Electric power tunnel robot orbital transfer scheduling method and system and orbital transfer device

Abstract

The invention relates to the technical field of robot orbital transfer scheduling, and provides an electric power tunnel robot orbital transfer scheduling method and system and an orbital transfer device.The method comprises the following steps that robots to pass within the set distance of the orbital transfer device are detected; when a to-be-passed robot is detected, actively establishing a business data interaction link with the robot, and obtaining related information of the robot; calculating the passing weight of the robot according to the obtained related information of the robot, and determining the passing priority according to the passing weight; and according to the priorities, the robots waiting to pass are subjected to orbital transfer scheduling through orbital transfer devices in sequence, and orderly passing of the robots is achieved. According to the method, the robot can safely pass through the electric power tunnel, and meanwhile the passing efficiency can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field related to robot track change scheduling control, and in particular, to a power tunnel robot track change scheduling method, system and track change device. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] Power tunnels are like the main arteries of a city, continuously delivering electricity to thousands of households. The safety of power tunnels is the prerequisite for the normal operation of the entire city.

[0004] In modern power tunnel systems, robots play an increasingly important role, especially when performing inspection and maintenance tasks. Robots can greatly improve work efficiency and ensure the safety of power systems. With the continuous improvement of the level of informatization, the application of robots in power tunnels has gradually upgraded from single robot operation to multiple robots working together. Different types of robots can complete more complex tasks through division of labor and cooperation. However, the space inside the tunnel is usually narrow, and multiple robots need to share the same track. Therefore, when multiple vehicles work together, how to efficiently dispatch robots to move and avoid on the track becomes an important technical issue.

[0005] As a key node device in the tunnel, the track change device is responsible for dispatching different robots to avoid obstacles on limited track resources to ensure the smooth progress of the task. During the dispatching process, the dispatching efficiency of the track change device directly affects the operating efficiency of the entire tunnel system. If the dispatching is unreasonable, it will not only prolong the waiting time of the robot, but also lead to waste of track resources and even cause traffic congestion.

[0006] The inventors found in their research that the existing power tunnel robot track change scheduling method usually adopts the principle of first come first served, that is, the robots pass through in the order of arriving at the track change node. Although this scheduling method is simple, it has obvious defects. First, the scheduling efficiency is low. Especially in the case of multiple vehicles running, the robot may wait for a long time in front of the track change node, resulting in an increase in the overall operation time. Secondly, when an emergency occurs in the tunnel, it is difficult for the existing method to adjust the scheduling order in time and cannot respond quickly, which can easily lead to system lags or more serious task delays. Especially in scenarios such as emergency tasks such as fault repair, the limitations of the existing scheduling methods are particularly prominent. Therefore, the existing power tunnel robot track change scheduling method cannot fully meet the requirements of multi-vehicle collaborative operations and emergency tasks. Summary of the invention

[0007] In order to solve the above problems, the present disclosure proposes a track change scheduling method, system and track change device for a power tunnel robot, which can enable the robot to pass safely in the power tunnel and at the same time improve the passage efficiency to meet the needs of the power industry.

[0008] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0009] A first aspect of the present disclosure provides a method for dispatching a track change of a power tunnel robot, comprising the following steps:

[0010] Detect the robot to be passed within the set distance of the track change device;

[0011] When a robot waiting to pass is detected, a business data interaction link is actively established with the robot to obtain relevant information of the robot;

[0012] According to the relevant information of the robot obtained, the robot's passage weight is calculated, and the passage priority is determined by the passage weight;

[0013] The robots to be passed are dispatched to change tracks through the track changing device in order of priority to achieve orderly passage of the robots.

[0014] A second aspect of the present disclosure provides a power tunnel robot track change dispatching system, comprising:

[0015] Perception module: configured to detect the robot to be passed within a set distance of the track change device;

[0016] Communication establishment module: configured to actively establish a business data interaction link with the robot when a robot to be passed is detected, and obtain relevant information of the robot;

[0017] Passage priority determination module: configured to calculate the robot's passage weight according to the obtained relevant information of the robot, and determine the passage priority according to the passage weight;

[0018] Scheduling module: It is configured to dispatch the robots to be passed through the track changing device in sequence according to their priority, so as to realize the orderly passage of the robots.

[0019] A third aspect of the present disclosure provides a track changing device, comprising: a track changing device controller, and at least two track changing rails arranged on the track changing device; the track changing device controller controls the track changing rails to move laterally so that the track changing rails can dock with rails in corresponding tunnels;

[0020] The track change device controller is configured to execute the steps of the above-mentioned track change scheduling method for a power tunnel robot.

[0021] A fourth aspect of the present disclosure provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, the steps in the above-mentioned electric tunnel robot track change scheduling method are completed.

[0022] A fifth aspect of the present disclosure provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, completes the steps in the above-mentioned electric tunnel robot track change scheduling method.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present disclosure ensures that multiple robots in a tunnel can efficiently and safely perform track change operations through robot detection, information exchange, calculation of traffic weights, and track change scheduling. The track change device can obtain the operating information of each robot in advance and ensure the rationality of the traffic order by calculating the priority. The calculation of traffic weights takes into account multiple factors to ensure that robots with important tasks can pass first, while robots with less urgent tasks can perform track change operations later, so as to optimize the work efficiency of the overall tunnel system.

[0025] The advantages of the present disclosure and the advantages of additional aspects will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof are used to explain the present disclosure but do not constitute a limitation of the present disclosure.

[0027] Figure 1 is a schematic structural diagram of a track-changing device according to Embodiment 1 of the present disclosure;

[0028] Figure 2 is a flow chart of the track change scheduling method of embodiment 1 of the present disclosure;

[0029] Figure 3 is a flow chart of a track change scheduling method taking two robots as an example in Embodiment 1 of the present disclosure;

[0030] Figure 4 is a flow chart of a method for locking a robot during a track change process in Embodiment 1 of the present disclosure; DETAILED DESCRIPTION

[0031] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof. It should be noted that, in the absence of conflict, the various embodiments in the present disclosure and the features in the embodiments can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0034] Example 1

[0035] In the technical solutions disclosed in one or more embodiments, Figures 1 to 4 As shown, a track changing device comprises: a track changing device controller, and at least two track changing rails arranged on the track changing device; the track changing device controller controls the track changing rails to move laterally so that the track changing rails can dock with the rails in the corresponding tunnel;

[0036] Optionally, in this embodiment, two track change tracks are used for illustration, including track A and track B;

[0037] Furthermore, it also includes a sensing unit and an active communication unit, wherein the sensing unit is used to sense a nearby robot, and when a robot is detected approaching, the active communication unit establishes a communication connection with the robot;

[0038] A specific technical solution is that the sensing unit can use an ultrasonic sensor:

[0039] Ultrasonic sensors measure the distance to an object by emitting ultrasonic signals and receiving the echo reflected by the object. For robots in power tunnels, ultrasonic sensors can sense the distance and direction of the robot in real time, which is suitable for close-range perception. Since ultrasonic sensors are insensitive to ambient light, they can work normally in low-light or completely dark tunnel environments;

[0040] Another feasible technical solution is that the perception unit can also use millimeter wave radar:

[0041] Millimeter-wave radar detects the distance, speed and other information of an object by emitting millimeter-wave signals and receiving reflected signals. Millimeter-wave radar has strong penetration and can work stably in a variety of harsh environments. It is especially suitable for long-distance perception.

[0042] For complex enclosed spaces such as power tunnels, millimeter-wave radar can accurately sense the position and motion status of robots in the tunnel, ensuring that the track change device obtains accurate perception information in a timely manner.

[0043] Furthermore, the track change device controller obtains information of the robot through the active communication unit, and processes the obtained information to realize track change scheduling of the robot;

[0044] Specifically, the robot information obtained includes the type of business being performed, target location, moving speed, current location, and other information;

[0045] The track changing device of this embodiment regularly inspects the information of nearby robots. When it detects that a robot is approaching, it will actively establish a business data interaction link with the robot. Through data interaction, the track changing device can obtain information such as the type of business performed by the robot, the target position, the moving speed, and the current position. By analyzing the robot's moving target position and track data, the track changing device can make a prejudgment and adjust the track changing device to a reasonable position in advance, waiting for the robot to pass.

[0046] For example, when the robot needs to go from the main track, through the track changing device, to the sub-track; the track changing device needs to first move track B toward the main track, wait for the robot to walk to track B after moving into position, and then move track B to the sub-track side, and the robot drives off track B and enters the sub-track.

[0047] The robot's track change is controlled by the track changing device, with the track changing device as the master and the robot as the slave. The robot does not need to know the details of the track change, as the track changing device completes it autonomously, reducing the robot's business complexity. The track changing device uses environmental perception to make a comprehensive judgment on the number, business type, speed and position of the robots, and formulates a reasonable track change scheduling process.

[0048] A method for scheduling a track change of a power tunnel robot, which schedules the robot based on weights, can be executed in a track change device controller, and includes the following steps:

[0049] Step 1, detecting the robot to be passed within the set distance of the track changing device;

[0050] Step 2: When a robot to be passed is detected, a business data interaction link is actively established with the robot to obtain relevant information of the robot;

[0051] Step 3: Calculate the robot's access weight based on the obtained robot's related information, and determine the access priority according to the access weight;

[0052] Step 4: The robots to be passed are dispatched by the track changing device in turn according to their priority, so as to realize the orderly passage of the robots;

[0053] In this embodiment, through the detection of robots, information exchange, calculation of traffic weights and track change scheduling, it is ensured that multiple robots in the tunnel can perform track change operations efficiently and safely. The track change device can obtain the operation information of each robot in advance and ensure the rationality of the passage order by calculating the priority. The calculation of traffic weights takes into account multiple factors to ensure that robots with important tasks can pass first, while robots with less urgent tasks can perform track change operations later to optimize the work efficiency of the overall tunnel system.

[0054] This method can significantly improve the coordination and efficiency of multi-robot operations in power tunnels. By achieving orderly passage through weight analysis, the system can achieve accurate and real-time scheduling, thereby avoiding conflicts when robots change tracks and reducing waiting time. At the same time, it can adapt to a variety of complex tunnel operating environments and improve the safety and operating efficiency of robots in tunnels.

[0055] In step 1, detection is achieved through the sensing device on the track change device.

[0056] In one possible implementation, the communication link establishment process in step 2 needs to use a certain interactive mechanism to ensure that a data interaction link is established with the correct robot. The track change device controller establishes a long link with the host computer, and the robot is also connected to the host computer for communication. The track change host will receive the robot position information sent by the host computer in real time. When the robot enters the communication range, it will actively establish a communication link with the robot. This process can be achieved through wireless communication, near field communication (NFC) or Bluetooth, etc. The method of actively establishing a business data interaction link with the robot has the following specific steps:

[0057] Step 21: The track change device controller actively sends a communication start request signal;

[0058] When the track change device detects a robot waiting to pass within the set distance, the track change device actively sends a communication request signal. This signal can be broadcast to the surrounding robots through a wireless protocol (such as Wi-Fi, Zigbee, Bluetooth), notifying the robots to prepare for business data interaction;

[0059] Step 22, obtaining the response information returned by the robot, identifying the identity information and position information of the response information, and comparing the position information with the position information of the robot detected by the track change device to identify whether it is the corresponding robot;

[0060] Each robot within the communication range has a unique identifier (ID). The robot that detects the communication request signal will check whether it is in the waiting state. If so, it will send a response message to the track change device through its wireless communication module; according to the actual physical position of the robot (through a sensor or position sensing device), it can be confirmed whether the robot is within the range of the waiting track change to prevent misconnection.

[0061] Furthermore, in order to achieve a secure connection, the track change device can also send a challenge-response information verification to the robot, requiring the robot to encrypt and reply to the sent random number or key, thereby further confirming the validity of the identity;

[0062] Step 23: Establish a communication link connection with the robot whose information is consistent with the comparison;

[0063] Specifically, a secure communication channel is established between the track change device and the robot through an encryption protocol (such as TLS / SSL) to ensure the security of subsequent data interaction;

[0064] A feasible technical solution, a method for controlling communication after link establishment, includes the following:

[0065] 1) Handshake process: When the track change device and the robot communicate for the first time, both parties will conduct a handshake confirmation. This process can adopt a standard communication protocol (such as TCP three-way handshake). During the handshake process, both parties confirm that the connection is valid and exchange information such as encryption keys to establish an encrypted and reliable data transmission link;

[0066] 2) After the link is established, the track change device maintains periodic communication with the robot and sends heartbeat signals to ensure the stability of the link, so that the track change device can periodically check whether the robot is still in a safe state to prevent the robot from being disconnected or out of the safe range during the process.

[0067] Specifically, the robot information obtained includes the type of business being performed, target location, moving speed, current location, and other information;

[0068] In step 3, based on the relevant information of the obtained robots, when multiple robots pass through at the same time, the robot passing weights are calculated, and the passing priority is determined by the passing weights;

[0069] Calculate the robot's passage weight, the calculation formula is:

[0070] Wn=Tn×(|Sn-S0| / Vn)

[0071] Where, Wn: the pass weight of the nth robot;

[0072] Tn: business type coefficient;

[0073] Sn; real-time position of the nth robot;

[0074] S0: the position of the track change device;

[0075] Vn: real-time speed of the nth robot;

[0076] tn={3|2|1}, indicating the weight of the service type, which is set according to the priority. Specifically, the priority is set from high to low according to firefighting service>user control>charging scheduling>standby return.

[0077] If tn≥tn+1, then Tn=1, Tn+1=0,

[0078] If tn<tn+1, then Tn=0, Tn+1=1;

[0079] In the above scheme, the priority of passage is determined based on the weight calculated by the type of business performed by the robot, the real-time position and the speed, so that the robot with urgent tasks can be given priority to pass. At the same time, when the business types of the robots are the same, first-come-first-served is implemented according to the time of arrival at the track change device;

[0080] Specifically, the priority order determined by the service type is: fire service, user control, charging scheduling, standby return. The fire service has the highest weight and has the main track priority when it needs to pass through the track change device.

[0081] For example, when the firefighting robot (No. 1) is on the left main track of the track-changing device and the waiting return robot (No. 2) is on the right main track, No. 1 has the priority to pass through. It first moves the track B of the track-changing device to the main track side, dispatches No. 2 to the track of the track-changing device, controls the track B to move to the sub-track side, and then dispatches No. 1 to pass through the A track and move to the opposite main track. If the business types of the two robots are the same, it is necessary to further make a comprehensive judgment based on the position and speed information. The robot that arrives first is predicted by calculation and dispatched to the B track position to wait. After the robot that arrives later passes the A track, the robot that arrives first is dispatched to leave the track-changing device.

[0082] The above scheme allows robots that perform urgent tasks to pass first through the track change device weight analysis, solving the problem of the order of multiple robots when using the track change device together.

[0083] A further technical solution is to implement a control method for multiple vehicles passing after determining the passing order of the robots, comprising the following steps:

[0084] Step 4-1: Compare the weights of the robots at the proximal ends of both sides of the track change device, and use the formula to calculate that the robot with the greater weight has the right of way;

[0085] Step 4-2: All robots on the side with a smaller weight pass through the track B on the track changing device and run to the branch track on the track changing device to wait;

[0086] Specifically, first, track B is changed to the main track position, and all robots on the side with smaller weight are controlled to move to track B in sequence; when the track change device detects the robot position, track B is changed to the branch track; the robot is controlled to move from track B to the branch track and wait. When there are multiple robots on the same side, the above process is repeated until all robots on the same side are moved to the branch track on the track change device;

[0087] Step 4-3: After waiting for all robots on the side with smaller weights to move to the branch track, align the track A on the track changing device with the main track;

[0088] Specifically, first determine whether track A is at the main track position, and if not, control the track change to align track A with the main track;

[0089] Step 4-3: The robots on the side with larger scheduling weights pass through the track changing device in sequence.

[0090] Step 4-5: The robots on the branch track are dispatched to the main track from the track changing track B on the track changing device in turn, and pass through the track changing device in turn.

[0091] Specifically, when there are multiple robots on the same side, the movement steps of the rear car and the front car on the same side are consistent, and the weight is no longer judged. For example, when there are two cars on the left and three cars on the right, when the weight of the left leading car is less than that of the right leading car, the two cars on the left are controlled to move to the branch track through the B track, wait for the three cars on the right to pass, and then dispatch them back to the main track.

[0092] According to a further technical solution, after the robot enters the track changing device, the track changing device locks the control authority over the robot and takes over the control over the robot;

[0093] During the track change process, the front and rear tracks of the robot are suspended in the air, and there are no other safety protection measures. Therefore, the safety must be ensured by locking the entire track change process. That is, after the robot is on the track of the track change device, the robot must also be locked. The details are as follows:

[0094] Step 41, obtaining the position of the robot on the track changing device;

[0095] Optionally, a device for detecting the position of the robot is provided on the track changing device, and a travel switch may be used; in addition to the travel switch, a photoelectric sensor or a laser ranging device may be used to detect whether the robot is located at the correct track changing position, so as to increase the accuracy and stability of the position detection;

[0096] Step 42, determining whether the robot has reached the designated position on the track changing device, and if not, performing forward and backward fine adjustment;

[0097] Specifically, fine-tuning can be done by automatically adjusting the robot position to reduce human intervention, making the track change process more efficient and safer;

[0098] Furthermore, different fine-tuning steps are set according to different robots to adapt to different operating environments and robot models;

[0099] Step 43: After confirming that the robot has reached the designated position, the robot is controlled to brake for protection and then perform a track change action;

[0100] In this step, the robot is locked during the track change process to improve safety. By locking the entire track change process and monitoring the travel switch, it is ensured that the robot will not encounter any accidents due to interference from other scheduling tasks during the track change. At the same time, the forward and backward fine-tuning function further ensures that the robot can stay on the track change device safely and accurately.

[0101] Step 44: After the track change action is completed, the control of the robot is transferred back to the controller of the robot.

[0102] In the above implementation, when the robot enters the track change scheduling process, the track change device will immediately lock the authority to control the robot to prevent interference from other scheduling tasks and ensure the atomicity of the process. The robot travels to the track change device at a low speed, and the travel switch determines whether it is safe by detecting whether the robot is in the correct position. If the robot is not detected, the forward and backward fine-tuning function is automatically triggered to ensure the precise positioning of the robot. After that, the robot will perform the track change action in the brake protection state and switch it to the target track. Through this design, the robot is prevented from positional displacement or loss of control in a suspended state, ensuring safety during the track change process. After completing the track change, the track change device returns control to the robot.

[0103] Atomicity means that an operation or process is either fully executed or not executed at all, and it will not be executed halfway or partially. It ensures that the operation will not be interrupted by other operations during the operation, thereby ensuring the integrity and consistency of the operation. In the track change scheduling process, atomicity means that the entire track change process is an independent and indivisible operation. That is to say, when the robot enters the track change process, the track change process must be executed completely until the robot switches to the target track and transfers control. During this process, the robot will not receive other scheduling instructions or be disturbed by other tasks. The entire track change operation will either be completed smoothly or return to the initial state, but it will not pause or be interrupted in the middle.

[0104] Furthermore, in addition to the above-mentioned linkage control through the travel switch and the track changing device, the track changing device can also be connected to a remote monitoring module to enable the operator to manually intervene in the track changing process in the remote monitoring center, ensuring that the track changing process can still be effectively controlled under special circumstances.

[0105] The specific protection locking process is as follows: Figure 4 As shown in the figure, after the track changing device obtains the control right of the robot, it controls the robot to walk on the track at a lower speed. After reaching the specified position, it controls the robot to stop moving. At the same time, the track changing device uses the travel switch to determine whether the position of the robot on the track changing device is safe. When the travel switch on the track changing device detects the robot, it determines that the robot moves to the safe track changing position; when the travel switch does not detect the robot, it is necessary to fine-tune the position of the robot forward and backward. After confirmation, the robot performs brake protection before executing the track changing action, so that the robot switches to the target track and then drives away from the track changing device. The track changing device transfers the control right, and the robot takes over to perform the scheduling task. This method can lock the entire track changing process and carry it out independently. Other businesses cannot interfere, ensuring the integrity of the track changing scheduling. The travel switch and position fine-tuning ensure the safety of the vehicle body during the track changing process.

[0106] Example 2

[0107] Based on Example 1, this embodiment provides a power tunnel robot track change dispatching system, including:

[0108] Perception module: configured to detect the robot to be passed within the set distance of the track change device;

[0109] Communication establishment module: configured to actively establish a business data interaction link with the robot when a robot to be passed is detected, and obtain relevant information of the robot;

[0110] Passage priority determination module: configured to calculate the robot's passage weight according to the obtained relevant information of the robot, and determine the passage priority according to the passage weight;

[0111] Scheduling module: It is configured to dispatch the robots to be passed through the track changing device in sequence according to their priority, so as to realize the orderly passage of the robots.

[0112] It should be noted here that the various modules in this embodiment correspond one-to-one to the various steps in Example 1, and the specific implementation process is the same, which will not be repeated here.

[0113] Example 3

[0114] This embodiment provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are executed by the processor, the steps of the electric tunnel robot track change scheduling method in Example 1 are completed.

[0115] Example 4

[0116] This embodiment provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps in the electric tunnel robot track change scheduling method of Example 1 are completed.

[0117] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0118] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A method for dispatching track changes of electric power tunnel robots, characterized in that: The steps include: Detect the robot to be passed within the set distance of the track change device; When a robot waiting to pass is detected, a business data interaction link is actively established with the robot to obtain relevant information of the robot; According to the relevant information of the robot obtained, the robot's access weight is calculated, and the access priority is determined by the size of the access weight; The robots to be passed are dispatched to change tracks through the track changing device in order of priority, so as to realize the orderly passage of the robots.

2. A method for dispatching track changes of electric power tunnel robots according to claim 1, characterized in that: The method of actively establishing a business data interaction link with the robot, the specific steps are as follows: Actively send a communication start request signal; Obtain the response information returned by the robot, identify the identity information and position information of the response information, and compare the position information with the position information of the robot detected by the track change device to identify whether it is the corresponding robot; Establish a communication link with the robot whose information matches.

3. A method for dispatching track changes of electric power tunnel robots according to claim 1, characterized in that: The robot's passage weight is calculated as follows: Wn=Tn×(|Sn-S0| / Vn) Where, Wn: the pass weight of the nth robot; Tn: business type coefficient; Sn; real-time position of the nth robot; S0: the position of the track change device; Vn: real-time speed of the nth robot; tn={3|2|1}, indicating the weight of the service type, which is set according to the priority. Specifically, the priority is set from high to low according to firefighting service>user control>charging scheduling>standby return. If tn≥tn+1, then Tn=1, Tn+1=0, If tn<tn+1, then Tn=0, Tn+1=1.

4. A method for dispatching track changes of electric power tunnel robots according to claim 1, characterized in that: After determining the passage order of the robots, the control method for realizing the passage of multiple vehicles includes the following steps: Compare the weights of the robots at the proximal ends of both sides of the track change device, and use a formula to calculate that the robot with the greater weight has the right of way; All robots on the side with a smaller weight pass through the track B on the track changing device and move to the branch track on the track changing device to wait; When all robots on the side with smaller weights move to the branch track, align the track A on the track changing device with the main track; The robots on the side with greater scheduling weights pass through the track-changing device in order; The robots on the branch track are dispatched to the main track from the track changing track B on the track changing device in sequence, and pass through the track changing device in sequence.

5. The method for dispatching a robot track change in a power tunnel according to claim 1, characterized in that: The method for locking the robot during the track change process is as follows: Get the position of the robot on the track change device; Determine whether the robot has reached the designated position on the track change device. If not, make fine adjustments forward and backward; After confirming that it has reached the designated position, the robot is controlled to brake for protection and then perform track change; After completing the track change action, the control of the robot is transferred back to the robot's controller.

6. A method for dispatching track changes of electric power tunnel robots according to claim 5, characterized in that: The robot position detection is provided on the track changing device, and a robot position detection device is used to detect whether the robot is in the correct track changing position by using a travel switch, a photoelectric sensor or a laser distance measuring device; Alternatively, different fine-tuning steps can be set for different robots to adapt to different operating environments and robot models.

7. A power tunnel robot track change dispatching system, characterized in that: include: Perception module: configured to detect the robot to be passed within the set distance of the track change device; Communication establishment module: configured to actively establish a business data interaction link with the robot when a robot to be passed is detected, and obtain relevant information of the robot; Passage priority determination module: configured to calculate the robot's passage weight according to the obtained relevant information of the robot, and determine the passage priority according to the passage weight; Scheduling module: It is configured to dispatch the robots to be passed through the track changing device in sequence according to their priority, so as to realize the orderly passage of the robots.

8. A track changing device, characterized in that: include: A track-changing device controller, and at least two track-changing tracks arranged on the track-changing device; The track change device controller controls the track change track to move laterally so that the track change track can dock with the track in the corresponding tunnel; The track change device controller is configured to execute the steps of a power tunnel robot track change scheduling method as described in any one of claims 1-6.

9. An electronic device, characterized in that: The invention comprises a memory and a processor and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps in the track change scheduling method of an electric tunnel robot described in any one of claims 1 to 6 are completed.

10. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the steps of a power tunnel robot track change scheduling method as described in any one of claims 1-6.

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