Path planning and emergency response method of intelligent individual soldier equipment in new energy station

Abstract

The invention discloses a path planning and emergency response method for intelligent individual equipment in a new energy station, and the method comprises the steps: determining to-be-inspected working equipment based on the task demands of the intelligent individual equipment, and constructing a dynamic environment model of the new energy station according to the observation data of a Beidou satellite, generating an optimal inspection path according to the position information and the communication environment parameters of the to-be-inspected working equipment in the new energy station through the dynamic environment model; controlling the intelligent single-soldier equipment to move and sense obstacles according to the optimal inspection path, acquiring working data of to-be-inspected working equipment in real time after confirming that the intelligent single-soldier equipment arrives at the position point, and determining an abnormal condition of the working equipment by utilizing own edge computing equipment; and generating an emergency processing scheme based on the cloud computing analysis platform according to the abnormal condition of the working equipment, and controlling the intelligent individual equipment to perform emergency collaborative operation. The traffic influence caused by obstacles can be avoided to the maximum extent, and the emergency processing flexibility and practicability are improved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a path planning and emergency response method for intelligent individual equipment in a new energy station. Background Art

[0002] At present, with the vigorous development of my country's new energy industry, new energy power stations, as an important part of clean energy, play a vital role in my country's power system. The safe operation of new energy power stations, especially the effective control of facilities and equipment and environmental risks, is the cornerstone to ensure the safety and stability of the power grid. In order to achieve this goal, intelligent inspection and emergency response of new energy power station facilities and equipment have become a top priority. The existing inspection work is carried out by intelligent robots instead of manual inspection. Although it reduces labor costs to a certain extent, it ignores the planning of inspection routes and emergency response measures, resulting in low inspection efficiency and lack of practicality and flexibility. Summary of the invention

[0003] In response to the above-mentioned problems, the present invention provides a path planning and emergency response method for intelligent individual equipment in new energy stations to solve the problem mentioned in the background technology that inspections are performed by intelligent robots instead of manual labor. Although this reduces labor costs to a certain extent, it ignores the planning of inspection paths and emergency response measures, resulting in low inspection efficiency and lack of practicality and flexibility.

[0004] A path planning and emergency response method for intelligent individual equipment in a new energy station, characterized in that it includes the following steps:

[0005] Determine the mission requirements of intelligent individual equipment, determine the equipment to be inspected based on the mission requirements, and obtain the location information and communication environment parameters of the equipment to be inspected in the new energy station;

[0006] Receive observation data from Beidou satellites, build a dynamic environment model of the new energy station based on the observation data, and generate the optimal inspection path based on the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model;

[0007] Control the movement and obstacle perception of the intelligent individual equipment according to the optimal inspection path. After confirming that the intelligent individual equipment has arrived at the location, it will collect the working data of the equipment to be inspected in real time and use its own edge computing equipment to determine the abnormal situation of the working equipment.

[0008] According to the abnormal situation of working equipment, emergency treatment plan is generated based on cloud computing analysis platform and intelligent individual equipment is controlled to carry out emergency collaborative operations.

[0009] Preferably, the determining of the mission requirements of the intelligent individual soldier device includes:

[0010] Obtain the periodic inspection plan of the new energy station, determine multiple inspection tasks based on the periodic inspection plan, and obtain the task attributes of each inspection task;

[0011] Determine the task scenario of each inspection task based on its task attributes, and determine the inspection indicators of each inspection task based on the task scenario;

[0012] Determine the relevant sensor type according to the inspection index, and determine the target inspection task of the intelligent individual soldier device according to the relevant sensor type and the target sensor set by the intelligent individual soldier device;

[0013] Obtain the specific inspection plan for the target inspection task, and determine the task requirements of the intelligent individual equipment based on the specific inspection plan.

[0014] Preferably, the determining of the working equipment to be inspected based on the task requirements and obtaining the location information and communication environment parameters of the working equipment to be inspected in the new energy station include:

[0015] Determine the task object and task index based on the task requirements, and determine the equipment to be inspected based on the task object and task index;

[0016] Determine the operating system to which the equipment to be inspected belongs, obtain high-definition monitoring images of the operating system to which it belongs, and determine the location information of the equipment to be inspected in the new energy station based on the high-definition monitoring images;

[0017] Obtain the communication signal of the area where the equipment to be inspected is located in the new energy station and analyze the communication signal, and determine the communication index of the area where the equipment to be inspected is located according to the analysis results;

[0018] Determine the communication environment parameters of the equipment to be inspected based on the communication indicators.

[0019] Preferably, the receiving observation data from Beidou satellites and constructing a dynamic environment model of the new energy station according to the observation data includes:

[0020] Collect Beidou satellite observation data, determine the road conditions of new energy stations based on the observation data, and determine the path static factors based on the road conditions;

[0021] Determine real-time static obstacle parameters and dynamic obstacle parameters according to road conditions, and determine road impact static factors and road impact dynamic factors according to the static obstacle parameters and dynamic obstacle parameters;

[0022] The dynamic environmental model of the new energy station is constructed based on the path static factors, road influence static factors, road influence dynamic factors and the environmental variable relationship between roads and obstacles.

[0023] Preferably, the generating of the optimal inspection path according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model includes:

[0024] Determine the data transmission frequency requirement based on the communication environment parameters, the wireless signal coverage of the new energy station, and the preset data transmission parameters of the intelligent individual equipment;

[0025] Plan the path length limit parameters based on the data transmission frequency requirements and the location information of the equipment to be inspected in the new energy station;

[0026] Generate multiple feasible inspection paths through the dynamic environment model according to the planned path length limit parameters, and use the dynamic environment model to determine the obstacle impact weight of each feasible inspection path;

[0027] The target feasible inspection path with the smallest obstacle impact weight is selected as the optimal inspection path for the intelligent individual equipment for the equipment to be inspected.

[0028] Preferably, after generating the optimal inspection path according to the location information of the working equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model, it also includes:

[0029] Determine traffic safety rules based on the distribution of working systems at new energy stations, and determine path restriction regulations based on traffic safety rules;

[0030] According to the path restriction regulations, multiple prohibited areas and restricted areas of the new energy station are determined, and whether the optimal inspection path passes through the prohibited areas and restricted areas is determined. If so, an optimal inspection path unqualified reminder is issued. If not, the optimal inspection path movement assessment safety is confirmed;

[0031] Obtain the road intersection parameters around the prohibited area and the prohibited area through which the optimal inspection path passes, and adjust the optimal inspection path according to the road intersection parameters;

[0032] The adjusted optimal inspection path is evaluated based on the planned path length restriction parameter and readjusted until it meets the planned path length restriction parameter.

[0033] Preferably, the process of controlling the movement of the intelligent individual equipment according to the optimal inspection path also includes:

[0034] The Beidou satellite positioning signal of the equipment to be inspected is transmitted to the intelligent individual equipment and the positioning signal strength is detected. The positioning signal stability is determined according to the positioning signal strength. The signal enhancement processing is performed based on the array signal processing method according to the positioning signal stability.

[0035] Perform time synchronization processing on the enhanced positioning signal, and use differential positioning technology or multi-frequency signal fusion technology to perform positioning solution on the synchronously processed positioning signal and the original observation positioning signal of the intelligent individual soldier equipment;

[0036] Obtain multi-source precise positioning based on the solution results and obtain the working scenario requirements of the equipment to be inspected;

[0037] Determine the positioning update frequency according to the work scenario requirements, and periodically update the multi-source precise positioning based on the positioning update frequency.

[0038] Preferably, the controlling of the intelligent individual equipment to move and sense obstacles according to the optimal inspection path, and collecting the working data of the equipment to be inspected in real time after confirming that the intelligent individual equipment has arrived at the location point, and determining the abnormal situation of the working equipment by using its own edge computing equipment, includes:

[0039] Determine the motion limiting factors on the optimal inspection path, determine the perception dimensions based on the motion limiting factors, and configure the corresponding sensors based on the perception dimensions;

[0040] According to the optimal inspection path, the intelligent individual equipment is controlled by the sensor detection results to perform obstacle perception and obstacle avoidance movement;

[0041] Detect the movement status of the intelligent individual soldier device, and when the movement status is stationary, confirm whether the intelligent individual soldier device has reached the location of the device to be inspected;

[0042] If so, the working data of the equipment to be inspected is collected in real time through intelligent individual equipment, and the abnormal evaluation model of its own edge computing equipment is used to perform abnormal analysis on the working data, and the abnormal situation of the working equipment is determined based on the analysis results.

[0043] The motion limiting factors include obstacles, pedestrians and vehicles, and the perception dimensions include human perception, motion perception and static perception.

[0044] Preferably, before controlling the intelligent individual equipment to move and sense obstacles according to the optimal inspection path, confirming that the intelligent individual equipment has arrived at the location point, collecting the working data of the equipment to be inspected in real time, and using its own edge computing device to determine the abnormal situation of the working equipment, it also includes:

[0045] Collect historical operation data of each device in the new energy station, the historical operation data includes operation data in normal state and operation data in fault state;

[0046] Clean, annotate and divide historical operation data to generate model training sets;

[0047] According to the data characteristics and inspection task requirements, select a suitable deep learning model, use the model training set to train the deep learning model, and generate an anomaly assessment model;

[0048] Deploy the anomaly assessment model to the edge computing device of the intelligent individual device.

[0049] Preferably, the generating of emergency treatment solutions based on the cloud computing analysis platform according to the abnormal conditions of the working equipment and controlling the intelligent individual equipment to perform emergency collaborative operations include:

[0050] Based on the abnormal situation of working equipment, big data analysis is performed through the cloud computing analysis platform to determine the affected working system;

[0051] Generate an emergency treatment plan based on the associated working equipment and working characteristics of the working equipment to be inspected in the affected working system;

[0052] Determine the operation attributes and operation sequence of the intelligent individual equipment according to the emergency response plan, and generate the operation process according to the operation attributes and operation sequence;

[0053] Control intelligent individual equipment according to the operating procedures to carry out emergency collaborative operations.

[0054] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0055] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0057] Figure 1 A workflow diagram of a path planning and emergency response method for an intelligent individual equipment in a new energy station provided by the present invention;

[0058] Figure 2 Another work flow chart of a path planning and emergency response method of an intelligent individual equipment in a new energy station provided by the present invention;

[0059] Figure 3 The present invention provides another workflow diagram of the path planning and emergency response method of an intelligent individual equipment in a new energy station. DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0061] At present, with the vigorous development of my country's new energy industry, new energy power stations, as an important part of clean energy, play a vital role in my country's power system. The safe operation of new energy power stations, especially the effective control of facilities and equipment and environmental risks, is the cornerstone to ensure the safety and stability of the power grid. In order to achieve this goal, intelligent inspection and emergency response of facilities and equipment of new energy power stations have become a top priority. The existing inspection work is carried out by intelligent robots instead of manual inspection. Although it reduces the labor cost to a certain extent, it ignores the planning of inspection routes and emergency response measures, resulting in low inspection efficiency and lack of practicality and flexibility. In order to solve the above problems, this embodiment discloses a path planning and emergency response method for intelligent individual equipment in new energy stations.

[0062] A path planning and emergency response method for intelligent individual equipment in new energy stations, such as Figure 1 As shown, the following steps are included:

[0063] Step S101, determining the task requirements of the intelligent individual equipment, determining the working equipment to be inspected based on the task requirements, and obtaining the location information and communication environment parameters of the working equipment to be inspected in the new energy station;

[0064] Step S102, receiving observation data from Beidou satellites, constructing a dynamic environment model of the new energy station according to the observation data, and generating an optimal inspection path according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model;

[0065] Step S103: Control the intelligent individual equipment to move and sense obstacles according to the optimal inspection path, confirm that the intelligent individual equipment has arrived at the location point, collect the working data of the equipment to be inspected in real time, and use its own edge computing device to determine the abnormal situation of the working equipment;

[0066] Step S104: Generate an emergency response plan based on the cloud computing analysis platform according to the abnormal situation of the working equipment and control the intelligent individual equipment to perform emergency collaborative operations.

[0067] In this embodiment, the task requirement is represented by the specific inspection parameter requirement of the inspection task type of the intelligent individual equipment;

[0068] In this embodiment, the equipment to be inspected refers to the working equipment that the intelligent individual equipment is going to inspect;

[0069] In this embodiment, the observation data is represented by the observation data of the bird's-eye view of the entire energy station from the Beidou satellite;

[0070] In this embodiment, the dynamic environment model is represented as an intelligent model for describing the distribution of static obstacles and dynamic obstacles in the new energy station;

[0071] In this embodiment, the optimal inspection path is represented as an inspection path that ensures the best communication capability and travel efficiency;

[0072] In this embodiment, obstacle perception includes: perception of infrared signals from human bodies, perception of vehicles on the road, and perception of static obstacles.

[0073] The working principle of the above technical solution is as follows: determine the task requirements of the intelligent individual equipment, determine the working equipment to be inspected based on the task requirements, and obtain the location information and communication environment parameters of the working equipment to be inspected in the new energy station; receive the observation data of the Beidou satellite, and build a dynamic environment model of the new energy station according to the observation data, and generate the optimal inspection path according to the location information and communication environment parameters of the working equipment to be inspected in the new energy station through the dynamic environment model; control the intelligent individual equipment to move and perceive obstacles according to the optimal inspection path, and collect the working data of the working equipment to be inspected in real time after confirming that the intelligent individual equipment has arrived at the location point, and use its own edge computing equipment to determine the abnormal situation of the working equipment; generate an emergency response plan based on the cloud computing analysis platform according to the abnormal situation of the working equipment, and control the intelligent individual equipment to perform emergency collaborative operations.

[0074] The beneficial effects of the above technical solution are: by combining the location parameters and communication environment parameters of the equipment to be inspected with the real-time obstacle distribution in the new energy station to generate the optimal inspection path, it is possible to maximize the avoidance of the traffic impact caused by obstacles while ensuring the data communication stability of the intelligent individual equipment, thereby ensuring the communication quality and inspection efficiency. Furthermore, by controlling the intelligent individual equipment to perform emergency collaborative operations, the equipment can quickly transmit the on-site situation to the centralized control center, and at the same time receive the instructions and coordination information from the centralized control center to achieve collaborative operations with other equipment, thereby improving the flexibility and practicality of emergency handling, and solving the problem mentioned in the prior art of using intelligent robots instead of manual labor for inspection. Although it reduces labor costs to a certain extent, it ignores the planning of inspection paths and emergency response measures, resulting in low inspection efficiency and lack of practicality and flexibility.

[0075] In one embodiment, Figure 2 As shown, the step of determining the task requirements of the intelligent individual soldier equipment includes:

[0076] Step S201: Obtain a periodic inspection plan for a new energy station, determine multiple inspection tasks according to the periodic inspection plan, and obtain task attributes of each inspection task;

[0077] Step S202: determining a task scenario of each inspection task according to the task attribute of the inspection task, and determining an inspection indicator of each inspection task according to the task scenario;

[0078] Step S203, determining the relevant sensor type according to the inspection index, and determining the target inspection task of the intelligent individual soldier device according to the relevant sensor type and the target sensor set by the intelligent individual soldier device;

[0079] Step S204: Obtain a specific inspection plan for the target inspection task, and determine the task requirements of the intelligent individual equipment according to the specific inspection plan.

[0080] In this embodiment, the task attributes are represented by the functional attributes of each inspection task.

[0081] The beneficial effects of the above technical solution are: determining the task scenario and inspection indicators of the task according to the task attributes of each inspection task, determining the target inspection task and specific inspection plan of the intelligent individual equipment based on the sensor, thereby determining the task requirements of the individual equipment, and ensuring that the intelligent individual equipment can effectively execute the user's specific task indicator requirements, thereby improving the efficiency and effectiveness of the intelligent individual equipment in performing tasks.

[0082] In one embodiment, the determining of the working equipment to be inspected based on the task requirements and obtaining the location information and communication environment parameters of the working equipment to be inspected in the new energy station includes:

[0083] Determine the task object and task index based on the task requirements, and determine the equipment to be inspected based on the task object and task index;

[0084] Determine the operating system to which the equipment to be inspected belongs, obtain high-definition monitoring images of the operating system to which it belongs, and determine the location information of the equipment to be inspected in the new energy station based on the high-definition monitoring images;

[0085] Obtain the communication signal of the area where the equipment to be inspected is located in the new energy station and analyze the communication signal, and determine the communication index of the area where the equipment to be inspected is located according to the analysis results;

[0086] Determine the communication environment parameters of the equipment to be inspected based on the communication indicators.

[0087] In this embodiment, the task object is represented as the execution object of the inspection task;

[0088] In this embodiment, the task index is represented as a detection index for the task object.

[0089] The beneficial effects of the above technical solution are: determining the location information of the equipment to be inspected in the new energy station based on the high-definition monitoring image of the operating system to which the equipment to be inspected belongs, and determining the communication indicators of the area where the equipment to be inspected is located in combination with the communication signals in the area, so as to better plan the inspection routes and communication parameters and realize effective and stable inspection and management.

[0090] In one embodiment, the receiving of observation data from Beidou satellites and constructing a dynamic environment model of the new energy station according to the observation data includes:

[0091] Collect Beidou satellite observation data, determine the road conditions of new energy stations based on the observation data, and determine the path static factors based on the road conditions;

[0092] Determine real-time static obstacle parameters and dynamic obstacle parameters according to road conditions, and determine road impact static factors and road impact dynamic factors according to the static obstacle parameters and dynamic obstacle parameters;

[0093] The dynamic environmental model of the new energy station is constructed based on the path static factors, road influence static factors, road influence dynamic factors and the environmental variable relationship between roads and obstacles.

[0094] In this embodiment, the path static factor is represented as a road distribution description factor that remains static on the road;

[0095] In this embodiment, the road impact static factor is represented by the impact factor of the distribution of static obstacles on road traffic;

[0096] In this embodiment, the road dynamic factor is represented by the influence factor of the distribution of dynamic obstacles on road traffic.

[0097] The beneficial effects of the above technical solution are: building a dynamic environmental model of the new energy station based on the path static factors, road impact static factors, road impact dynamic factors and the environmental variable relationship between the road and obstacles, and being able to obtain the location information of static and dynamic obstacles in real time and quickly, thereby providing reliable reference conditions for formulating inspection routes and ensuring the reliability and practicality of the formulated routes.

[0098] In one embodiment, the generating of the optimal inspection path according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model includes:

[0099] Determine the data transmission frequency requirement based on the communication environment parameters, the wireless signal coverage of the new energy station, and the preset data transmission parameters of the intelligent individual equipment;

[0100] Plan the path length limit parameters based on the data transmission frequency requirements and the location information of the equipment to be inspected in the new energy station;

[0101] Generate multiple feasible inspection paths through the dynamic environment model according to the planned path length limit parameters, and use the dynamic environment model to determine the obstacle impact weight of each feasible inspection path;

[0102] The target feasible inspection path with the smallest obstacle impact weight is selected as the optimal inspection path for the intelligent individual equipment for the equipment to be inspected.

[0103] In this embodiment, the obstacle impact weight is expressed as the comprehensive impact weight of the distributed obstacles on each feasible inspection path on road travel.

[0104] The beneficial effects of the above technical solution are: by determining the planned path length limit parameters, it can be ensured that the intelligent individual equipment can stably transmit the detection data to the data platform, thereby ensuring the data transmission efficiency and stability. Furthermore, by selecting the inspection path with the smallest obstacle weight, the inspection location can be reached at the fastest speed for inspection, thereby improving the inspection efficiency while also ensuring the safety of the intelligent individual equipment.

[0105] In one embodiment, Figure 3 As shown, after the optimal inspection path is generated according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model, it also includes:

[0106] Step S301, determining traffic safety rules according to the distribution of working systems of the new energy station, and determining path restriction regulations based on the traffic safety rules;

[0107] Step S302: determine multiple prohibited areas and prohibited driving areas of the new energy station according to the path restriction regulations, and determine whether the optimal inspection path passes through the prohibited areas and prohibited driving areas. If so, issue an optimal inspection path unqualified reminder; if not, confirm that the optimal inspection path movement assessment is safe;

[0108] Step S303, obtaining the road intersection parameters of the prohibited area and the road intersection parameters around the prohibited area that the optimal inspection path passes through, and adjusting the optimal inspection path according to the road intersection parameters;

[0109] Step S304: Evaluate the adjusted optimal inspection path based on the planned path length restriction parameter and readjust it until it meets the planned path length restriction parameter.

[0110] The beneficial effects of the above technical solution are: according to the path restriction regulations, determine whether the optimal inspection path passes through the prohibited area and the restricted area and the road intersection parameters around the prohibited area and the restricted area, so as to adjust the optimal inspection path to ensure that the planned path complies with the regulations and avoids entering the prohibited area, and can realize intelligent, flexible and efficient path planning to cope with various complex situations.

[0111] In one embodiment, the process of controlling the movement of the intelligent individual equipment according to the optimal inspection path further includes:

[0112] The Beidou satellite positioning signal of the equipment to be inspected is transmitted to the intelligent individual equipment and the positioning signal strength is detected. The positioning signal stability is determined according to the positioning signal strength. The signal enhancement processing is performed based on the array signal processing method according to the positioning signal stability.

[0113] Perform time synchronization processing on the enhanced positioning signal, and use differential positioning technology or multi-frequency signal fusion technology to perform positioning solution on the synchronously processed positioning signal and the original observation positioning signal of the intelligent individual soldier equipment;

[0114] Obtain multi-source precise positioning based on the solution results and obtain the working scenario requirements of the equipment to be inspected;

[0115] Determine the positioning update frequency according to the work scenario requirements, and periodically update the multi-source precise positioning based on the positioning update frequency.

[0116] The beneficial effects of the above technical solution are: time synchronization processing of the enhanced positioning signal can improve the signal strength and stability. At the same time, differential positioning technology or multi-frequency signal fusion technology is used to locate and settle the positioning signal, and the positioning update frequency is determined in combination with the working scenario requirements of the equipment to be inspected. The positioning accuracy and update frequency are improved in the complex environment and electromagnetic interference of new energy stations, thereby ensuring that intelligent individual equipment can obtain location information in real time and accurately.

[0117] In one embodiment, the intelligent individual equipment is controlled to move and sense obstacles according to the optimal inspection path, and after confirming that the intelligent individual equipment has arrived at the location point, the working data of the working equipment to be inspected is collected in real time and the abnormal situation of the working equipment is determined by using its own edge computing device, including:

[0118] Determine the motion limiting factors on the optimal inspection path, determine the perception dimensions based on the motion limiting factors, and configure the corresponding sensors based on the perception dimensions;

[0119] According to the optimal inspection path, the intelligent individual equipment is controlled by the sensor detection results to perform obstacle perception and obstacle avoidance movement;

[0120] Detect the movement status of the intelligent individual soldier device, and when the movement status is stationary, confirm whether the intelligent individual soldier device has reached the location of the device to be inspected;

[0121] If yes, the working data of the equipment to be inspected is collected in real time through intelligent individual equipment, and the abnormal evaluation model of its own edge computing equipment is used to analyze the working data for abnormalities, and the abnormal situation of the working equipment is determined based on the analysis results;

[0122] The motion limiting factors include obstacles, pedestrians and vehicles, and the perception dimensions include human perception, motion perception and static perception.

[0123] The beneficial effects of the above technical solution are: according to the optimal inspection path and the corresponding sensors, the intelligent individual equipment is controlled to perceive obstacles and avoid obstacles, thereby improving the perception ability. Furthermore, the location of the equipment to be inspected in the static state is judged, and the working data is analyzed for abnormalities using edge computing devices, thereby improving the processing speed and accuracy, and ensuring that stable performance can be maintained under large amounts of complex data.

[0124] In one embodiment, before controlling the intelligent individual equipment to move and sense obstacles according to the optimal inspection path, confirming that the intelligent individual equipment has arrived at the location point, collecting the working data of the equipment to be inspected in real time, and using its own edge computing device to determine the abnormal situation of the working equipment, it also includes:

[0125] Collect historical operation data of each device in the new energy station, the historical operation data includes operation data in normal state and operation data in fault state;

[0126] Clean, annotate and divide historical operation data to generate model training sets;

[0127] According to the data characteristics and inspection task requirements, select a suitable deep learning model, use the model training set to train the deep learning model, and generate an anomaly assessment model;

[0128] Deploy the anomaly assessment model to the edge computing device of the intelligent individual device.

[0129] The beneficial effects of the above technical solution are: according to the data characteristics of the historical operating data of each equipment in the new energy station and the inspection task requirements, a suitable deep learning model is obtained and trained to generate an abnormality assessment model, which can promptly detect potential abnormal conditions of working equipment and solve them in time, thereby improving the working efficiency and reliability of the equipment.

[0130] In one embodiment, generating an emergency treatment plan based on a cloud computing analysis platform according to abnormal conditions of working equipment and controlling intelligent individual equipment to perform emergency collaborative operations includes:

[0131] Based on the abnormal situation of working equipment, big data analysis is performed through the cloud computing analysis platform to determine the affected working system;

[0132] Generate an emergency treatment plan based on the associated working equipment and working characteristics of the working equipment to be inspected in the affected working system;

[0133] Determine the operation attributes and operation sequence of the intelligent individual equipment according to the emergency response plan, and generate the operation process according to the operation attributes and operation sequence;

[0134] Control intelligent individual equipment according to the operating procedures to carry out emergency collaborative operations.

[0135] The beneficial effects of the above technical solution are: determining the affected working system according to the abnormal situation of the working equipment, and obtaining the related working equipment and working characteristics of the working equipment to be inspected to generate an emergency response plan, thereby improving the pertinence of the emergency response plan, and further generating an operation process to control the intelligent individual equipment to perform emergency collaborative operations, which can improve the efficiency and accuracy of emergency response and support more efficient and stable decision support for emergency response.

[0136] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0137] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A path planning and emergency response method for intelligent individual equipment in a new energy station, characterized in that: The following steps are involved: Determine the mission requirements of intelligent individual equipment, determine the equipment to be inspected based on the mission requirements, and obtain the location information and communication environment parameters of the equipment to be inspected in the new energy station; Receive observation data from Beidou satellites, build a dynamic environment model of the new energy station based on the observation data, and generate the optimal inspection path based on the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model; Control the movement and obstacle perception of the intelligent individual equipment according to the optimal inspection path. After confirming that the intelligent individual equipment has arrived at the location, it will collect the working data of the equipment to be inspected in real time and use its own edge computing equipment to determine the abnormal situation of the working equipment. According to the abnormal situation of working equipment, emergency treatment plan is generated based on cloud computing analysis platform and intelligent individual equipment is controlled to carry out emergency collaborative operations.

2. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: Determining the mission requirements of the intelligent individual soldier equipment includes: Obtain the periodic inspection plan of the new energy station, determine multiple inspection tasks based on the periodic inspection plan, and obtain the task attributes of each inspection task; Determine the task scenario of each inspection task based on its task attributes, and determine the inspection indicators of each inspection task based on the task scenario; Determine the relevant sensor type according to the inspection index, and determine the target inspection task of the intelligent individual soldier device according to the relevant sensor type and the target sensor set by the intelligent individual soldier device; Obtain the specific inspection plan for the target inspection task, and determine the task requirements of the intelligent individual equipment based on the specific inspection plan.

3. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The determining of the working equipment to be inspected based on the task requirements and obtaining the location information and communication environment parameters of the working equipment to be inspected in the new energy station include: Determine the task object and task index based on the task requirements, and determine the equipment to be inspected based on the task object and task index; Determine the operating system to which the equipment to be inspected belongs, obtain high-definition monitoring images of the operating system to which it belongs, and determine the location information of the equipment to be inspected in the new energy station based on the high-definition monitoring images; Obtain the communication signal of the area where the equipment to be inspected is located in the new energy station and analyze the communication signal, and determine the communication index of the area where the equipment to be inspected is located according to the analysis results; Determine the communication environment parameters of the equipment to be inspected based on the communication indicators.

4. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The receiving of Beidou satellite observation data and constructing a dynamic environment model of the new energy station according to the observation data include: Collect Beidou satellite observation data, determine the road conditions of new energy stations based on the observation data, and determine the path static factors based on the road conditions; Determine real-time static obstacle parameters and dynamic obstacle parameters according to road conditions, and determine road impact static factors and road impact dynamic factors according to the static obstacle parameters and dynamic obstacle parameters; The dynamic environmental model of the new energy station is constructed based on the path static factors, road influence static factors, road influence dynamic factors and the environmental variable relationship between roads and obstacles.

5. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The generating of the optimal inspection path according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model includes: Determine the data transmission frequency requirement based on the communication environment parameters, the wireless signal coverage of the new energy station, and the preset data transmission parameters of the intelligent individual equipment; Plan the path length limit parameters based on the data transmission frequency requirements and the location information of the equipment to be inspected in the new energy station; Generate multiple feasible inspection paths through the dynamic environment model according to the planned path length limit parameters, and use the dynamic environment model to determine the obstacle impact weight of each feasible inspection path; The target feasible inspection path with the smallest obstacle impact weight is selected as the optimal inspection path for the intelligent individual equipment for the equipment to be inspected.

6. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 5 is characterized in that: After the optimal inspection path is generated according to the location information of the equipment to be inspected in the new energy station and the communication environment parameters through the dynamic environment model, it also includes: Determine traffic safety rules based on the distribution of working systems at new energy stations, and determine path restriction regulations based on traffic safety rules; According to the path restriction regulations, multiple prohibited areas and restricted areas of the new energy station are determined, and whether the optimal inspection path passes through the prohibited areas and restricted areas is determined. If so, an optimal inspection path unqualified reminder is issued. If not, the optimal inspection path movement assessment safety is confirmed; Obtain the road intersection parameters around the prohibited area and the prohibited area through which the optimal inspection path passes, and adjust the optimal inspection path according to the road intersection parameters; The adjusted optimal inspection path is evaluated based on the planned path length restriction parameter and readjusted until it meets the planned path length restriction parameter.

7. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The process of controlling the movement of intelligent individual equipment according to the optimal inspection path also includes: The Beidou satellite positioning signal of the equipment to be inspected is transmitted to the intelligent individual equipment and the positioning signal strength is detected. The positioning signal stability is determined according to the positioning signal strength. The signal enhancement processing is performed based on the array signal processing method according to the positioning signal stability. Perform time synchronization processing on the enhanced positioning signal, and use differential positioning technology or multi-frequency signal fusion technology to perform positioning solution on the synchronously processed positioning signal and the original observation positioning signal of the intelligent individual soldier equipment; Obtain multi-source precise positioning based on the solution results and obtain the working scenario requirements of the equipment to be inspected; Determine the positioning update frequency according to the work scenario requirements, and periodically update the multi-source precise positioning based on the positioning update frequency.

8. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The intelligent individual equipment is controlled to move and sense obstacles according to the optimal inspection path, and after confirming that the intelligent individual equipment has arrived at the location point, the working data of the equipment to be inspected is collected in real time, and the abnormal situation of the working equipment is determined by using its own edge computing device, including: Determine the motion limiting factors on the optimal inspection path, determine the perception dimensions based on the motion limiting factors, and configure the corresponding sensors based on the perception dimensions; According to the optimal inspection path, the intelligent individual equipment is controlled by the sensor detection results to perform obstacle perception and obstacle avoidance movement; Detect the movement status of the intelligent individual soldier device, and when the movement status is stationary, confirm whether the intelligent individual soldier device has reached the location of the device to be inspected; If so, the working data of the equipment to be inspected is collected in real time through intelligent individual equipment, and the abnormal evaluation model of its own edge computing equipment is used to perform abnormal analysis on the working data, and the abnormal situation of the working equipment is determined based on the analysis results. The motion limiting factors include obstacles, pedestrians and vehicles, and the perception dimensions include human perception, motion perception and static perception.

9. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: Before controlling the intelligent individual equipment to move and sense obstacles according to the optimal inspection path, confirming that the intelligent individual equipment has arrived at the location point, collecting the working data of the equipment to be inspected in real time, and using its own edge computing equipment to determine the abnormal situation of the working equipment, it also includes: Collect historical operation data of each device in the new energy station, the historical operation data includes operation data in normal state and operation data in fault state; Clean, annotate and divide historical operation data to generate model training sets; According to the data characteristics and inspection task requirements, select a suitable deep learning model, use the model training set to train the deep learning model, and generate an anomaly assessment model; Deploy the anomaly assessment model to the edge computing device of the intelligent individual device.

10. The path planning and emergency response method of the intelligent individual equipment in the new energy station according to claim 1 is characterized in that: The method of generating an emergency treatment plan based on the cloud computing analysis platform according to the abnormal situation of the working equipment and controlling the intelligent individual equipment to perform emergency collaborative operations includes: Based on the abnormal situation of working equipment, big data analysis is performed through the cloud computing analysis platform to determine the affected working system; Generate an emergency treatment plan based on the associated working equipment and working characteristics of the working equipment to be inspected in the affected working system; Determine the operation attributes and operation sequence of the intelligent individual equipment according to the emergency response plan, and generate the operation process according to the operation attributes and operation sequence; Control intelligent individual equipment according to the operating procedures to carry out emergency collaborative operations.

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