that meet actual needs for the inspection execution equipment, and can improve the inspection efficiency of the power equipment to be inspected.

[0023] It should be noted that the above computer instructions may be stored in whole or in part on a computer-readable storage medium, wherein the computer-readable storage medium may be packaged together with the processor of the inspection path determination device, or may be packaged separately from the processor of the inspection path determination device, which is not limited in this application.

[0024] The description of the second, third, ..., and fifth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third, ..., and fifth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0025] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description.

[0026] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A first flow chart of a method for determining an inspection path provided in an embodiment of the present application;

[0029] Figure 2 A second flow chart of a method for determining an inspection path provided in an embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of a device for determining an inspection path provided in an embodiment of the present application;

[0031] Figure 4 It is a block diagram of an electronic device used to implement a method for determining an inspection path in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0033] It should be noted that the terms "first", "second", "target", and "original" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including", "having", and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0034] Figure 1 This is a first flow chart of a method for determining an inspection path provided in an embodiment of the present application. This embodiment can be applied to planning inspection paths for drones during inspections of power equipment. The method for determining an inspection path provided in this embodiment can be executed by a device for determining an inspection path provided in an embodiment of the present application. The device can be implemented in software and / or hardware and integrated in an electronic device that executes this method.

[0035] See also Figure 1 The method of this embodiment includes but is not limited to the following steps:

[0036] S110 , determining an inspection area of ​​the power equipment to be inspected, and performing data processing on map data corresponding to the inspection area to obtain a corresponding grid map.

[0037] Among them, the power equipment to be inspected refers to the power equipment in the power grid system that needs to be inspected, which can be power transmission and transformation line towers, transformers, etc. The area to be inspected refers to the area range when the inspection execution equipment (such as drones) inspects the power equipment. Map data can be point cloud data or vector data of a certain area. Raster map refers to dividing the map into a series of grids, and the value corresponding to each grid is used to represent the probability of the grid being occupied.

[0038] Specifically, determining the inspection area of ​​the power equipment to be inspected includes: obtaining the model code and coordinate data of the power equipment to be inspected; determining the inspection radius of the power equipment to be inspected according to the model code; performing data calculation on the coordinate data and the inspection radius to obtain the inspection area.

[0039] In an embodiment of the present application, in actual demand design, the inspection radius of the power equipment to be inspected is related to the equipment level of the power equipment to be inspected. For example: the higher the equipment level, the larger the size of the power equipment to be inspected, and the larger its power impact range, so the larger the inspection radius needs to be. Therefore, first obtain the model code of the power equipment to be inspected, then identify the model code to obtain the equipment level of the power equipment to be inspected, and finally determine the inspection radius of the power equipment to be inspected according to the equipment level. In a pre-set calculation model, input the coordinate data and the inspection radius of the power equipment to be inspected, take the coordinate data of the power equipment to be inspected as the center, and take the inspection radius of the power equipment to be inspected as the radius, and you can get the inspection area of ​​the power equipment to be inspected.

[0040] Specifically, data processing is performed on map data corresponding to the area to be inspected to obtain a corresponding grid map, including: rasterizing the map data to obtain corresponding grid data; marking the grid data according to obstacle information of the area to be inspected to obtain a grid map of the area to be inspected.

[0041] In the embodiment of the present application, the map data of the area to be inspected can be first obtained from the map tool, and then the image represented by the vector graphics format of the map data can be converted into a bitmap to obtain the raster data corresponding to the map data. Then, the raster data can be marked according to the obstacle information of the area to be inspected, and different raster types can be marked using binary coding, for example: the raster of the obstacle is marked as "1", and the free and passable raster is marked as "0", so that the raster data corresponding to the map data can be obtained.

[0042] S120 , planning a plurality of initial inspection paths for the inspection execution device based on the inspection task of the power equipment to be inspected and the grid map.

[0043] Among them, the inspection task refers to the inspection task formulated for the power equipment to be inspected, including the route of the drone inspection, the inspection items, etc. The inspection execution equipment refers to the equipment that inspects the power equipment to be inspected and executes the inspection task, such as a drone.

[0044] Specifically, based on the inspection task of the power equipment to be inspected and the grid map, multiple initial inspection paths are planned for the inspection execution equipment, including: the inspection task includes the route of the drone inspection, and the starting node and the ending node in the drone inspection process can be determined based on the inspection task, and the hovering node in the drone inspection process can also be determined; the first adjacent node with the smallest cost value is searched for the starting node in the grid map as the next node corresponding to the starting node; the next node is taken as the current node, and multiple second neighbor nodes corresponding to the current node are determined, and the second neighbor nodes are nodes that have not been searched and are adjacent to the current node; the cumulative cost value of each second neighbor node is calculated, and the next node corresponding to the current node is determined from the multiple second neighbor nodes based on the cumulative cost value; until the next node is the ending node, multiple path nodes are obtained; the multiple path nodes are connected in series to obtain multiple initial inspection paths.

[0045] In an optional embodiment, the A* algorithm can be used to search for paths based on the inspection task and the grid map. The neighbor nodes are traversed through the heuristic function f(n), and the neighbor nodes with the minimum cost are selected. These nodes are then connected in sequence to form a search path to obtain the initial inspection path. The calculation formula of f(n) is as follows:

[0046] f(n)=h(n)+g(n)

[0047] Where g(n) is the actual route cost from the starting node to the current node; h(n) is the estimated route cost from the current node to the target point. The calculation methods for g(n) and h(n) can be Manhattan distance, Euclidean distance, and Chebyshev distance.

[0048] The specific process can be: Step 1, create two lists, Openlist and Closelist, and initialize them to empty, Openlist is used to store the starting node, and Closelist is used to store the path nodes of the searched drone.

[0049] Step 2: Add the coordinates S (x, y, z) of the starting node to the Openlist, set the cost of S to 0, set the parent node of S to itself, and calculate the heuristic function h (N′) of S.

[0050] Step 3, start the main loop, determine whether Openlist is empty, if Openlist is empty, and the target point G (the next coordinate point of the coordinate S of the starting node, usually 8 directions are used for searching) is not found, it means that the path is not found, and the loop is exited. It should be noted that when the starting node and its parent node are the same node, Openlist can be regarded as an empty set.

[0051] Step 4: If Openlist is not empty, select the node with the smallest heuristic function f value in Openlist and represent it as the current node N. If the current node N is not the starting node S, expand its surrounding nodes and put the current node into CloseList.

[0052] Step 5: For the current node N(x N ,y N ,z N )’s feasible neighbor nodes N′(x N′ ,y N′ ,z N′ ) ① If N′ is not in the Openlist, skip this step. ② If N′ is not in the Closelist, it means that this node has not been explored yet, set its cost to ∞, and set the direction of its parent node to null.

[0053] Step 6: First, record the cost value g of a neighbor node N′ of the current node N old (N′), then calculate g new (N′).

[0054] Step 7: If g(N)+c(N+N′) <g old (N′), indicating that the cost of reaching N′ in the current way is better than the previous way, and N is set as the father node of the current neighbor node N′. And the accumulated cost of node N′ g new (N′), set to g new (N′)=g(N)+c(N+N′). Return to step 6.

[0055] Step 8: If g new (N) <g old (N), then execute: ① If node N′ is in the Openlist, remove the coordinates of node N′ and its cost g(N′), h(N′) from the Openlist; ② Remove the coordinates of node N′ and its cumulative cost g new (N′) and h(N′) are added to Openlist.

[0056] Step 9: After completing the above steps, return to step 3 to start a new cycle.

[0057] Step 10: When reaching the target point G, start recording the parent node from the target point G until the parent node of a certain node is the starting point S, thus forming the final search path.

[0058] S130 : selecting a target inspection path from a plurality of initial inspection paths based on target constraint conditions of the area to be inspected.

[0059] The target constraint condition may include an environmental sub-constraint condition and a trajectory sub-constraint condition. The environmental sub-constraint condition is used to constrain the inspection path of the UAV in the area to be inspected, and the trajectory sub-constraint condition is used to constrain the smoothness of the inspection path of the UAV.

[0060] In an embodiment of the present application, an optimal path may exist among the multiple initial inspection paths planned for the inspection execution equipment based on the inspection tasks of the power equipment to be inspected and the grid map. On the one hand, this method has problems such as long running time, many traversed nodes, many corners, and large corners. Moreover, for robots such as drones with nonlinear motion models, the path with the shortest distance is not necessarily the path with the shortest energy consumption. Therefore, it is necessary to introduce environmental sub-constraints to optimize the initial inspection path. On the other hand, in the process of calculation and operation, this method usually encounters the phenomenon of being very close to obstacles. Considering the influence of the environment during actual operation, various safety problems will arise when the drone is too close to the tower. Therefore, on the basis of introducing environmental sub-constraints, it is also necessary to introduce trajectory sub-constraints to optimize the trajectory.

[0061] In this embodiment, the environment sub-constraints and trajectory sub-constraints can be pre-set, and then a target inspection path that satisfies the environment sub-constraints and trajectory sub-constraints can be selected from multiple initial inspection paths. The specific contents of the environment sub-constraints and trajectory sub-constraints depend on the actual inspection conditions of the power equipment to be inspected.

[0062] Compared with the existing path search algorithm, this application takes into account the problems that may be encountered in practical applications and introduces target constraints. First, based on the actual inspection work content and inspection area of ​​the power equipment to be inspected, environmental sub-constraints are introduced to constrain the inspection path of the drone in the inspection area; on this basis, considering the limitations of the existing path search algorithm, the planning results are usually too close to the target (i.e., the power equipment to be inspected), and trajectory sub-constraints are introduced to constrain the smoothness of the drone's inspection path.

[0063] The technical solution provided by this embodiment determines the inspection area of ​​the power equipment to be inspected, processes the map data corresponding to the inspection area to obtain the corresponding grid map; plans multiple initial inspection paths for the inspection execution device based on the inspection tasks of the power equipment to be inspected and the grid map; and selects the target inspection path from the multiple initial inspection paths based on the target constraint conditions of the inspection area. This application first determines the corresponding inspection area for the power equipment to be inspected according to the attribute characteristics of the power equipment to be inspected, and then converts the inspection area into a grid map. Then, on the basis of the multiple initial inspection paths planned for the inspection execution device, target constraints that are more in line with actual needs are added, so as to select the target inspection path from the multiple initial inspection paths. This application can realize the rapid and accurate planning of inspection paths that meet actual needs for the inspection execution device, and can improve the inspection work efficiency of the power equipment to be inspected.

[0064] The following further describes the method for determining the inspection path provided by the embodiment of the present application. Figure 2 A second flow chart of a method for determining an inspection path provided in an embodiment of the present application is provided. The embodiment of the present application is optimized on the basis of the above embodiments, and the specific optimization is as follows: the present embodiment explains in detail the process of determining the target inspection path.

[0065] See also Figure 2 The method of this embodiment includes but is not limited to the following steps:

[0066] S210: Determine, based on the environmental sub-constraint condition, whether there is a first inspection path among the multiple initial inspection paths in which all the path nodes are within the area to be inspected.

[0067] Among them, the environmental sub-constraints are used to constrain the inspection path of the UAV in the area to be inspected, for example: each path node of the inspection path must fall in the area to be inspected.

[0068] In the embodiment of the present application, each initial inspection path is screened to determine whether there is an optimal path in which all path nodes are within the area to be inspected, which is recorded as the first inspection path.

[0069] S220: If yes, determine the first inspection path as the middle inspection path.

[0070] In an embodiment of the present application, if there is an optimal path among the multiple initial inspection paths, the optimal path is determined as the intermediate inspection path so that the trajectory thereof can be optimized in subsequent steps to obtain the target inspection path.

[0071] S230: If not, select a second inspection path that meets a preset standard from the multiple initial inspection paths, where the preset standard is that the number of path nodes located outside the area to be inspected among the path nodes of the initial inspection path is the least.

[0072] In the embodiment of the present application, if there is no optimal path among the multiple initial inspection paths, a suboptimal path is selected and recorded as the second inspection path. The preset standard for selecting the suboptimal path is: selecting the inspection path with the least number of path nodes located outside the area to be inspected from the multiple initial inspection paths.

[0073] S240: Perform path optimization processing on the second inspection path to obtain an intermediate inspection path.

[0074] In an optional embodiment, the second inspection path is subjected to path optimization processing to obtain an intermediate inspection path, including: determining a first path node in the second inspection path that is outside the area to be inspected; determining a point on the boundary of the area to be inspected that is closest to the first path node as an alternative path node; and replacing the first path node in the second inspection path with the alternative path node to obtain an intermediate inspection path.

[0075] In another optional embodiment, in each of the multiple initial inspection paths, the first path node is replaced by an alternative path node, and then the optimal path that meets the environmental sub-constraints needs to be selected from the multiple initial inspection paths after replacement as the intermediate inspection path.

[0076] S250 , performing trajectory optimization processing on the intermediate inspection path based on the trajectory sub-constraint conditions to obtain a target inspection path.

[0077] Specifically, based on the trajectory sub-constraints, the intermediate inspection path is optimized to obtain the target inspection path, including: first, the intermediate inspection path is sampled at equal time to obtain multiple sub-paths. Then, the overdetermined equation is solved for each sub-path in the multiple sub-paths using the least squares approximation to obtain the control points corresponding to each sub-path; it should be noted that when sampling points on the suboptimal path, the obtained control points are also suboptimal. Secondly, based on the preset algorithm and the control points corresponding to each sub-path, each sub-path is optimized to obtain each optimized sub-path; wherein the preset algorithm can be a B-spline algorithm, or other smooth cost functions, such as: using a smooth cost function to perform nonlinear optimization on each sub-path to obtain a smooth, robust, and safe trajectory. Finally, the target inspection path is determined based on each optimized sub-path.

[0078] The technical solution provided in this embodiment determines whether there is a first inspection path in which all path nodes are within the area to be inspected among multiple initial inspection paths based on environmental sub-constraints; if so, the first inspection path is determined as the intermediate inspection path; if not, a second inspection path that meets the preset standard is selected from the multiple initial inspection paths, and the preset standard is that the number of path nodes located outside the area to be inspected among the path nodes of the initial inspection paths is the smallest; the second inspection path is optimized to obtain an intermediate inspection path; the intermediate inspection path is optimized to obtain a target inspection path based on trajectory sub-constraints. On the basis of planning multiple initial inspection paths for the inspection execution device, this application adds target constraints that are more in line with actual needs, namely environmental sub-constraints and trajectory sub-constraints, so as to select the target inspection path from multiple initial inspection paths. This application can realize the rapid and accurate planning of inspection paths that meet actual needs for the inspection execution device, and can improve the inspection work efficiency of the power equipment to be inspected.

[0079] Figure 3 A schematic diagram of a structure of a device for determining an inspection path provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the device 300 may include:

[0080] A grid map determination module 310 is used to determine an inspection area of ​​the power equipment to be inspected, and to process the map data corresponding to the inspection area to obtain a corresponding grid map;

[0081] A first path determination module 320, configured to plan a plurality of initial inspection paths for an inspection execution device based on the inspection task of the power equipment to be inspected and the grid map;

[0082] The second path determination module 330 is used to select a target inspection path from the multiple initial inspection paths based on the target constraint condition of the area to be inspected.

[0083] Furthermore, the above-mentioned grid map determination module 310 may include: an inspection area determination unit and a grid map determination unit;

[0084] The inspection area determination unit can be used to obtain the model code and coordinate data of the power equipment to be inspected; determine the inspection radius of the power equipment to be inspected according to the model code; perform data calculation on the coordinate data and the inspection radius to obtain the area to be inspected.

[0085] The grid map determination unit can be used to perform grid processing on the map data to obtain corresponding grid data; mark the grid data according to the obstacle information of the area to be inspected to obtain a grid map of the area to be inspected.

[0086] Furthermore, the above-mentioned first path determination module 320 can be specifically used to: determine the starting node and the ending node based on the inspection task; search the first adjacent node with the smallest cost value for the starting node in the grid map as the next node corresponding to the starting node; take the next node as the current node, and determine multiple second neighbor nodes corresponding to the current node, wherein the second neighbor nodes are nodes that have not been searched and are adjacent to the current node; calculate the cumulative cost value of each second neighbor node, and determine the next node corresponding to the current node from the multiple second neighbor nodes based on the cumulative cost value; until the next node is the ending node, multiple path nodes are obtained; and the multiple path nodes are connected in series to obtain the multiple initial inspection paths.

[0087] Optionally, the target constraint condition includes an environment sub-constraint condition and a trajectory sub-constraint condition;

[0088] Furthermore, the above-mentioned second path determination module 330 can be specifically used to: determine whether there is a first inspection path among the multiple initial inspection paths in which all path nodes are within the area to be inspected based on the environmental sub-constraint condition; if so, determine the first inspection path as the intermediate inspection path; if not, select a second inspection path that meets the preset criteria from the multiple initial inspection paths, and the preset criteria is that the number of path nodes of the initial inspection path that are located outside the area to be inspected is the smallest; perform path optimization processing on the second inspection path to obtain the intermediate inspection path; perform trajectory optimization processing on the intermediate inspection path based on the trajectory sub-constraint condition to obtain the target inspection path.

[0089] Furthermore, the above-mentioned second path determination module 330 can also be specifically used to: determine a first path node in the second inspection path that is located outside the area to be inspected; determine a corresponding alternative path node for the first path node on the boundary of the area to be inspected; and replace the first path node with the alternative path node in the second inspection path to obtain the intermediate inspection path.

[0090] Furthermore, the above-mentioned second path determination module 330 can also be specifically used to: perform equal-time sampling on the intermediate inspection path to obtain multiple sub-paths; solve the overdetermined equation for each sub-path in the multiple sub-paths to obtain the control points corresponding to each sub-path; perform trajectory optimization processing on each sub-path based on a preset algorithm and the control points corresponding to each sub-path to obtain each optimized sub-path; and determine the target inspection path based on each optimized sub-path.

[0091] The inspection path determination device provided in this embodiment can be applied to the inspection path determination method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0092] Figure 4 It is a block diagram of an electronic device for implementing a method for determining a patrol path of an embodiment of the present application. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0093] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for determining an inspection path.

[0096] In some embodiments, the method for determining the inspection path may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the inspection path described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for determining the inspection path in any other appropriate manner (e.g., by means of firmware).

[0097] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0099] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0101] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server) or a computing system that includes middleware components (e.g., an application server) or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein) or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0102] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0103] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. For example, those skilled in the art can use the various forms of processes shown above to reorder, add, or delete steps; the steps recorded in the present application can be performed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of the present application can be achieved, and this document does not limit them here.

[0104] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for determining an inspection path, characterized in that: The method comprises: Determine an inspection area of ​​the power equipment to be inspected, and process the map data corresponding to the inspection area to obtain a corresponding grid map; Planning a plurality of initial inspection paths for the inspection execution device based on the inspection task of the power equipment to be inspected and the grid map; A target inspection path is selected from the multiple initial inspection paths based on the target constraint conditions of the area to be inspected.

2. The method for determining an inspection path according to claim 1, characterized in that: Determining the inspection area of ​​the power equipment to be inspected includes: Obtaining the model code and coordinate data of the electric power equipment to be inspected; Determining the inspection radius of the power equipment to be inspected according to the model code; The coordinate data and the inspection radius are operated to obtain the area to be inspected.

3. The method for determining an inspection path according to claim 1, characterized in that: The step of processing the map data corresponding to the area to be inspected to obtain a corresponding grid map includes: Performing rasterization processing on the map data to obtain corresponding raster data; The grid data is marked according to the obstacle information of the area to be inspected to obtain a grid map of the area to be inspected.

4. The method for determining an inspection path according to claim 1, characterized in that: The planning of a plurality of initial inspection paths for the inspection execution device based on the inspection task of the power equipment to be inspected and the grid map includes: Determine a starting node and an ending node based on the inspection task; Searching the grid map for the first adjacent node with the smallest cost value for the starting node as the next node corresponding to the starting node; Taking the next node as the current node, determining a plurality of second neighbor nodes corresponding to the current node, where the second neighbor nodes are nodes that have not been searched and are adjacent to the current node; Calculating a cumulative cost value of each second neighbor node, and determining a next node corresponding to the current node from the plurality of second neighbor nodes based on the cumulative cost value; Until the next node is the termination node, a plurality of path nodes are obtained; The multiple path nodes are connected in series to obtain the multiple initial inspection paths.

5. The method for determining an inspection path according to claim 1, characterized in that: The target constraint condition includes an environmental sub-constraint condition and a trajectory sub-constraint condition; the target inspection path is selected from the multiple initial inspection paths based on the target constraint condition of the area to be inspected, including: Determine, based on the environmental sub-constraint condition, whether there is a first inspection path among the multiple initial inspection paths in which all path nodes are within the area to be inspected; If so, determining the first inspection path as the intermediate inspection path; If not, selecting a second inspection path that meets a preset standard from the multiple initial inspection paths, wherein the preset standard is that the number of path nodes located outside the area to be inspected among the path nodes of the initial inspection path is the smallest; Performing path optimization processing on the second inspection path to obtain the intermediate inspection path; The intermediate inspection path is subjected to trajectory optimization processing based on the trajectory sub-constraint conditions to obtain the target inspection path.

6. The method for determining an inspection path according to claim 5, characterized in that: The performing path optimization processing on the second inspection path to obtain the intermediate inspection path includes: Determine a first path node in the second inspection path that is outside the area to be inspected; Determining a corresponding candidate path node for the first path node on a boundary of the area to be inspected; The first path node is replaced by the alternative path node in the second inspection path to obtain the intermediate inspection path.

7. The method for determining an inspection path according to claim 5, characterized in that: The step of performing trajectory optimization processing on the intermediate inspection path based on the trajectory sub-constraint condition to obtain the target inspection path includes: Performing equal-time sampling on the intermediate inspection path to obtain multiple sub-paths; Solving an overdetermined equation for each sub-path in the multiple sub-paths to obtain a control point corresponding to each sub-path; Performing trajectory optimization processing on each sub-path segment based on a preset algorithm and control points corresponding to each sub-path segment to obtain each optimized sub-path segment; The target inspection path is determined according to each optimized sub-path.

8. A device for determining an inspection path, characterized in that: The device comprises: A grid map determination module is used to determine the inspection area of ​​the power equipment to be inspected, and to process the map data corresponding to the inspection area to obtain a corresponding grid map; A first path determination module, configured to plan a plurality of initial inspection paths for an inspection execution device based on the inspection task of the power equipment to be inspected and the grid map; The second path determination module is used to select a target inspection path from the multiple initial inspection paths based on the target constraint conditions of the area to be inspected.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the inspection path according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for determining an inspection path according to any one of claims 1 to 7 when executed.

Images