Intelligent routing inspection method, equipment and device for power distribution room

Abstract

The invention belongs to the technical field of power grids, and discloses an intelligent routing inspection method, equipment and device for a power distribution room. The method comprises the following steps: generating an inspection path based on an inspection target in a distribution room; controlling the inspection robot to move according to the inspection path so as to inspect the distribution room; acquiring real-time motion state information of the inspection robot in the moving process; judging whether the inspection robot stops moving or not according to the real-time motion state information; if the inspection robot stops moving, the residence duration of the inspection robot is recorded, and the inspection robot is positioned; and adjusting the inspection robot according to the positioning information and the residence duration, so that the inspection robot continues to inspect according to the inspection path. By means of the mode, when the inspection robot encounters an unexpected situation that the inspection robot stops moving, timely adjustment can be conducted through detection of the residence duration, it is guaranteed that the inspection robot can continue to execute inspection work, and the efficiency of the inspection work is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of power grid technology, and in particular to a method, equipment and device for intelligent inspection of a power distribution room. Background Art

[0002] With the rapid development of the Internet and robotics technology, on-duty inspection tasks are gradually being replaced by inspection robots, and unmanned inspection is currently the main direction of development of the power system.

[0003] Currently, inspection robots move along predetermined routes to complete their inspection work. However, the environment in the power distribution room is relatively complex and prone to unexpected situations, such as the abnormal stop of the inspection robot. Current technical means cannot handle this situation in a timely and effective manner, affecting the inspection efficiency.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, equipment and device for intelligent inspection of a distribution room, aiming to solve the technical problem that the technical means currently used by inspection robots cannot handle unexpected situations in a timely and effective manner, thus affecting the inspection efficiency.

[0006] To achieve the above object, the present invention provides a distribution room intelligent inspection method, the distribution room intelligent inspection method comprising the following steps:

[0007] Generate inspection paths based on inspection targets in the power distribution room;

[0008] Controlling the inspection robot to move along the inspection path to inspect the power distribution room;

[0009] Acquire real-time motion status information of the inspection robot during movement;

[0010] Determining whether the inspection robot stops moving according to the real-time motion state information;

[0011] If the inspection robot stops moving, the duration of the inspection robot's stay is recorded, and the inspection robot is positioned;

[0012] The inspection robot is adjusted according to the positioning information and the residence duration so that the inspection robot continues to inspect along the inspection path.

[0013] In some embodiments, the generating of the inspection path based on the inspection target in the power distribution room includes:

[0014] Determining an initial position of the inspection robot and a target position of the inspection object;

[0015] Starting the search from the initial position and the target position simultaneously, storing the initial path points corresponding to the initial position into a first list, and storing the target path points corresponding to the target position into a second list;

[0016] During the bidirectional search, path points less than a preset evaluation value are stored in the first list or the second list, and when the initial path point exists in the second list and the target path point exists in the first list, the bidirectional search is stopped;

[0017] A patrol path is generated based on the initial path point, the target path point, and other path points stored in the first list and the second list.

[0018] In some embodiments, the calculation formula of the evaluation value f(n) corresponding to the path point in the bidirectional search process is f(n)=g(n)+ah(n), where n is the current path point searched, g(n) is the actual cost required to reach the current path point from the initial path point, h(n) is the estimated cost from the current path point to the target path point, a is a dynamic parameter, and the calculation formula of the estimated cost h(n) is

[0019]

[0020] Wherein, M is the number of path points in the search area, L(n) is the path corresponding to the current path point and the initial path point or the target path point, and θ is the angle corresponding to the search direction.

[0021] In some embodiments, positioning the inspection robot includes:

[0022] Acquiring a reference accumulated moving mileage of the inspection robot through the odometer of the inspection robot;

[0023] Obtaining current posture information of the inspection robot;

[0024] Correcting the reference accumulated moving mileage according to the current posture information;

[0025] The positioning information of the inspection robot is obtained based on the corrected accumulated moving mileage.

[0026] In some embodiments, the step of adjusting the inspection robot according to the positioning information and the residence duration includes:

[0027] Determine the current inspection area of ​​the inspection robot according to the positioning information;

[0028] Determine a stay time threshold according to the current inspection area;

[0029] Comparing the dwell duration with the dwell time threshold;

[0030] The inspection robot is adjusted based on the comparison result.

[0031] In some embodiments, adjusting the inspection robot based on the comparison result includes:

[0032] If the dwell duration does not reach the dwell time threshold, wait for the dwell duration to reach the dwell time threshold, and after the dwell duration reaches the dwell time threshold, detect whether there is an obstacle ahead through the laser radar of the inspection robot;

[0033] If there is an obstacle, a new inspection path is generated, and the inspection robot is controlled to move along the new inspection path to bypass the obstacle;

[0034] If there is no obstacle, a fault signal is output, and the fault signal is used to remind the staff that the inspection robot has a fault.

[0035] In some embodiments, the method further comprises:

[0036] Obtaining the inspection result output by the inspection robot;

[0037] Determine whether there is an abnormality based on the inspection results, wherein the abnormality includes at least equipment abnormality, sound abnormality, gas abnormality, environmental parameter abnormality, and mechanical state abnormality;

[0038] If there is an abnormality, an abnormal alarm prompt will be output.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes an intelligent inspection device for a power distribution room, the intelligent inspection device for a power distribution room comprising:

[0040] A generation module, used for generating an inspection path based on the inspection target in the power distribution room;

[0041] A control module, used to control the inspection robot to move along the inspection path to inspect the power distribution room;

[0042] An acquisition module is used to acquire real-time motion state information of the inspection robot during movement;

[0043] A detection module, used for judging whether the inspection robot has stopped moving according to the real-time motion state information;

[0044] A positioning module, used for recording the duration of the inspection robot's stay and locating the inspection robot if the inspection robot stops moving;

[0045] The adjustment module is used to adjust the inspection robot according to the positioning information and the residence duration, so that the inspection robot continues to inspect along the inspection path.

[0046] In some embodiments, the generating module is used to determine the initial position of the inspection robot and the target position of the inspection target;

[0047] Starting the search from the initial position and the target position simultaneously, storing the initial path points corresponding to the initial position into a first list, and storing the target path points corresponding to the target position into a second list;

[0048] During the bidirectional search, path points less than a preset evaluation value are stored in the first list or the second list, and when the initial path point exists in the second list and the target path point exists in the first list, the bidirectional search is stopped;

[0049] A patrol path is generated based on the initial path point, the target path point, and other path points stored in the first list and the second list.

[0050] In addition, to achieve the above-mentioned purpose, the present invention also proposes a distribution room intelligent inspection device, which includes: a memory, a processor, and a distribution room intelligent inspection program stored in the memory and executable on the processor, and the distribution room intelligent inspection program is configured to implement the steps of the distribution room intelligent inspection method as described above.

[0051] In the present invention, an inspection path is generated based on the inspection target in the distribution room; the inspection robot is controlled to move along the inspection path to inspect the distribution room; the real-time motion state information of the inspection robot during the movement is obtained; whether the inspection robot stops moving is determined based on the real-time motion state information; if the inspection robot stops moving, the residence duration of the inspection robot is recorded and the inspection robot is positioned; the inspection robot is adjusted based on the positioning information and the residence duration so that the inspection robot continues to inspect along the inspection path. Through the above method, when the inspection robot encounters an unexpected situation of stopping moving, timely adjustments can be made through the detection of the residence duration to ensure that the inspection robot can continue to perform inspection work and ensure the efficiency of the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1It is a flow chart of the first embodiment of the intelligent inspection method for power distribution room of the present invention;

[0053] Figure 2 This is a structural block diagram of the first embodiment of the intelligent inspection device for the power distribution room of the present invention.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0056] The embodiment of the present invention provides a distribution room intelligent inspection method, referring to Figure 1 , Figure 1 The figure is a flow chart of a first embodiment of a method for intelligent inspection of a power distribution room according to the present invention.

[0057] In this embodiment, the intelligent inspection method for the power distribution room includes the following steps:

[0058] Step S10: Generate an inspection path based on the inspection targets in the power distribution room.

[0059] In this embodiment, the executor of this embodiment is the intelligent inspection equipment of the distribution room, wherein the intelligent inspection equipment of the distribution room has functions such as data processing, data communication and program running. The intelligent inspection equipment of the distribution room can be a computer terminal device or other network device, and of course it can also be other devices with similar functions, and this embodiment does not limit this.

[0060] It should be noted that the inspection robot currently moves along a predetermined route to complete the inspection work. However, the environment of the distribution room is relatively complex and prone to sudden accidents, such as the abnormal stop of the inspection robot. The current technical means cannot deal with this situation in a timely and effective manner, affecting the inspection efficiency.

[0061] In order to solve the above technical problems, in this embodiment, an inspection path is generated based on the inspection target in the distribution room; the inspection robot is controlled to move along the inspection path to inspect the distribution room; the real-time motion state information of the inspection robot during the movement is obtained; according to the real-time motion state information, it is determined whether the inspection robot stops moving; if the inspection robot stops moving, the residence duration of the inspection robot is recorded, and the inspection robot is positioned; the inspection robot is adjusted according to the positioning information and the residence duration, so that the inspection robot continues to inspect along the inspection path. Through the above method, when the inspection robot encounters an unexpected situation of stopping moving, timely adjustments can be made through the detection of the residence duration, so as to ensure that the inspection robot can continue to perform the inspection work and ensure the efficiency of the inspection work. Specifically, it can be implemented in the following way.

[0062] In the specific implementation, in this embodiment, the intelligent inspection of the distribution room is realized by a patrol robot. Before controlling the patrol robot to perform the inspection work, it is necessary to generate a patrol path. The specific process of generating the patrol path is to determine the initial position of the patrol robot and the target position of the inspection target; start searching from the initial position and the target position at the same time, and store the initial path point corresponding to the initial position in the first list, and store the target path point corresponding to the target position in the second list; in the process of two-way search, store the path points less than the preset evaluation value in the first list or the second list, and stop the two-way search when the initial path point exists in the second list and the target path point exists in the first list; generate a patrol path based on the initial path point, the target path point and other path points stored in the first list and the second list.

[0063] It should be noted that, during the two-way search, if a path point with a value less than the preset evaluation value appears, it is directly stored in the first list or the second list. For example, when the search starts from the initial path point, assuming that a path point A with a value less than the preset evaluation value is found, path point A is stored in the first list. And assuming that the search starts from the target path point, assuming that a path point B with a value less than the preset evaluation value is found, path point B is stored in the first list. Through continuous two-way search, they will eventually meet, that is, the initial path point is in the second list, and the target path point is in the first list.

[0064] Furthermore, in this embodiment, an evaluation value is calculated for any searched path point, and the evaluation value f(n)=g(n)+ah(n), wherein n is the current path point searched, g(n) is the actual cost required to reach the current path point from the initial path point, h(n) is the estimated cost from the current path point to the target path point, and a is a dynamic parameter, which can be determined by g(n) and the initial position and the target position, as shown in the following formula:

[0065]

[0066] Among them, (x1, y1) is the initial position and (x2, y2) is the target position.

[0067] The calculation formula for the estimated cost h(n) is:

[0068]

[0069] Among them, M is the number of path points in the search area, L(n) is the path corresponding to the current path point and the initial path point or the target path point, θ is the angle corresponding to the search direction, which can be the angle between the search direction and the horizontal direction, and M is all path points including the current path point. Taking the first list as an example, M is the number of all path points stored in the first list including the current path point.

[0070] Step S20: Control the inspection robot to move along the inspection path to inspect the power distribution room.

[0071] After the inspection path is generated, the inspection of the distribution room can be realized by controlling the inspection robot to move along the inspection path, wherein the moving speed of the inspection robot can be adjusted in real time according to the actual situation, and the speed can be adjusted in real time according to the inspection area. For example, the movement of the inspection robot is controlled according to the initial moving speed. When entering the inspection area S1, the initial moving speed is changed to the inspection moving speed, and the inspection area S1 is passed at the inspection moving speed. Assuming that the next inspection area is S2, the inspection moving speed is restored to the initial moving speed during the process of leaving the inspection area S1 and entering the inspection area S2. In this way, the inspection efficiency is improved, and the moving speed in the inspection area is reduced to ensure the accuracy of the inspection.

[0072] Step S30: Acquire real-time motion state information of the inspection robot during movement.

[0073] During the movement of the inspection robot, in order to cope with emergencies, the present embodiment needs to obtain the real-time motion status information of the inspection robot.

[0074] Step S40: determining whether the inspection robot has stopped moving according to the real-time motion status information.

[0075] After the real-time motion information is obtained, in this embodiment, it can be determined whether the inspection robot stops moving according to the real-time motion information.

[0076] Step S50: If the inspection robot stops moving, the duration of the inspection robot's stay is recorded, and the inspection robot is positioned.

[0077] In a specific implementation, if it is detected that the inspection robot stops moving, the duration of the inspection robot's stay is recorded in this embodiment, and the inspection robot is positioned. The process of positioning the inspection robot in this embodiment is specifically to obtain the reference cumulative moving mileage of the inspection robot through the odometer of the inspection robot; obtain the current posture information of the inspection robot; correct the reference cumulative moving mileage according to the current posture information; and obtain the positioning information of the inspection robot based on the corrected cumulative moving mileage.

[0078] It should be noted that due to factors such as mechanical loss, the reference cumulative moving mileage obtained by the odometer has a certain error. Through the above, more accurate positioning information of the inspection robot can be obtained. In actual situations, the inspection path is not a straight line, so the inspection robot has different postures when it is in different positions. The reference posture information can be obtained based on the reference cumulative moving mileage. The posture difference between the reference posture and the current posture can be determined based on the reference posture information and the current posture information. The mileage difference can be determined based on the posture difference. The corrected cumulative moving mileage can be obtained by adding the mileage difference to the reference cumulative moving mileage. The cumulative moving mileage can be compared with the mileage of the entire inspection path to realize the positioning of the inspection robot. Among them, the posture difference can determine the posture change, that is, the change in the position and posture of the object in three-dimensional space. The displacement change corresponding to the conversion of the reference posture to the current posture can be determined by using the translation and rotation changes. The displacement change is the mileage difference.

[0079] It should be understood that if the inspection robot still keeps moving, there is no need to perform subsequent real-time positioning.

[0080] Step S60: adjusting the inspection robot according to the positioning information and the residence duration, so that the inspection robot continues to inspect along the inspection path.

[0081] It should be noted that for certain inspection areas, in actual situations the inspection robot needs to spend a certain amount of time on inspection. Therefore, there may be situations where the inspection robot stays for inspection. In order to detect whether this is the case, in this embodiment, the current inspection area where the inspection robot is located will be determined based on the positioning information obtained above. The inspection task requirements for different inspection areas are different. Therefore, the residence time threshold can be further determined based on the current inspection area, and then the residence duration obtained above will be compared with the residence time threshold.

[0082] Furthermore, if the dwell duration does not reach the dwell time threshold, the robot waits for the dwell duration to reach the dwell time threshold, and after the dwell duration reaches the dwell time threshold, the robot detects whether there is an obstacle in front of it through the laser radar of the inspection robot. In actual situations, if there is no obstacle in front of the inspection robot, after the dwell duration reaches the dwell time threshold, the inspection robot will continue to move along the remaining inspection path. In this case, if the inspection robot does not move, it can be determined that the inspection robot has a fault that prevents it from continuing to move, and a fault signal will be output at this time. The fault includes a mechanical fault or a battery power fault.

[0083] If the inspection robot cannot continue to move due to a new unknown obstacle in front of it, in this case, the above method will be adopted in this embodiment to re-plan the path, but path planning takes time. In order to save time, when planning the path, the current position of the inspection robot is used as the above initial position, and any position that can pass by the obstacle is used as the target position, and then a new inspection path is generated in the same way as above. There will be an intersection between the new inspection path and the initially generated inspection path. When the inspection robot moves to the intersection, it can continue to move along the initially generated inspection path.

[0084] Furthermore, in this embodiment, the inspection results can be obtained after the inspection robot completes the inspection, or the inspection results can be obtained in real time during the inspection process. According to the inspection results, equipment abnormalities, sound abnormalities, gas abnormalities, environmental parameter abnormalities, and mechanical state abnormalities can be determined. If at least one of the above abnormalities exists, an alarm prompt is output.

[0085] In this embodiment, an inspection path is generated based on the inspection target in the distribution room; the inspection robot is controlled to move along the inspection path to inspect the distribution room; the real-time motion status information of the inspection robot during the movement is obtained; whether the inspection robot stops moving is determined based on the real-time motion status information; if the inspection robot stops moving, the residence duration of the inspection robot is recorded and the inspection robot is positioned; the inspection robot is adjusted based on the positioning information and the residence duration so that the inspection robot continues to inspect along the inspection path. Through the above method, when the inspection robot encounters an unexpected situation of stopping moving, timely adjustments can be made through the detection of the residence duration to ensure that the inspection robot can continue to perform inspection work and ensure the efficiency of the inspection work. Specifically, it can be implemented in the following way.

[0086] Reference Figure 2 , Figure 2 This is a structural block diagram of the first embodiment of the intelligent inspection device for the power distribution room of the present invention.

[0087] like Figure 2 As shown, the intelligent inspection device for a power distribution room proposed in an embodiment of the present invention includes:

[0088] A generation module 10, used to generate an inspection path based on the inspection target in the power distribution room;

[0089] A control module 20, used to control the inspection robot to move along the inspection path to inspect the power distribution room;

[0090] An acquisition module 30 is used to acquire real-time motion state information of the inspection robot during movement;

[0091] A detection module 40, used to determine whether the inspection robot stops moving according to the real-time motion state information;

[0092] A positioning module 50, for recording the duration of the inspection robot's stay and positioning the inspection robot if the inspection robot stops moving;

[0093] The adjustment module 60 is used to adjust the inspection robot according to the positioning information and the residence duration, so that the inspection robot continues to inspect along the inspection path.

[0094] In this embodiment, an inspection path is generated based on the inspection target in the distribution room; the inspection robot is controlled to move along the inspection path to inspect the distribution room; the real-time motion status information of the inspection robot during the movement is obtained; whether the inspection robot stops moving is determined based on the real-time motion status information; if the inspection robot stops moving, the residence duration of the inspection robot is recorded and the inspection robot is positioned; the inspection robot is adjusted based on the positioning information and the residence duration so that the inspection robot continues to inspect along the inspection path. Through the above method, when the inspection robot encounters an unexpected situation of stopping moving, timely adjustments can be made through the detection of the residence duration to ensure that the inspection robot can continue to perform inspection work and ensure the efficiency of the inspection work. Specifically, it can be implemented in the following way.

[0095] In some embodiments, the generating module 10 is used to determine the initial position of the inspection robot and the target position of the inspection target;

[0096] Starting the search from the initial position and the target position simultaneously, storing the initial path points corresponding to the initial position into a first list, and storing the target path points corresponding to the target position into a second list;

[0097] During the bidirectional search, path points less than a preset evaluation value are stored in the first list or the second list, and when the initial path point exists in the second list and the target path point exists in the first list, the bidirectional search is stopped;

[0098] A patrol path is generated based on the initial path point, the target path point, and other path points stored in the first list and the second list.

[0099] In some embodiments, the calculation formula of the evaluation value f(n) corresponding to the path point in the bidirectional search process is f(n)=g(n)+ah(n), where n is the current path point searched, g(n) is the actual cost required to reach the current path point from the initial path point, h(n) is the estimated cost from the current path point to the target path point, a is a dynamic parameter, and the calculation formula of the estimated cost h(n) is

[0100]

[0101] Wherein, M is the number of path points in the search area, L(n) is the path corresponding to the current path point and the initial path point or the target path point, and θ is the angle corresponding to the search direction.

[0102] In some embodiments, the positioning module 50 is used to obtain the reference cumulative moving mileage of the inspection robot through the odometer of the inspection robot;

[0103] Obtaining current posture information of the inspection robot;

[0104] Correcting the reference accumulated moving mileage according to the current posture information;

[0105] The positioning information of the inspection robot is obtained based on the corrected accumulated moving mileage.

[0106] In some embodiments, the adjustment module 60 is used to determine the current inspection area where the inspection robot is located according to the positioning information;

[0107] Determine a stay time threshold according to the current inspection area;

[0108] Comparing the dwell duration with the dwell time threshold;

[0109] The inspection robot is adjusted based on the comparison result.

[0110] In some embodiments, the adjustment module 60 is used to wait for the dwelling duration to reach the dwelling time threshold if the dwelling duration does not reach the dwelling time threshold, and after the dwelling duration reaches the dwelling time threshold, detect whether there is an obstacle ahead through the laser radar of the inspection robot;

[0111] If there is an obstacle, a new inspection path is generated, and the inspection robot is controlled to move along the new inspection path to bypass the obstacle;

[0112] If there is no obstacle, a fault signal is output, and the fault signal is used to remind the staff that the inspection robot has a fault.

[0113] In some embodiments, the intelligent inspection device for the power distribution room further includes an alarm module;

[0114] The alarm module is used to obtain the inspection result output by the inspection robot;

[0115] Determine whether there is an abnormality based on the inspection results, wherein the abnormality includes at least equipment abnormality, sound abnormality, gas abnormality, environmental parameter abnormality, and mechanical state abnormality;

[0116] If there is an abnormality, an abnormal alarm prompt will be output.

[0117] An embodiment of the present application also provides an intelligent inspection device for a distribution room, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus, and the memory is used to store the intelligent inspection program for the distribution room; the processor is used to implement the above-mentioned intelligent inspection method for the distribution room when executing the program stored in the memory.

[0118] The communication bus mentioned in the above-mentioned intelligent inspection equipment in the power distribution room can be a peripheral component interconnect standard (English: Peripheral Component Interconnect, referred to as: PCI) bus or an extended industry standard architecture (English: Extended Industry Standard Architecture, referred to as: EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0119] The communication interface is used for communication between the above-mentioned intelligent inspection equipment in the distribution room and other equipment.

[0120] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0121] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components.

[0122] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0123] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0124] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0125] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0126] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0127] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0128] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the intelligent inspection method for the distribution room provided in any embodiment of the present invention, and will not be repeated here.

[0129] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0130] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0132] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

[0133] It is understandable that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts in the above method.

Claims

1. A distribution room intelligent inspection method, characterized in that: The intelligent inspection method for the power distribution room comprises: Generate inspection paths based on inspection targets in the power distribution room; Controlling the inspection robot to move along the inspection path to inspect the power distribution room; Acquire real-time motion status information of the inspection robot during movement; Determining whether the inspection robot stops moving according to the real-time motion state information; If the inspection robot stops moving, the duration of the inspection robot's stay is recorded, and the inspection robot is positioned; The inspection robot is adjusted according to the positioning information and the residence duration so that the inspection robot continues to inspect along the inspection path.

2. The intelligent inspection method for a power distribution room according to claim 1, characterized in that: The generating of the inspection path based on the inspection target in the power distribution room includes: Determining an initial position of the inspection robot and a target position of the inspection object; Starting the search from the initial position and the target position simultaneously, storing the initial path points corresponding to the initial position into a first list, and storing the target path points corresponding to the target position into a second list; During the bidirectional search, path points less than a preset evaluation value are stored in the first list or the second list, and when the initial path point exists in the second list and the target path point exists in the first list, the bidirectional search is stopped; A patrol path is generated based on the initial path point, the target path point, and other path points stored in the first list and the second list.

3. The intelligent inspection method for a power distribution room according to claim 2, characterized in that: The calculation formula of the evaluation value f(n) corresponding to the path point in the bidirectional search process is f(n)=g(n)+ah(n), where n is the current path point searched, g(n) is the actual cost required to reach the current path point from the initial path point, h(n) is the estimated cost from the current path point to the target path point, a is a dynamic parameter, and the calculation formula of the estimated cost h(n) is Wherein, M is the number of path points in the search area, L(n) is the path corresponding to the current path point and the initial path point or the target path point, and θ is the angle corresponding to the search direction.

4. The intelligent inspection method for a power distribution room according to claim 1, characterized in that: Positioning the inspection robot includes: Acquiring a reference accumulated moving mileage of the inspection robot through the odometer of the inspection robot; Obtaining current posture information of the inspection robot; Correcting the reference accumulated moving mileage according to the current posture information; The positioning information of the inspection robot is obtained based on the corrected accumulated moving mileage.

5. The intelligent inspection method for a power distribution room according to claim 1, characterized in that: The step of adjusting the inspection robot according to the positioning information and the residence duration includes: Determine the current inspection area of ​​the inspection robot according to the positioning information; Determine a stay time threshold according to the current inspection area; Comparing the dwell duration with the dwell time threshold; The inspection robot is adjusted based on the comparison result.

6. The intelligent inspection method for power distribution room according to claim 5, characterized in that: The adjusting the inspection robot based on the comparison result includes: If the dwell duration does not reach the dwell time threshold, wait for the dwell duration to reach the dwell time threshold, and after the dwell duration reaches the dwell time threshold, detect whether there is an obstacle ahead through the laser radar of the inspection robot; If there is an obstacle, a new inspection path is generated, and the inspection robot is controlled to move along the new inspection path to bypass the obstacle; If there is no obstacle, a fault signal is output, and the fault signal is used to remind the staff that the inspection robot has a fault.

7. The intelligent inspection method for a power distribution room according to any one of claims 1 to 6, characterized in that: The method further comprises: Obtaining the inspection result output by the inspection robot; Determine whether there is an abnormality based on the inspection results, wherein the abnormality includes at least equipment abnormality, sound abnormality, gas abnormality, environmental parameter abnormality, and mechanical state abnormality; If there is an abnormality, an abnormal alarm prompt will be output.

8. An intelligent inspection device for a power distribution room, characterized in that: The intelligent inspection device for the power distribution room comprises: A generation module, used for generating an inspection path based on the inspection target in the power distribution room; A control module, used to control the inspection robot to move along the inspection path to inspect the power distribution room; An acquisition module is used to acquire real-time motion state information of the inspection robot during movement; A detection module, used for judging whether the inspection robot has stopped moving according to the real-time motion state information; A positioning module, used for recording the duration of the inspection robot's stay and locating the inspection robot if the inspection robot stops moving; The adjustment module is used to adjust the inspection robot according to the positioning information and the residence duration, so that the inspection robot continues to inspect along the inspection path.

9. The intelligent inspection device for power distribution room according to claim 8, characterized in that: The generating module is used to determine the initial position of the inspection robot and the target position of the inspection object; Starting the search from the initial position and the target position simultaneously, storing the initial path points corresponding to the initial position into a first list, and storing the target path points corresponding to the target position into a second list; During the bidirectional search, path points less than a preset evaluation value are stored in the first list or the second list, and when the initial path point exists in the second list and the target path point exists in the first list, the bidirectional search is stopped; A patrol path is generated based on the initial path point, the target path point, and other path points stored in the first list and the second list.

10. An intelligent inspection device for a power distribution room, characterized in that: The distribution room intelligent inspection device includes: a memory, a processor, and a distribution room intelligent inspection program stored in the memory and executable on the processor, wherein the distribution room intelligent inspection program is configured to implement the steps of the distribution room intelligent inspection method as described in any one of claims 1 to 7.

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