Inspection path planning method and device, computer equipment and readable storage medium

Abstract

The invention relates to an inspection path planning method and device, computer equipment and a readable storage medium. The method comprises the following steps: acquiring at least one candidate inspection path corresponding to an inspection task and real-time parameter information of each candidate inspection path; respectively and correspondingly determining task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used for representing the importance degree of the candidate inspection path in the inspection task; and determining a target inspection path of the inspection task from the candidate inspection paths according to the task priority information. By adopting the method, the inspection efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of inspection path planning, and in particular to an inspection path planning method, device, computer equipment and readable storage medium. Background Art

[0002] The distribution network refers to an electric power network that receives electric energy from the transmission network or large-scale power generation facilities and distributes it to various types of users step by step through a series of distribution facilities. It is an important component of the power system and is directly related to the reliable supply and quality assurance of electric energy.

[0003] The distribution network consists of overhead lines, cables, poles and towers. Due to long-term exposure to the wild, it is easily affected by mechanical tension, lightning flashover, material aging and other factors, and there is a risk of failure. Therefore, it is necessary to inspect the distribution network. Distribution network inspection is an important part of the operation and maintenance of the distribution network. It aims to timely discover and deal with equipment defects and hidden dangers through irregular or regular on-site inspections, prevent failures, and ensure the safe, stable and efficient operation of the distribution network.

[0004] However, existing power inspection path planning technologies are usually based on static path planning or rely on the experience of inspectors, resulting in low inspection efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a patrol route planning method, device, computer equipment and readable storage medium that can improve patrol efficiency in response to the above technical problems.

[0006] In a first aspect, the present application provides a method for inspection path planning, the method comprising:

[0007] Acquire at least one candidate inspection path corresponding to the inspection task, and real-time parameter information of each candidate inspection path;

[0008] Determine the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task;

[0009] The target inspection path of the inspection task is determined from the candidate inspection paths according to the priority information of each task.

[0010] In one embodiment, the candidate inspection path includes a plurality of inspection points, the inspection point includes one of an inspection starting point, an inspection midpoint, and an inspection end point, the candidate inspection path includes the inspection starting point and the inspection end point, and at least part of the candidate inspection path includes at least one of the inspection midpoints;

[0011] The step of respectively determining the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path includes:

[0012] Obtaining historical parameter information of each candidate inspection path;

[0013] Determine the task weight of each inspection point and the safety weight of each road section in each candidate inspection path according to each of the real-time parameter information and each of the historical parameter information; wherein the road section refers to the road between two adjacent inspection points;

[0014] The task priority information of each candidate inspection path is determined according to each task weight and each safety weight.

[0015] In one embodiment, the historical parameter information includes the historical device status information of each of the inspection midpoints, the real-time parameter information includes the real-time device status information of each of the inspection midpoints, the inspection midpoint is provided with at least one power device, the real-time device status information of the inspection midpoint includes the real-time status information of each of the power devices in the inspection midpoint, and the historical device status information of the inspection midpoint includes the historical status information of each of the power devices in the inspection midpoint;

[0016] Determining the task weight of each inspection midpoint according to each of the real-time parameter information and each of the historical parameter information includes:

[0017] Determine the real-time task score of each of the power devices according to the real-time status information of each of the power devices at the inspection midpoint;

[0018] Determine the historical task score of each of the power equipment according to the historical status information of each of the power equipment at the inspection midpoint;

[0019] According to the real-time task score and the historical task score of each of the electric power equipment, and the proportional relationship between the preset real-time task score and the historical task score, the task weight of each of the inspection midpoints is determined respectively.

[0020] In one embodiment, the historical parameter information further includes historical road safety information of each road section in each candidate inspection path, and the real-time parameter information further includes real-time road safety information of each road section in each candidate inspection path;

[0021] Determining the safety weight of each section in each candidate inspection path according to each of the real-time parameter information and each of the historical parameter information includes:

[0022] Determine a real-time safety score corresponding to each of the road sections according to the real-time road safety information of each of the road sections;

[0023] Determining a historical safety score for each of the road sections based on historical road safety information for each of the road sections;

[0024] The safety weight of each road section is determined according to each of the real-time safety scores, the historical safety scores corresponding to each road section, and the proportional relationship between the preset real-time safety score and the historical safety score.

[0025] In one embodiment, determining the task priority information of each candidate inspection path according to each task weight and each security weight includes:

[0026] According to the task weight of each inspection midpoint, the preset task weight of the inspection end point, the safety weight of each road section, and the pre-stored distance of each road section, respectively calculate the importance score of each inspection midpoint and multiple importance scores of the inspection end point;

[0027] The task priority information of each candidate inspection path is determined according to the importance scores of the inspection midpoint and the inspection end point included in each candidate inspection path.

[0028] In one embodiment, the method further comprises:

[0029] The real-time parameter information of the target inspection path is sent to the hybrid display device so as to display a three-dimensional navigation map of the target inspection path through the hybrid display device.

[0030] In a second aspect, the present application provides a patrol route planning device, the device comprising:

[0031] A first acquisition module, used to acquire at least one candidate inspection path corresponding to the inspection task, and real-time parameter information of each candidate inspection path;

[0032] A first determination module is used to determine the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task;

[0033] The second determination module is used to determine the target inspection path of the inspection task from the candidate inspection paths according to the priority information of each task.

[0034] In a third aspect, the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the inspection path planning method described in any one of the above embodiments are implemented.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the inspection path planning method described in any of the above embodiments are implemented.

[0036] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the inspection path planning method described in any of the above embodiments.

[0037] The above-mentioned inspection path planning method, device, computer equipment and readable storage medium first obtain at least one candidate inspection path corresponding to the inspection task according to the location of the inspection personnel, and obtain the real-time parameter information of each candidate inspection path. The real-time parameter information can be road safety information on the inspection path, status information of each power equipment on the inspection path, etc., and then the task priority information of each candidate inspection path can be determined according to the real-time parameter information of each candidate inspection path, and then the candidate inspection path with high importance is selected from each candidate inspection path according to the calculated task priority information as the target inspection path of the inspection task, and then the inspection personnel are instructed to perform power inspection according to the target inspection path. Through the inspection path planning method of the present application, dynamic path optimization can be performed according to the real-time equipment status data and environmental changes in each candidate inspection path, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0039] FIG1 is a schematic diagram of a process flow of an inspection path planning method in one embodiment;

[0040] FIG2 is a schematic diagram of a flow chart of step S102 in one embodiment;

[0041] FIG3 is a schematic diagram of a flow chart of step S202 in one embodiment;

[0042] FIG4 is a schematic diagram of a flow chart of step S202 in another embodiment;

[0043] FIG5 is a schematic diagram of a flow chart of step S203 in one embodiment;

[0044] FIG6 is a structural block diagram of an inspection path planning device in one embodiment;

[0045] FIG. 7 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In an exemplary embodiment, please refer to FIG. 1 , the present application provides a patrol path planning method, the patrol path planning method includes steps S101 to S103 , and the following is an example of applying the method to a control terminal for explanation.

[0048] S101: Acquire at least one candidate inspection path corresponding to an inspection task and real-time parameter information of each candidate inspection path.

[0049] In the application, when inspecting the distribution network, the inspectors can carry an MR (Mixed Reality) device with them. The MR device can communicate with the control terminal. The MR device can be equipped with a Beidou positioning module so that the control terminal can obtain the location information of the inspectors in real time according to the MR device, and search for at least one candidate inspection path from the preset inspection path information library according to the location information of the inspectors and the inspection task. At the same time, multiple sensor devices can be set up in the area where the distribution network is located, and these sensor devices can also communicate with the control terminal so that the control terminal can obtain the real-time parameter information of each candidate inspection path.

[0050] S102: Determine task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task.

[0051] In an example, the real-time parameter information may include status data of each power device on the candidate patrol path and environmental data such as obstacles and air quality on the candidate patrol path. After receiving the real-time parameter information of each candidate patrol path, the control terminal can calculate the task priority information of each candidate patrol path. The task priority information of the candidate patrol path is used to indicate a comprehensive indicator of the distance of the candidate patrol path, the safety level of the candidate patrol path, and the abnormality level of each power device in the candidate patrol path, that is, the importance of the candidate patrol path in the patrol task.

[0052] S103: Determine a target inspection path for the inspection task from among the candidate inspection paths according to the priority information of each task.

[0053] After calculating the task priority information of each candidate inspection path, the target inspection path of the inspection task can be determined from each candidate inspection path according to the task priority information. The target inspection path has the highest task priority information, that is, the comprehensive index of the distance, safety level and abnormality level of each power equipment in the target inspection path is the highest. Inspection personnel can inspect abnormal power equipment immediately by inspecting according to the target inspection path. At the same time, the safety level of the target inspection path is higher than that of other inspection paths, and the distance is shorter than that of other inspection paths. Inspection personnel are most efficient when inspecting according to the target inspection path.

[0054] The above-mentioned inspection path planning method, device, computer equipment and readable storage medium first obtain at least one candidate inspection path corresponding to the inspection task according to the location of the inspection personnel, and obtain the real-time parameter information of each candidate inspection path. The real-time parameter information can be road safety information on the inspection path, status information of each power equipment on the inspection path, etc., and then the task priority information of each candidate inspection path can be determined according to the real-time parameter information of each candidate inspection path, and then the candidate inspection path with high importance is selected from each candidate inspection path according to the calculated task priority information as the target inspection path of the inspection task, and then the inspection personnel are instructed to perform power inspection according to the target inspection path. Through the inspection path planning method of the present application, dynamic path optimization can be performed according to the real-time equipment status data and environmental changes in each candidate inspection path, thereby improving the inspection efficiency.

[0055] In an exemplary embodiment, please refer to FIG. 2 , step S102 , determining task priority information of each candidate inspection path respectively according to the real-time parameter information of each candidate inspection path, including steps S201 to S203 .

[0056] S201: Obtain historical parameter information of each candidate inspection path.

[0057] In this embodiment, the candidate inspection path may have multiple inspection points, and the inspection point is one of the inspection starting point, the inspection midpoint and the inspection end point. The candidate inspection path includes the inspection starting point and the inspection end point, and at least part of the candidate inspection paths includes at least one inspection midpoint. The inspection starting point may be the location of the inspection personnel, and the inspection end point is the destination of this inspection task. The inspection midpoint is the location of each power device, and at least one power device is set at one inspection midpoint.

[0058] In the application, after the sensing device uploads the detected real-time parameter information to the control terminal, the control terminal can pre-process the real-time parameter information, such as detecting abnormal values, deleting erroneous data, unifying the timestamp format, standardizing units, etc. Specifically, statistical methods (such as Z-Score) can be used to detect abnormal values ​​in the data. For example, the reading value of a temperature sensor in a normal state is within the range of [20°C, 80°C]. If the reading value of the temperature sensor appears -10°C or 200°C, it is considered abnormal and the data needs to be deleted. Alternatively, if the real-time data received from the sensor contains garbled characters or transmission errors, it should be directly removed. The unified timestamp format can be to use a unified UTC timestamp format for all sensor data (such as temperature, humidity, and obstacle information), and the standardized unit can be to convert the unit of the data into a standard format. For example, different sensors may return Fahrenheit temperature (°F) or Celsius temperature (°C), which needs to be unified to °C.

[0059] When the control terminal receives new real-time parameter information fed back by the sensor device, the previously received parameter information can be marked as historical parameter information and stored. When the data fed back by the sensor device is erroneous, the erroneous data can be corrected based on the historical parameter information and the real-time parameter information. For example, if the data of a temperature sensor at 10:02 is erroneous, the data fed back by the temperature sensor at 10:01 and the data fed back by the temperature sensor at 10:03 can be weighted averaged to fill in the data of the temperature sensor at 10:02. Alternatively, the mean or median of the data in the historical parameter information can be used to fill in the missing values. For example, if the obstacle sensor is missing data for three consecutive times, the average value of the obstacle data in the past 30 minutes can be used instead.

[0060] S202: Determine the task weight of each inspection point and the safety weight of each road section in each candidate inspection path according to each real-time parameter information and each historical parameter information; wherein a road section refers to a road between two adjacent inspection points.

[0061] When determining the task priority information of the candidate inspection path, it is necessary to fuse the real-time parameter information and the corresponding historical parameter information, and comprehensively evaluate the task weight of the inspection midpoint and the safety weight of the road section based on the fused information.

[0062] S203: Determine the task priority information of each candidate inspection path according to each task weight and each safety weight.

[0063] After calculating the task weight of each inspection point and the safety weight of each section in each candidate inspection path, the task priority information of each candidate inspection path can be comprehensively evaluated according to each task weight, each safety weight and the actual distance of each section.

[0064] In an exemplary embodiment, please refer to FIG. 3 , step S202 , determining the task weight of each inspection midpoint according to each real-time parameter information and each historical parameter information, including steps S301 to S303 .

[0065] S301: Determine the real-time task score of each power device according to the real-time status information of each power device at the inspection midpoint.

[0066] The historical parameter information includes the historical equipment status information of each inspection midpoint, the real-time parameter information includes the real-time equipment status information of each inspection midpoint, the inspection midpoint is provided with at least one power equipment, the real-time equipment status information of the inspection midpoint includes the real-time status information of each power equipment in the inspection midpoint, and the historical equipment status information of the inspection midpoint includes the historical status information of each power equipment in the inspection midpoint;

[0067] In one example, the real-time device status information and historical device status information may involve data such as the temperature, current, voltage, power, and resistance of the power equipment. Taking the case where the real-time device status information and historical device status information only involve the temperature and voltage of the power equipment, the real-time temperature of a certain power equipment is 90°C, which is relatively high, and the real-time voltage is within the normal range. According to the preset status scoring table, the temperature score of the power equipment is 1, and the voltage score is 0. The real-time task score of the power equipment is temperature weight*temperature score+voltage weight*voltage score. Assuming that the temperature weight and voltage weight are both 0.5, the real-time task score of the power equipment is 0.5*1+0.5*0=0.5.

[0068] S302: Determine the historical task score of each power device according to the historical status information of each power device at the inspection midpoint.

[0069] Continuing with the above example, assuming that only the previous historical status information is fused with the real-time status information, the previous historical temperature of the power equipment is 30°C, the temperature value is normal, and the previous historical voltage is also within the normal voltage range. According to the preset status scoring table, the temperature score of the power equipment is 0, and the voltage score is 0. Then the real-time task score of the power equipment is 0.5*0+0.5*0=0.

[0070] S303: According to the real-time task score and the historical task score of each power device and the preset proportional relationship between the real-time task score and the historical task score, the task weight of each inspection midpoint is determined respectively.

[0071] Assuming that the ratio of the real-time task score to the historical task score is 8:2, the total score of the power equipment is 0.8*0.5+0.2*0=0.4. In the application, the total score of each power equipment at the inspection midpoint can be calculated according to the above calculation method. After that, the total score of each power equipment can be weighted averaged or directly summed to obtain the task weight of the inspection midpoint.

[0072] It should be understood that the above example does not represent the actual method for calculating the task weight of the inspection midpoint. In the application, relevant technical personnel can determine the data that needs to be obtained when calculating the task weight according to actual needs, as well as determine how many times of historical data to use and merge with real-time data according to actual needs.

[0073] In an exemplary embodiment, please refer to FIG. 4 , step S202 , determining the safety weight of each section in each candidate inspection path according to each real-time parameter information and each historical parameter information, including steps S401 to S403 .

[0074] S401: Determine a real-time safety score corresponding to each road section according to the real-time road safety information of each road section.

[0075] In the application, the historical parameter information also includes the historical road safety information of each section in each candidate inspection path, and the real-time parameter information also includes the real-time road safety information of each section in each candidate inspection path; the real-time road safety information and the historical road safety information may involve data such as obstacles, construction areas, air quality, and road visibility. Similar to the above-mentioned determination of the real-time task score of the power equipment, when determining the real-time safety score of the road section, a preset safety score table is used to find the corresponding score based on the real-time obstacles, construction areas, air quality, road visibility and other data, and then the real-time safety score of the road section is calculated based on the preset weights of each data.

[0076] S402: Determine a historical safety score for each road section based on historical road safety information for each road section.

[0077] Similarly, based on the recorded data of historical obstacles, construction areas, air quality, road visibility, etc. of the road section, use the preset safety score table to find the corresponding score based on the historical obstacles, construction areas, air quality, road visibility, etc. data, and then calculate the historical safety score of the road section based on the preset weights of each data.

[0078] S403: Determine the safety weight of each road section according to each real-time safety score, the historical safety score corresponding to each road section, and the ratio between the preset real-time safety score and the historical safety score.

[0079] After obtaining the real-time safety score and historical safety score of the road section, a weighted calculation can be performed based on the preset ratio between the real-time safety score and the historical safety score to obtain the safety weight of the road section.

[0080] In an exemplary embodiment, please refer to FIG. 5 , step S203 , determining the task priority information of each candidate inspection path according to each task weight and each safety weight, includes step S501 and step S502 .

[0081] S501: Calculate the importance score of each inspection midpoint and multiple importance scores of the inspection endpoints according to the task weight of each inspection midpoint, the preset task weight of the inspection endpoint, the safety weight of each road section, and the pre-stored distance of each road section.

[0082] After calculating the task weight of each inspection point and the safety weight of each road section, the importance score of the inspection point can be calculated. Specifically, the task weight of the inspection point, the safety score of the road section corresponding to the inspection point, and the inverse of the distance of the road section corresponding to the inspection point are multiplied to obtain the importance score of the inspection point. Similarly, the task weight of the preset inspection end point, the safety score of each road section corresponding to the inspection end point, and the inverse of the distance of each road section corresponding to the inspection end point are multiplied to obtain the importance score of the inspection end point.

[0083] S502: Determine task priority information of each candidate inspection path according to the importance scores of the inspection midpoint and the inspection end point included in each candidate inspection path.

[0084] The task priority information of the candidate inspection path can be obtained by adding up the importance scores of each inspection midpoint and inspection end point in the candidate inspection path. After that, the candidate inspection path with the highest task priority information is determined as the target inspection path, and an inspection path with the highest inspection efficiency can be determined for the inspection personnel.

[0085] In an exemplary embodiment, the inspection path planning method further includes: sending real-time parameter information of the target inspection path to the hybrid display device to display a three-dimensional navigation map of the target inspection path through the hybrid display device.

[0086] It can be understood that the hybrid display device is an MR device. The inspectors carry the MR device with them. After determining the target inspection path, the MR device can display the three-dimensional navigation map of the target inspection path, and guide the inspectors to inspect along the target inspection path through virtual arrows and other indicators. The MR device can also display real-time parameter information of the target inspection path, such as the real-time status of the current and voltage of each power equipment in the target inspection path. In the application, when the inspectors inspect the power equipment and encounter complex faults, the control terminal transmits the equipment data in real time. The remote experts obtain the inspectors' perspectives through the MR device, provide remote guidance and issue maintenance instructions to ensure that the faults are handled in a timely manner.

[0087] In an example, assuming that the inspection starting point is D1 and the inspection end point is D2, the control terminal searches from the preset inspection path information database based on the inspection personnel's location D1 and finds that there are three candidate inspection paths from the inspection starting point D1 to the inspection end point D2: the first candidate inspection path is: inspection starting point D1—inspection midpoint D3—inspection end point D2, the second candidate inspection path is: inspection starting point D1—inspection end point D2, and the third candidate inspection path is: inspection starting point D1—inspection midpoint D4—inspection midpoint D5—inspection end point D2.

[0088] Afterwards, the control terminal obtains the real-time equipment status information of each inspection point and the real-time road safety information of each road section through each sensor device, and calculates the task weight of each inspection point and the safety weight of each road section in combination with the historical equipment status information of each inspection point and the historical road safety information of each road section. Assume that the calculated task weight of inspection point D3 is 0.2, the task weight of inspection point D4 is 0.6, the task weight of inspection point D5 is 0.3, the safety weight of the section between inspection starting point D1 and inspection midpoint D3 is 0.5, the safety weight of the section between inspection midpoint D3 and inspection end point D2 is 0.3, the safety weight of the section between inspection starting point D1 and inspection end point D2 is 0.2, the safety weight of the section between inspection starting point D1 and inspection end point D4 is 1, and the safety weight of the section between inspection end point D4 and inspection midpoint D5 is 0. The total weight is 1, the safety weight of the section between the inspection midpoint D5 and the inspection end point D2 is 1, the distance between the inspection starting point D1 and the inspection midpoint D3 is 20m, the distance between the inspection midpoint D3 and the inspection end point D2 is 8m, the distance between the inspection starting point D1 and the inspection end point D2 is 25m, the distance between the inspection starting point D1 and the inspection end point D4 is 15m, the distance between the inspection end point D4 and the inspection midpoint D5 is 15m, and the distance between the inspection midpoint D5 and the inspection end point D2 is 10m. Assume that the task weight of the preset inspection end point D3 is 1.

[0089] It can be calculated that: for the first candidate inspection path, the importance score of the inspection midpoint D3 is 0.2*0.5*(1 / 20)=0.005, the importance score of the inspection end point D2 is 1*0.3*(1 / 8)=0.0375, and the task priority information of the first candidate inspection path is 0.005+0.0375=0.0425. For the second candidate inspection path, the importance score of the inspection end point D2 is 1*0.5*(1 / 25)=0.02, and the task priority information of the second candidate inspection path is 0.02. For the third candidate inspection path, the importance score of the inspection midpoint D4 is 0.6*1*(1 / 15)=0.04, the importance score of the inspection midpoint D5 is 0.3*1*(1 / 15)=0.02, the importance score of the inspection end point D2 is 1*1*(1 / 10)=0.1, and the task priority information of the third candidate inspection path is 0.07.

[0090] Since the task priority information of the third candidate inspection path is higher than that of the first candidate inspection path and the second candidate inspection path, the third candidate inspection path is determined as the target inspection path, and a three-dimensional navigation map of the target inspection path can be displayed through the MR device to instruct the inspection personnel to conduct inspections along the target inspection path.

[0091] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0092] Based on the same inventive concept, the embodiment of the present application also provides a patrol path planning device for implementing the patrol path planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more patrol path planning device embodiments provided below can refer to the limitations of the patrol path planning method above, and will not be repeated here.

[0093] In an exemplary embodiment, referring to FIG. 6 , the present application provides a patrol path planning device, which includes a first acquisition module 601 , a first determination module 602 , and a second determination module 603 .

[0094] The first acquisition module 601 is used to acquire at least one candidate inspection path corresponding to the inspection task, and real-time parameter information of each candidate inspection path;

[0095] The first determination module 602 is used to determine the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task;

[0096] The second determination module 603 is used to determine a target inspection path for the inspection task from among the candidate inspection paths according to the priority information of each task.

[0097] In one embodiment, the candidate inspection path includes a plurality of inspection points, the inspection point includes one of an inspection start point, an inspection midpoint, and an inspection end point, the candidate inspection path includes an inspection start point and an inspection end point, and at least part of the candidate inspection path includes at least one inspection midpoint;

[0098] The second determining module 603 includes:

[0099] The first acquisition submodule is used to acquire historical parameter information of each candidate inspection path.

[0100] The first determination submodule is used to determine the task weight of each inspection point and the safety weight of each road section in each candidate inspection path according to each real-time parameter information and each historical parameter information; wherein a road section refers to the road between two adjacent inspection points.

[0101] The second determination submodule is used to determine the task priority information of each candidate inspection path according to each task weight and each safety weight.

[0102] In one embodiment, the historical parameter information includes the historical device status information of each inspection midpoint, the real-time parameter information includes the real-time device status information of each inspection midpoint, the inspection midpoint is provided with at least one power device, the real-time device status information of the inspection midpoint includes the real-time status information of each power device in the inspection midpoint, and the historical device status information of the inspection midpoint includes the historical status information of each power device in the inspection midpoint; the first determination submodule includes:

[0103] The first determination unit is used to determine the real-time task score of each power device according to the real-time status information of each power device at the inspection midpoint.

[0104] The second determination unit is used to determine the historical task score of each power device according to the historical status information of each power device at the inspection midpoint.

[0105] The third determination unit is used to determine the task weight of each inspection midpoint according to the real-time task score and the historical task score of each power equipment and the ratio between the preset real-time task score and the historical task score.

[0106] In one embodiment, the historical parameter information also includes historical road safety information of each section in each candidate inspection path, and the real-time parameter information also includes real-time road safety information of each section in each candidate inspection path. The first determination submodule also includes:

[0107] The fourth determining unit is used to determine the real-time safety score corresponding to each road section according to the real-time road safety information of each road section.

[0108] The fifth determining unit is used to determine the historical safety score of each road section according to the historical road safety information of each road section.

[0109] The sixth determination unit is used to determine the safety weight of each road section according to each real-time safety score, the historical safety score corresponding to each road section, and the preset ratio between the real-time safety score and the historical safety score.

[0110] In one embodiment, the second determining submodule includes:

[0111] The first calculation unit calculates the importance score of each inspection midpoint and multiple importance scores of the inspection end point according to the task weight of each inspection midpoint, the preset task weight of the inspection end point, the safety weight of each road section, and the pre-stored distance of each road section;

[0112] The second calculation unit is used to determine the task priority information of each candidate inspection path according to the importance scores of the inspection midpoint and the inspection end point included in each candidate inspection path.

[0113] In one of the embodiments, the inspection path planning apparatus further includes: a first execution module, configured to send real-time parameter information of the target inspection path to the hybrid display device, so as to display a three-dimensional navigation map of the target inspection path through the hybrid display device.

[0114] Each module in the above inspection path planning device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0115] In an exemplary embodiment, the present application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the inspection path planning method in any of the above embodiments are implemented.

[0116] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG7. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store historical parameter information. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for patrol path planning is implemented.

[0117] Those skilled in the art will understand that the structure shown in FIG. 7 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0118] In an exemplary embodiment, the present application provides a computer program product, including a computer program, which implements the steps of the inspection path planning method of any of the above embodiments when the computer program is executed by a processor.

[0119] In an exemplary embodiment, the present application provides a computer program product, including a computer program, which implements the steps of the inspection path planning method in any of the above embodiments when the computer program is executed by a processor.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0121] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0123] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A patrol route planning method, characterized in that: The method comprises: Acquire at least one candidate inspection path corresponding to the inspection task, and real-time parameter information of each candidate inspection path; Determine the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task; The target inspection path of the inspection task is determined from the candidate inspection paths according to the priority information of each task.

2. The inspection path planning method according to claim 1, characterized in that: The candidate inspection path includes a plurality of inspection points, wherein the inspection points include one of an inspection starting point, an inspection midpoint, and an inspection end point. The candidate inspection path includes the inspection starting point and the inspection end point, and at least part of the candidate inspection path includes at least one of the inspection midpoints. The step of respectively determining the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path includes: Obtaining historical parameter information of each candidate inspection path; Determine the task weight of each inspection point and the safety weight of each road section in each candidate inspection path according to each of the real-time parameter information and each of the historical parameter information; wherein the road section refers to the road between two adjacent inspection points; The task priority information of each candidate inspection path is determined according to each task weight and each safety weight.

3. The inspection path planning method according to claim 2, characterized in that: The historical parameter information includes the historical device status information of each inspection midpoint, the real-time parameter information includes the real-time device status information of each inspection midpoint, the inspection midpoint is provided with at least one power device, the real-time device status information of the inspection midpoint includes the real-time status information of each power device in the inspection midpoint, and the historical device status information of the inspection midpoint includes the historical status information of each power device in the inspection midpoint; Determining the task weight of each inspection midpoint according to each of the real-time parameter information and each of the historical parameter information includes: Determine the real-time task score of each of the power devices according to the real-time status information of each of the power devices at the inspection midpoint; Determine the historical task score of each of the power equipment according to the historical status information of each of the power equipment at the inspection midpoint; According to the real-time task score and the historical task score of each of the electric power equipment, and the proportional relationship between the preset real-time task score and the historical task score, the task weight of each of the inspection midpoints is determined respectively.

4. The inspection path planning method according to claim 2, characterized in that: The historical parameter information also includes historical road safety information of each road section in each candidate inspection path, and the real-time parameter information also includes real-time road safety information of each road section in each candidate inspection path; Determining the safety weight of each section in each candidate inspection path according to each of the real-time parameter information and each of the historical parameter information includes: Determine a real-time safety score corresponding to each of the road sections according to the real-time road safety information of each of the road sections; Determining a historical safety score for each of the road sections based on historical road safety information for each of the road sections; The safety weight of each road section is determined according to each of the real-time safety scores, the historical safety scores corresponding to each road section, and the proportional relationship between the preset real-time safety score and the historical safety score.

5. The inspection path planning method according to claim 2, characterized in that: The determining of the task priority information of each candidate inspection path according to each task weight and each safety weight includes: According to the task weight of each inspection midpoint, the preset task weight of the inspection end point, the safety weight of each road section, and the pre-stored distance of each road section, respectively calculate the importance score of each inspection midpoint and multiple importance scores of the inspection end point; The task priority information of each candidate inspection path is determined according to the importance scores of the inspection midpoint and the inspection end point included in each candidate inspection path.

6. The inspection path planning method according to claim 1, characterized in that: The method further comprises: The real-time parameter information of the target inspection path is sent to the hybrid display device so as to display a three-dimensional navigation map of the target inspection path through the hybrid display device.

7. A patrol route planning device, characterized in that: The device comprises: A first acquisition module, used to acquire at least one candidate inspection path corresponding to the inspection task, and real-time parameter information of each candidate inspection path; A first determination module is used to determine the task priority information of each candidate inspection path according to the real-time parameter information of each candidate inspection path; wherein the task priority information is used to indicate the importance of the candidate inspection path in the inspection task; The second determination module is used to determine the target inspection path of the inspection task from the candidate inspection paths according to the priority information of each task.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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