A method for planning a patrol path of a power inspection robot

Abstract

The application provides a power inspection robot inspection path planning method, relates to the technical field of power inspection, and comprises the following steps: sequentially connecting the node positions of each to-be-inspected equipment according to the priority of the initial inspection task of each to-be-inspected equipment, obtaining a preset inspection path, controlling the inspection robot to travel on the preset inspection path at an initial travel speed, when the first early warning signal of an emergency abnormal equipment is received for the Nth time, calibrating the interruption coordinates, obtaining the predicted failure time corresponding to the abnormal sequence and the abnormal factor, and obtaining the predicted inspection time according to the preset inspection path and the initial travel speed; if the predicted failure time is earlier than the predicted inspection time, then the updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node positions of the emergency abnormal equipment, so that the inspection robot can check the emergency abnormal equipment before the emergency abnormal equipment fails. The application can dynamically adjust the inspection path, so that the inspection robot can flexibly respond to unexpected situations.

Description

Technical Field

[0001] The present application relates to the technical field of electric power inspection, and in particular to a method for planning an inspection path of an electric power inspection robot. Background Art

[0002] With the continuous development of power systems, the requirements for power equipment inspections are becoming increasingly stringent. Traditional manual inspection methods suffer from high labor intensity, low efficiency, and unstable detection accuracy. Therefore, power inspection robots have emerged to improve inspection efficiency and accuracy.

[0003] In actual applications, the power inspection robot will travel along a pre-planned inspection route and inspect each power equipment in the power system in turn. However, during the movement, if an emergency abnormality occurs in a certain power equipment, it is difficult for the power inspection robot to respond correctly to the emergency abnormality and will continue to move according to the pre-planned route. This may delay the inspection work of the emergency abnormality and cause a major accident. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a method for planning an inspection path of an electric power inspection robot, comprising the following steps:

[0005] According to the priority of the initial inspection task of each device to be inspected, the node position of each device to be inspected is connected in sequence to obtain a preset inspection path and the initial travel speed of the inspection robot;

[0006] Controlling the inspection robot to travel along the preset inspection path at the initial travel speed, and upon receiving the first warning signal of an emergency abnormal device for the Nth time, calibrating the interruption coordinates and obtaining an abnormal sequence; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and to which the inspection robot has not yet traveled on the preset inspection path; and the abnormal sequence is composed of abnormal data of the abnormal factor each time the first warning signal is issued;

[0007] Obtaining an abnormal development speed of the abnormal factor according to the abnormal sequence, and obtaining a predicted failure time according to the abnormal development speed, wherein the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail;

[0008] According to the preset inspection path and the initial travel speed, a predicted inspection time is obtained; the predicted inspection time is the time when the inspection robot travels to the emergency abnormality device on the preset inspection path at the initial travel speed;

[0009] If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

[0010] According to the technical solution provided by this application, before the priority of the initial inspection task of each device to be inspected is determined, the following steps are also included:

[0011] Retrieving an operation set of each device to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence;

[0012] Obtaining a standard operating threshold for each of the correlation factors of each of the devices to be inspected, and obtaining an abnormal parameter of each of the devices to be inspected; the abnormal parameter is related to the number of the correlation factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold;

[0013] Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

[0014] According to the technical solution provided by the present application, the node positions of each device to be inspected are sequentially connected to obtain a preset inspection path, which specifically includes the following steps:

[0015] Retrieving a scene map of the site to be inspected, wherein the site to be inspected is the site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map;

[0016] Obtaining a traversable index for each traversable road, wherein the traversable index is used to represent a degree of difficulty for the inspection robot to travel on the traversable road;

[0017] Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path;

[0018] The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

[0019] According to the technical solution provided by this application, obtaining the traversable index of each traversable road specifically includes the following steps:

[0020] Acquiring road information of the traversable road to obtain a quantified value of the road information; the road information at least includes the length and slope of the traversable road;

[0021] Obtaining obstacle information on the traversable road to obtain a quantitative value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot;

[0022] According to a preset weight distribution rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

[0023] According to the technical solution provided by this application, the obstacle information also includes temporary obstacle information;

[0024] The obtaining of the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps:

[0025] Acquiring a real-time scene of the site to be inspected, and determining, based on the real-time scene, whether there are any temporary obstacles on each traversable road that are caused by temporary maintenance and block the traversable road;

[0026] If the temporary obstacle exists, a quantized value of obstacle information is obtained according to the quantized value of the temporary obstacle and the quantized value of the fixed obstacle.

[0027] According to the technical solution provided by the present application, obtaining the predicted fault moment based on the abnormal development speed specifically includes the following steps:

[0028] If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function;

[0029] Obtain a fault threshold and substitute it into the abnormal development speed function to obtain the predicted fault moment.

[0030] According to the technical solution provided by this application, obtaining the predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps:

[0031] Obtaining a travel duration according to the preset inspection path and the initial travel speed;

[0032] Retrieving a historical inspection log of a first uninspected device to obtain an actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path;

[0033] If the actual inspection duration of each historical inspection of the first uninspected device is within a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

[0034] According to the technical solution provided by the present application, after retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the following steps are also included:

[0035] If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5;

[0036] Determining, based on the historical inspection time of the target inspection and the reference inspection duration, whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, the duration-related parameter including at least the age of the first uninspected device and the number of times the device has been maintained;

[0037] If the first uninspected device has the duration-related parameter, obtaining a predicted inspection duration according to the duration-related parameter and the reference inspection duration;

[0038] A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

[0039] According to the technical solution provided by the present application, obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps:

[0040] If there is a traversable road between the interruption coordinates and the emergency abnormal device, then take the interruption coordinates as the starting point, swap the emergency abnormal device to the next device to be inspected after the interruption coordinates, and keep the order of other first uninspected devices unchanged to obtain the updated inspection path.

[0041] According to the technical solution provided by the present application, obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps:

[0042] The time between the current moment and the predicted fault moment is set as a first time; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time;

[0043] According to the first time duration, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices whose total preset time spent traveling along the preset inspection path and inspecting is less than the first time duration; wherein A is greater than or equal to 1;

[0044] retaining the interruption coordinate and the first first uninspected device adjacent to the interruption coordinate, and the preset inspection path between every two adjacent first uninspected devices to obtain a retained inspection path;

[0045] If there is a traversable road between the Ath first uninspected device and the emergency abnormal device, and there is a traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each second uninspected device are connected in sequence, and together with the retained inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

[0046] Compared with the existing technology, the beneficial effect of this application is that: when the first warning signal of an emergency abnormal device is received multiple times, this application can obtain the abnormal sequence and analyze the situation of the abnormal device where the abnormality occurs to obtain the severity and development trend of the abnormality. If it is judged that the abnormality is developing rapidly and the maintenance opportunity has been delayed by the time the inspection robot arrives, the inspection path can be dynamically adjusted at this time, so that the inspection robot can flexibly respond to emergencies and ensure that the abnormal equipment is inspected first in an emergency, effectively reducing the risk of major accidents caused by delayed maintenance and ensuring the safe and stable operation of the power system. This solution also enhances the reliability and adaptability of the power inspection system, enabling it to better cope with the complex and changing actual operating environment and provide a strong guarantee for the stable operation of power equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flowchart of the steps of a method for planning an inspection path for an electric power inspection robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0049] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] Example 1

[0051] As mentioned in the background technology, in order to solve the problems in the existing technology, this application proposes a method for planning the inspection path of the power inspection robot. Figure 1 As shown, the following steps are included:

[0052] S1. Connect the node positions of each device to be inspected in sequence according to the priority of the initial inspection task of each device to be inspected, obtain a preset inspection path, and obtain the initial travel speed of the inspection robot;

[0053] For example, in an application scenario of power inspection, there are six devices to be inspected, namely device A, device B, device C, device D, device E, and device F. The preset inspection path is device A to device B to device C to device D to device E to device F; the initial travel speed is the empirical speed at which the inspection robot can travel smoothly.

[0054] Furthermore, before the priority of the initial inspection task of each device to be inspected is determined, the method further includes obtaining the priority of the initial inspection task of each device to be inspected. Obtaining the priority of the initial inspection task of each device to be inspected includes the following steps:

[0055] Retrieving an operation set of each device to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence;

[0056] Specifically, the inspection cycle is the time between the last power inspection and the current power inspection. The relevant factors of each device to be inspected are the same or different. The relevant factors are factors related to the device to be inspected and need to be checked regularly. For example, for power transformer equipment, the relevant factors may include oil temperature, oil level, winding temperature, partial discharge, etc.; for high-voltage switchgear, the relevant factors may include bus voltage, current, circuit breaker status, disconnector position, etc.

[0057] Obtaining a standard operating threshold for each of the correlation factors of each of the devices to be inspected, and obtaining an abnormal parameter of each of the devices to be inspected; the abnormal parameter is related to the number of the correlation factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold;

[0058] Specifically, standard operating thresholds can be determined empirically. For example, for power transformers, the relevant factors include: oil temperature: The normal operating range for the top oil temperature of an oil-immersed transformer is around 85°C, and the alarm temperature is set between 95°C and 105°C. Therefore, the standard operating threshold can be set between 70°C and 85°C. When the oil temperature exceeds this range, the oil temperature is considered abnormal.

[0059] Specifically, the abnormal parameters can be obtained through the abnormal judgment model. The training sample set of the abnormal judgment model is the historical inspection data of each relevant factor of the equipment to be inspected, as well as the status of the corresponding equipment to be inspected (normal or abnormal, and abnormality also includes the degree of abnormality). During use, the relevant factors of each equipment to be inspected are input into the abnormal judgment model, and the model outputs the status of the corresponding equipment to be inspected. When the equipment is abnormal, the output degree of abnormality is the abnormal parameter.

[0060] Specifically, the more abnormal factors there are for each device to be inspected, the greater the deviation between each abnormal factor and its corresponding standard operating threshold, and the greater the abnormal parameter.

[0061] Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

[0062] Specifically, the more abnormal parameters there are, the more abnormal operation of the power equipment in the previous inspection cycle needs to be checked in a timely manner, so the priority of such power equipment is set to a high priority.

[0063] Furthermore, the node positions of each device to be inspected are sequentially connected to obtain a preset inspection path, which specifically includes the following steps:

[0064] Retrieving a scene map of the site to be inspected, wherein the site to be inspected is the site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map;

[0065] Specifically, the scene map can present the current roads of the inspection site that accommodate all the equipment to be inspected and the node location of each equipment to be inspected. For example, there are traversable roads 1, traversable roads 2, and traversable roads 3 between equipment A and equipment B. This means that after inspecting equipment A, it is possible to reach equipment B via traversable road 1, traversable road 2, and traversable road 3.

[0066] Obtaining a traversable index for each traversable road, wherein the traversable index is used to represent a degree of difficulty for the inspection robot to travel on the traversable road;

[0067] Furthermore, the obtaining of the traversable index of each traversable road specifically includes the following steps:

[0068] Acquiring road information of the traversable road to obtain a quantified value of the road information; the road information at least includes the length and slope of the traversable road;

[0069] Obtaining obstacle information on the traversable road to obtain a quantitative value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot;

[0070] Specifically, road information and fixed obstacle information can be obtained through the design and construction or design drawings of the power system in the early stage of design. Among them, fixed obstacles can be equipment foundations and supporting structures, cable trays and wire ducts, guardrails and isolation devices.

[0071] According to a preset weight distribution rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

[0072] The road information quantification value represents the degree of influence of the length and slope of the traversable road on the traversable index; the obstacle information quantification value represents the degree of influence of the number and size of obstacles on the feasible road and the degree of obstruction to the movement of the inspection robot on the traversable index.

[0073] Specifically, using the road information quantization value as an example, the following describes how to derive the road information quantization value from the road information of a traversable road: A reference length value is set, and the length of the traversable road is divided by the reference length value to obtain a first ratio. A reference slope value is set, and the slope of the traversable road is divided by the reference slope value to obtain a second ratio. Length quantization values ​​are always between 0 and 1, with longer lengths resulting in larger quantization values. Slope quantization values ​​are always between 0 and 1, with larger slopes resulting in larger quantization values. Weights are assigned to length and slope, with the sum of the length and slope weights being 1. The road information quantization value is then the product of the first ratio and the length weight plus the product of the second ratio and the slope weight.

[0074] Specifically, using obstacle information quantification as an example, we explain how to derive obstacle information quantification from obstacle information: A reference number of fixed obstacles can be set. An appropriate number can be determined based on the general conditions of the inspection site and historical experience. A reference size of fixed obstacles can be set, using volume or floor space as a metric, with a typical fixed obstacle size used as a reference. A reference value can also be set for the degree of obstruction posed by fixed obstacles to the inspection robot's movement. For example, the degree of obstruction can be categorized into several levels, with the intermediate level used as a reference. Weights are then determined for the number, size, and degree of obstruction of fixed obstacles. This weighting can be determined by analyzing historical inspection data or drawing on expert experience. Assume that the weight for number is S1, the weight for size is D1, and the weight for degree of obstruction is Z1, with S1 + D1 + Z1 = 1. The actual number, size, and degree of obstruction of fixed obstacles are determined through image acquisition and model analysis. For the number of obstacles, the actual number is divided by the reference number to obtain the ratio. For the size of an obstacle, the actual size (for example, measured by volume or floor space) is divided by the reference size to obtain the size ratio. For the degree of obstruction to travel, the actual obstruction level is divided by the reference obstruction level to obtain the obstruction ratio. For only fixed obstacles, the quantified obstacle information value is the sum of the product of the number weight and the number ratio, the product of the size weight and the size ratio, and the product of the obstruction weight and the obstruction ratio.

[0075] Furthermore, the obstacle information also includes temporary obstacle information; temporary obstacles may be maintenance tools and equipment, maintenance materials and waste, temporary warning signs and fences.

[0076] The obtaining of the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps:

[0077] Acquiring a real-time scene of the site to be inspected, and determining, based on the real-time scene, whether there are any temporary obstacles on each traversable road that are caused by temporary maintenance and block the traversable road;

[0078] Specifically, since the inspection site will be equipped with corresponding cameras in different areas, these cameras can achieve full coverage of the inspection site. The images of the different areas collected by the cameras are stitched together using image technology to restore the real-time scene of the inspection site.

[0079] If the temporary obstacle exists, a quantized value of obstacle information is obtained according to the quantized value of the temporary obstacle and the quantized value of the fixed obstacle.

[0080] Specifically, if there is no temporary obstacle, the quantized value of the obstacle information is obtained based on the fixed obstacle information. If there is a temporary obstacle, the quantized value of the obstacle information is obtained based on both the fixed obstacle information and the temporary obstacle information (by assigning weights to the temporary obstacle quantized value and the fixed obstacle quantized value).

[0081] Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path;

[0082] Specifically, if there is at least one traversable road between every two devices to be inspected, then according to the priority of the initial inspection task of each device to be inspected, there can be many candidate paths to connect the node positions of each device to be inspected in sequence. For example, between device A and device B, traversable road 1 is selected (traversable roads include traversable road 1, traversable road 2, and traversable road 3); between device B and device C, traversable road 4 is selected (traversable roads include traversable road 4, traversable road 5, and traversable road 6); between device C and device D, traversable road 7 is selected (traversable roads include traversable road 7, traversable road 8 , traversable road 9), traversable road 10 is selected between device D and device E (traversable roads include traversable road 10, traversable road 11, and traversable road 12), and traversable road 13 is selected between device E and device F (traversable roads include traversable road 13, traversable road 14, and traversable road 15), then one of the candidate paths A can be road 1 to road 4 to road 7 to road 10 to road 13, another candidate path B can be road 2 to road 4 to road 8 to road 11 to road 14, and another candidate path C can be road 3 to road 5 to road 9 to road 10 to road 13, and so on.

[0083] The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

[0084] Specifically, if the sum of the traversability indexes of candidate road A is 15, the sum of the traversability indexes of candidate road B is 17, and the sum of the traversability indexes of candidate road C is 19, then candidate road A is used as the preset inspection route.

[0085] S2. Control the inspection robot to travel on the preset inspection path at the initial travel speed. When the first warning signal of an emergency abnormal device is received for the Nth time, calibrate the interruption coordinates and obtain an abnormal sequence; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and the inspection robot has not yet traveled to on the preset inspection path; the abnormal sequence is composed of abnormal data of the abnormal factor each time the first warning signal is issued;

[0086] Specifically, taking the oil temperature as an example, the top oil temperature of an oil-immersed transformer is read at regular intervals. When the reading exceeds 85°C but falls below 95°C, a first warning signal is issued. If all abnormal data in the abnormal sequence are approximately equal, the inspection route can be continued. If all abnormal data are equal, the abnormal change rate of this abnormal factor is zero, indicating no particularly rapid spread.

[0087] For example, when the inspection robot travels according to the preset inspection path and inspects device A and device B, and receives the first warning signal of an emergency abnormal device for the Nth time while traveling on the traversable road 4 between device B and device C, then the following steps need to be executed.

[0088] S3. Obtaining an abnormal development speed of the abnormal factor according to the abnormal sequence, and obtaining a predicted failure time according to the abnormal development speed, wherein the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail;

[0089] For example, taking the above oil temperature as an example, the fault threshold is 95°C, which means that when the oil temperature reaches 95°C, it is a manifestation of equipment failure (it should be noted that the abnormality does not affect the normal operation of the equipment, but if the abnormality is not repaired for a long time, it may spread and develop into a fault, which will affect the normal operation of the equipment). The predicted fault time is the time when the abnormality is predicted to spread and develop into a fault.

[0090] Furthermore, if the abnormal development speed is uniform, the predicted fault moment can be obtained through two adjacent abnormal data.

[0091] For example, if the abnormal sequence is {71, 73, 75, 77, 79}, and the time between each two abnormal values ​​is 5 minutes, then the abnormal development speed is uniform, and the abnormal development speed is 2 / 5℃ / min. At such an abnormal development speed, it takes 40 minutes to reach the fault threshold of 95℃ from 79℃. If the current time is 10:00 am, then the predicted fault time is 10:40.

[0092] Furthermore, obtaining the predicted fault moment according to the abnormal development speed specifically includes the following steps:

[0093] If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function;

[0094] Specifically, the function of oil temperature with respect to time is a quadratic function with coefficients a, b, and c to be determined. The abnormal data and the corresponding time in the abnormal sequence are substituted into the quadratic function to obtain the values ​​of a, b, and c. The values ​​of a, b, and c are substituted back into the quadratic function to obtain the abnormal development speed function.

[0095] Obtain the fault threshold and substitute it into the abnormal development speed function to obtain the elapsed time (how long it takes from the current time to reach the fault threshold), and then obtain the predicted fault time.

[0096] Specifically, the fault threshold of 95°C is substituted into the abnormal development speed function to obtain the elapsed time, which is then superimposed on the current moment to obtain the predicted fault moment.

[0097] S4. Obtaining a predicted inspection time based on the preset inspection path and the initial travel speed; the predicted inspection time is the time when the inspection robot travels to the emergency abnormality device along the preset inspection path at the initial travel speed;

[0098] Furthermore, obtaining the predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps:

[0099] Obtaining a travel duration according to the preset inspection path and the initial travel speed;

[0100] Specifically, the length, slope, and obstacle conditions of each traversable road in the preset inspection route are all known, so the segmented travel time of each traversable road is calculated, and the travel time of each segment is added together to obtain the travel time;

[0101] Specifically, the travel duration can be obtained through model training. The input of the model is parameters related to the travel duration, such as the length and slope of the road, the position and size of obstacles, etc., and the output is the travel duration.

[0102] Retrieving a historical inspection log of a first uninspected device to obtain an actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path;

[0103] If the actual inspection duration of each historical inspection of the first uninspected device is within a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

[0104] Specifically, the stable interval is the numerical range within which most of the elements in the index series have relatively stable values. When the actual inspection duration of each historical inspection of the first uninspected device is within the stable interval, it indicates that the inspection duration of the first uninspected device was stable during the previous historical inspections. For example, the actual inspection duration of the historical inspections is {1h, 1.11h, 1.12h, 1,13h...1.17h}, and the stable interval fluctuates within a certain value of 1h. Therefore, when calculating the predicted inspection time, the average of the actual inspection durations of all historical inspections in the historical inspection log can be used together with the travel duration, or the actual inspection duration of any historical inspection can be directly used together with the travel duration.

[0105] Specifically, when it is determined that the actual inspection time of the first uninspected equipment is stable, the actual inspection time of each first uninspected equipment is added to obtain the total inspection time, and then added to the previously calculated travel time to obtain the total time from the current moment to the inspection robot reaching the emergency abnormal equipment.

[0106] Furthermore, after retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the method further includes the following steps:

[0107] If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5;

[0108] Specifically, if the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, it means that the actual inspection duration is sometimes stable, but some historical inspections are unstable. For example, the actual inspection duration of the historical inspections is {1h, 3h, 5h, 7h...1.14h, 1.12h, 5h, 5.6h, .1.13h, 7h, 1.18h...1.17h}, and the stable range is a certain value of 1h. The historical inspections corresponding to these 6 {3h, 5h, 7h, 5h, 5.6h, 7h} are marked as target inspections. The actual inspection durations of the target inspections, 3h, 5h, 7h, 5h, 5.6h, and 7h, are calibrated as reference inspection durations.

[0109] Determining, based on the historical inspection time of the target inspection and the reference inspection duration, whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, the duration-related parameter including at least the age of the first uninspected device and the number of times the device has been maintained;

[0110] If the first uninspected device has the duration-related parameter, obtaining a predicted inspection duration according to the duration-related parameter and the reference inspection duration;

[0111] Specifically, a linear regression model can be established with the equipment service life, equipment maintenance times, etc. as independent variables, and the reference inspection time as the dependent variable. The model parameters are obtained by training historical data, and then the current equipment service life, maintenance times, and other parameters are substituted into the model to calculate the predicted inspection time.

[0112] Exemplarily, a scatter plot is drawn with the service life of the equipment for each target inspection as the horizontal axis and the corresponding reference inspection duration as the vertical axis. Similarly, the same operation is performed for the number of equipment maintenance times to draw another scatter plot. By observing the distribution of each scatter plot, it is determined whether there is a linear correlation trend among the scatter points on each scatter plot. If the scatter points roughly show a trend of straight line distribution, there is a linear correlation, and the duration-related parameter corresponding to the scatter plot showing a straight line distribution is linearly correlated with the reference inspection duration; if the scatter points are distributed without any regularity, there is no linear correlation. If there is no linear correlation in all scatter plots, then the first uninspected equipment does not have a duration-related parameter that is linearly correlated with the reference inspection duration.

[0113] A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

[0114] S5. If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

[0115] In a preferred embodiment, obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps:

[0116] If there is a traversable road between the interruption coordinates and the emergency abnormal device, then take the interruption coordinates as the starting point, swap the emergency abnormal device to the next device to be inspected after the interruption coordinates, and keep the order of other first uninspected devices unchanged to obtain the updated inspection path.

[0117] For example, from the above, it can be seen that the preset inspection path is road 1 to road 4 to road 7 to road 10 to road 13. After checking device A and device B, the interruption coordinate is between device B and device C, so the preset inspection path after the interruption coordinate is originally device C to device D to device E to device F. At this time, if device F is an emergency abnormal device, then directly start from the interruption coordinate and connect the interruption coordinate and device F through the traversable road between the interruption coordinate and device F, and then determine whether there is a traversable road between the emergency fault device and the next device to be inspected after the original interruption coordinate. If so, connect the emergency fault device and the next device to be inspected after the original interruption coordinate through the traversable road, and keep the traversable road between subsequent devices to be inspected unchanged.

[0118] For example, the updated inspection path is from device F to device C, then device D to device E.

[0119] In this embodiment, when an emergency abnormal device is discovered, the emergency abnormal device is directly adjusted to the next inspection object to achieve the fastest inspection, prevent the abnormality from spreading into a fault, and maximize the stability of the power system.

[0120] Furthermore, obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device specifically includes the following steps:

[0121] The time between the current moment and the predicted fault moment is set as a first time; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time;

[0122] For example, from the above, it can be seen that the first duration is 40 minutes;

[0123] According to the first time duration, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices whose total preset time spent traveling along the preset inspection path and inspecting is less than the first time duration; wherein A is greater than or equal to 1;

[0124] Exemplarily, the method for determining the second uninspected device includes: if the total preset time from traveling from the interruption coordinate to device C at the initial travel speed, inspecting device C within the predicted inspection time, and then traveling to device F at the initial travel speed on the traversable road between device C and device F (emergency abnormal device) is less than the first time, then device C is regarded as a second uninspected device, and so on, if after inspecting device C, traveling to device D at the initial travel speed on the traversable road between device C and device D, inspecting device D within the predicted inspection time, and then traveling to device F at the initial travel speed on the traversable road between device D and device F (emergency abnormal device) is less than the first time, then device D is also regarded as a second uninspected device.

[0125] retaining the interruption coordinate and the first first uninspected device adjacent to the interruption coordinate, and the preset inspection path between every two adjacent first uninspected devices to obtain a retained inspection path;

[0126] For example, if there is only one second uninspected device, device C, then A is 1, and the drivable road between the interruption coordinate and device C will be reserved as the inspection path. If device C and device D are both second uninspected devices, then A is 2, and the drivable roads between the interruption coordinate and device C and between device C and device D will be reserved as the inspection path.

[0127] If there is a traversable road between the Ath first uninspected device and the emergency abnormal device, and there is a traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each second uninspected device are connected in sequence, and together with the retained inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

[0128] For example, if there is only one second uninspected device, device C, then device C (the first first uninspected device), device F (emergency abnormal device), device D, and device E are connected to obtain an updated inspection path; if there are two second uninspected devices, device C and device D, then the preset inspection path between device C and device D is retained, and then device D (the second first uninspected device), device F (emergency abnormal device), and device E are connected to obtain an updated inspection path.

[0129] Specifically, this embodiment can reasonably screen the second uninspected equipment and complete the inspection of other equipment as much as possible within a limited time, making full use of time resources and avoiding completely abandoning the inspection of other equipment due to emergency situations. It enables the inspection robot to inspect other important equipment without delaying the inspection of emergency abnormal equipment, thereby optimizing resource allocation and improving the overall inspection effect.

[0130] Specifically, this application makes intelligent judgments based on abnormal signals. When it receives an early warning signal from an emergency abnormal device, it can determine whether the abnormality will spread to a fault before the inspection robot follows the preset path. By fully utilizing abnormal signals, it is possible to dynamically plan inspection paths before the abnormality develops into a fault, ensuring that the inspection robot prioritizes the inspection of emergency abnormal devices, greatly improving the timeliness and effectiveness of fault handling. This innovative technical solution enhances the adaptability and flexibility of the system, optimizes resource allocation, and provides a strong guarantee for the efficient and stable operation of power inspections.

[0131] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can also make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A method for planning an inspection path of an electric power inspection robot, characterized in that: The following steps are involved: According to the priority of the initial inspection task of each device to be inspected, the node position of each device to be inspected is connected in sequence to obtain a preset inspection path and the initial travel speed of the inspection robot; Controlling the inspection robot to travel along the preset inspection path at the initial travel speed, and upon receiving the first warning signal of an emergency abnormal device for the Nth time, calibrating the interruption coordinates and obtaining an abnormal sequence; wherein the emergency abnormal device is a device to be inspected that has an abnormal factor and to which the inspection robot has not yet traveled on the preset inspection path; and the abnormal sequence is composed of abnormal data of the abnormal factor each time the first warning signal is issued; Obtaining an abnormal development speed of the abnormal factor according to the abnormal sequence, and obtaining a predicted failure time according to the abnormal development speed, wherein the predicted failure time is the time when the abnormal factor causes the emergency abnormal device to fail; According to the preset inspection path and the initial travel speed, a predicted inspection time is obtained; the predicted inspection time is the time when the inspection robot travels to the emergency abnormality device on the preset inspection path at the initial travel speed; If the predicted failure time is earlier than the predicted inspection time, an updated inspection path is obtained according to the interruption coordinates of the inspection robot and the node position of the emergency abnormal device, so that the inspection robot can inspect the emergency abnormal device before it fails.

2. The method for planning an inspection path for an electric power inspection robot according to claim 1, characterized in that: Before the priority of the initial inspection task of each device to be inspected is determined, the following steps are also included: Retrieving an operation set of each device to be inspected within an inspection cycle, wherein the operation set includes an operation sequence of a plurality of related factors, and the operation sequence is formed by arranging the operation data of the related factors in time sequence; Obtaining a standard operating threshold for each of the correlation factors of each of the devices to be inspected, and obtaining an abnormal parameter of each of the devices to be inspected; the abnormal parameter is related to the number of the correlation factors that do not fall within the standard operating threshold and the degree of deviation from the standard operating threshold; Arrange the devices to be inspected from high to low according to the abnormal parameters to obtain the priority of the initial inspection task of each device to be inspected.

3. The method for planning an inspection path for a power inspection robot according to claim 1, characterized in that: The step of sequentially connecting the node positions of each device to be inspected to obtain a preset inspection path specifically includes the following steps: Retrieving a scene map of the site to be inspected, wherein the site to be inspected is the site where each of the devices to be inspected is located, and there is at least one traversable road between every two of the devices to be inspected in the scene map; Obtaining a traversable index for each traversable road, wherein the traversable index is used to represent a degree of difficulty for the inspection robot to travel on the traversable road; Connecting the node position of each of the devices to be inspected through the traversable roads in order according to the priority of the initial inspection task to obtain at least one candidate path; The candidate path having the minimum value of the sum of the traversable indexes of the traversable roads among all the candidate paths is used as the preset inspection path.

4. The method for planning an inspection path for an electric power inspection robot according to claim 3, characterized in that: The obtaining of the traversable index of each traversable road specifically includes the following steps: Acquiring road information of the traversable road to obtain a quantified value of the road information; the road information at least includes the length and slope of the traversable road; Obtaining obstacle information on the traversable road to obtain a quantitative value of the obstacle information; the obstacle information at least includes fixed obstacle information, and the fixed obstacle information includes the number and size of the fixed obstacles in the traversable road and the degree of obstruction to the movement of the inspection robot; According to a preset weight distribution rule, the road information quantization value and the obstacle information quantization value are weightedly calculated to obtain the traversability index.

5. The method for planning an inspection path of a power inspection robot according to claim 4, characterized in that: The obstacle information also includes temporary obstacle information; The obtaining of the obstacle information of the traversable road and obtaining the quantized value of the obstacle information specifically includes the following steps: Acquiring a real-time scene of the site to be inspected, and determining, based on the real-time scene, whether there are any temporary obstacles on each traversable road that are caused by temporary maintenance and block the traversable road; If the temporary obstacle exists, a quantized value of obstacle information is obtained according to the quantized value of the temporary obstacle and the quantized value of the fixed obstacle.

6. The method for planning an inspection path of a power inspection robot according to claim 1, characterized in that: Obtaining the predicted fault moment according to the abnormal development speed specifically includes the following steps: If the abnormal development speed is variable, the abnormal data in the abnormal sequence and the corresponding elapsed time are fitted using the least square method to obtain an abnormal development speed function; Obtain a fault threshold and substitute it into the abnormal development speed function to obtain the predicted fault moment.

7. The method for planning an inspection path of a power inspection robot according to claim 1, characterized in that: The step of obtaining a predicted inspection time according to the preset inspection path and the initial travel speed specifically includes the following steps: Obtaining a travel duration according to the preset inspection path and the initial travel speed; Retrieving a historical inspection log of a first uninspected device to obtain an actual inspection duration of each historical inspection; the first uninspected device is the device to be inspected between the interruption coordinate and the emergency abnormal device on the preset inspection path; If the actual inspection duration of each historical inspection of the first uninspected device is within a stable range, a predicted inspection time is obtained according to the actual inspection duration and the travel duration of each of the first uninspected devices.

8. The method for planning an inspection path of a power inspection robot according to claim 7, characterized in that: After retrieving the historical inspection log of the first uninspected device and obtaining the actual inspection duration of each historical inspection, the following steps are also included: If the actual inspection duration of the M historical inspections of the first uninspected device is not within the stable range, the corresponding M historical inspections are used as target inspections, and the actual inspection duration of the M target inspections is calibrated as the reference inspection duration; wherein M is greater than 5; Determining, based on the historical inspection time of the target inspection and the reference inspection duration, whether the first uninspected device has a duration-related parameter that is linearly correlated with the reference inspection duration, the duration-related parameter including at least the age of the first uninspected device and the number of times the device has been maintained; If the first uninspected device has the duration-related parameter, obtaining a predicted inspection duration according to the duration-related parameter and the reference inspection duration; A predicted inspection time is obtained according to the predicted inspection time and the travel time of each of the first uninspected devices.

9. The method for planning an inspection path of a power inspection robot according to claim 1, characterized in that: The step of obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormality device specifically includes the following steps: If there is a traversable road between the interruption coordinates and the emergency abnormal device, then take the interruption coordinates as the starting point, swap the emergency abnormal device to the next device to be inspected after the interruption coordinates, and keep the order of other first uninspected devices unchanged to obtain the updated inspection path.

10. The method for planning an inspection path of a power inspection robot according to claim 3, characterized in that: The step of obtaining an updated inspection path according to the interruption coordinates of the inspection robot and the node position of the emergency abnormality device specifically includes the following steps: The time between the current moment and the predicted fault moment is set as a first time; the current moment is the moment when the first warning signal of the emergency abnormal device is received for the Nth time; According to the first time duration, A second uninspected devices are obtained, where the second uninspected devices are first uninspected devices whose total preset time spent traveling along the preset inspection path and inspecting is less than the first time duration; wherein A is greater than or equal to 1; retaining the interruption coordinate and the first first uninspected device adjacent to the interruption coordinate, and the preset inspection path between every two adjacent first uninspected devices to obtain a retained inspection path; If there is a traversable road between the Ath first uninspected device and the emergency abnormal device, and there is a traversable road between the emergency abnormal device and the second uninspected device adjacent to it, the Ath first uninspected device, the emergency abnormal device, and each second uninspected device are connected in sequence, and together with the retained inspection path, they form the updated inspection path; the second uninspected device is the device to be inspected that is located after the emergency abnormal device in the preset inspection path.

Images