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

Abstract

The application discloses a kind of intelligent individual soldier equipment in new energy field station's path planning and emergency response method, comprising: based on the task demand of intelligent individual soldier equipment determines to be inspected work equipment, according to the observation data of Beidou satellite constructs the dynamic environment model of new energy field station, generates optimal inspection path according to the position information and communication environment parameters of to be inspected work equipment in new energy field station by dynamic environment model;According to optimal inspection path, control intelligent individual soldier equipment moves and obstacle perception, confirm that intelligent individual soldier equipment reaches position point after real-time collection work data of to be inspected work equipment and determine work equipment abnormal condition using self edge computing equipment;According to work equipment abnormal condition, generate emergency treatment scheme based on cloud computing analysis platform and control intelligent individual soldier equipment to carry out emergency collaborative work.It can maximize avoid the influence of traffic caused by obstacle, improves emergency treatment flexibility and practicality.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and in particular to a method for path planning and emergency response of intelligent individual soldier equipment at new energy power stations. Background Technology

[0002] Currently, with the vigorous development of my country's new energy industry, new energy power plants, as an important component of clean energy, play a crucial role in my country's power system. The safe operation of new energy power plants, especially the effective control of risks to facilities, equipment, and the environment, is the cornerstone of ensuring the safety and stability of the power grid. To achieve this goal, intelligent inspection and emergency response of new energy power plant facilities and equipment have become paramount. Existing inspection work relies on intelligent robots to replace manual labor, which reduces labor costs to some extent, but neglects the planning of inspection routes and emergency response measures, resulting in low inspection efficiency and a lack of practicality and flexibility. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a path planning and emergency response method for intelligent individual soldier equipment in new energy power stations. This method addresses the issue mentioned in the background art where intelligent robots replace manual labor for inspections. While this reduces labor costs to some extent, it neglects the planning of inspection paths and emergency response measures, resulting in low inspection efficiency and a lack of practicality and flexibility.

[0004] A method for path planning and emergency response of intelligent individual soldier equipment at new energy power stations, characterized by the following steps:

[0005] Determine the mission requirements of intelligent individual soldier equipment, identify 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 within the new energy power station.

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

[0007] Based on the optimal inspection path, the intelligent individual soldier equipment is controlled to move and sense obstacles. After confirming that the intelligent individual soldier equipment has arrived at the location point, the working data of the work equipment to be inspected is collected in real time and the abnormal situation of the work equipment is determined by its own edge computing device.

[0008] Based on the abnormal situation of the working equipment, an emergency response plan is generated using a cloud computing analysis platform, and intelligent individual equipment is controlled to carry out emergency collaborative operations.

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

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

[0011] The task scenario for each inspection task is determined based on its task attributes, and the inspection indicators for each inspection task are determined based on the task scenario.

[0012] The relevant sensor types are determined based on the inspection indicators, and the target inspection tasks of the intelligent individual soldier equipment are determined based on the relevant sensor types and the target sensors set in the intelligent individual soldier equipment.

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

[0014] Preferably, the step of determining the equipment to be inspected based on task requirements and obtaining the location information and communication environment parameters of the equipment to be inspected within the new energy power station includes:

[0015] Based on the task requirements, determine the task objects and task indicators, and then determine the equipment to be inspected based on the task objects and task indicators.

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

[0017] Acquire the communication signals of the equipment to be inspected in the area of ​​the new energy power station and analyze the communication signals. Determine the communication indicators of the area where the equipment to be inspected is located based on the analysis results.

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

[0019] Preferably, the receiving of observation data from BeiDou satellites and the construction of a dynamic environment model for the new energy power station based on the observation data include:

[0020] Collect observation data from BeiDou satellites, determine the road conditions for new energy power stations based on the observation data, and determine the path static factors based on the road conditions;

[0021] Based on road conditions, determine real-time static and dynamic obstacle parameters, and based on these parameters, determine static and dynamic factors influencing road impact.

[0022] A dynamic environmental model for new energy power stations is constructed based on path static factors, road influence static factors, road influence dynamic factors, and the relationship between environmental variables between roads and obstacles.

[0023] Preferably, the step of generating the optimal inspection path based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station using a dynamic environment model includes:

[0024] The data transmission frequency requirements are determined based on communication environment parameters, the wireless signal coverage of new energy power stations, and the preset data transmission parameters of intelligent individual soldier equipment.

[0025] Based on data transmission frequency requirements and the location information of the equipment to be inspected within the new energy power station, the path length limit parameters are planned.

[0026] Based on the planned path length constraint parameters, multiple feasible inspection paths are generated through a dynamic environment model, and the obstacle influence weight of each feasible inspection path is determined using the dynamic environment model.

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

[0028] Preferably, after generating the optimal inspection path using a dynamic environment model based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station, the method further includes:

[0029] Based on the distribution of the working systems of the new energy power stations, traffic safety rules are determined, and route restriction regulations are determined based on the traffic safety rules.

[0030] Based on the route restriction regulations, multiple prohibited areas and restricted zones are identified for the new energy power station. It is determined whether the optimal inspection route passes through the prohibited areas and restricted zones. If so, an alert is issued that the optimal inspection route is not qualified. If not, the optimal inspection route is confirmed to be safe for movement assessment.

[0031] Obtain the road intersection parameters of the prohibited areas and the roads around the restricted areas that the optimal inspection route passes through, and adjust the optimal inspection route according to the road intersection parameters;

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

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

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

[0035] The enhanced positioning signal is time-synchronized, and differential positioning technology or multi-frequency signal fusion technology is used to perform positioning calculation on the synchronized positioning signal and the original observation positioning signal of the intelligent individual soldier device.

[0036] Based on the calculation results, obtain multi-source precise positioning and obtain the working scenario requirements of the equipment to be inspected;

[0037] The location update frequency is determined based on the needs of the work scenario, and the multi-source accurate positioning is periodically updated based on the location update frequency.

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

[0039] Identify the motion constraints on the optimal inspection path, determine the perception dimension based on the motion constraints, and configure the corresponding sensors based on the perception dimension;

[0040] Based on the optimal inspection path, the intelligent individual soldier equipment is controlled to perceive obstacles and move to avoid them by using sensor detection results;

[0041] Detect the movement status of intelligent individual soldier equipment, and when the movement status is stationary, confirm whether the intelligent individual soldier equipment has arrived at the location of the equipment to be inspected.

[0042] If so, the working data of the equipment to be inspected is collected in real time through intelligent individual soldier devices, and the abnormality assessment model of its own edge computing device is used to analyze the working data for anomalies, and the abnormality 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 still object perception.

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

[0045] Collect historical operating data of various equipment in the new energy power station, including operating data under normal conditions and operating data under fault conditions;

[0046] Historical operational data is cleaned, labeled, and divided to generate a model training set;

[0047] Based on the data characteristics and inspection task requirements, select an appropriate deep learning model, train the deep learning model using the model training set, and generate an anomaly assessment model.

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

[0049] Preferably, the step of generating an emergency response plan based on a cloud computing analysis platform and controlling intelligent individual soldier equipment to perform emergency collaborative operations according to the abnormal situation of the working equipment includes:

[0050] Based on the abnormal conditions of the working equipment, big data analysis is conducted through a cloud computing analytics platform to identify the affected working systems;

[0051] An emergency response plan is generated based on the associated working equipment and working characteristics of the equipment to be inspected in the affected working system.

[0052] The operational attributes and operational sequence of intelligent individual soldier equipment are determined according to the emergency response plan, and an operational process is generated based on the operational attributes and operational sequence.

[0053] The system controls intelligent individual soldier equipment to conduct emergency collaborative operations based on the operational procedures.

[0054] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0055] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0056] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0057] Figure 1 This invention provides a flowchart of a path planning and emergency response method for intelligent individual soldier equipment in new energy power stations.

[0058] Figure 2 This is another flowchart illustrating the path planning and emergency response method for intelligent individual soldier equipment in new energy power stations provided by the present invention.

[0059] Figure 3 This is another flowchart illustrating the path planning and emergency response method for intelligent individual soldier equipment in new energy power stations provided by the present invention. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0061] Currently, with the vigorous development of my country's new energy industry, new energy power plants, as an important component of clean energy, play a crucial role in my country's power system. The safe operation of new energy power plants, especially the effective control of risks to facilities, equipment, and the environment, is the cornerstone of ensuring the safety and stability of the power grid. To achieve this goal, intelligent inspection and emergency response of new energy power plant facilities and equipment have become paramount. Existing inspection work relies on intelligent robots to replace manual labor, which reduces labor costs to some extent, but neglects the planning of inspection routes and emergency response measures, resulting in low inspection efficiency and a lack of practicality and flexibility. To address these issues, this embodiment discloses a method for path planning and emergency response using intelligent individual equipment in new energy power plants.

[0062] A method for path planning and emergency response of intelligent individual soldier equipment in new energy power stations, such as... Figure 1 As shown, it includes the following steps:

[0063] Step S101: Determine the task requirements of the intelligent individual soldier equipment, determine the equipment to be inspected based on the task requirements, and obtain the location information and communication environment parameters of the equipment to be inspected in the new energy power station.

[0064] Step S102: Receive the observation data from the Beidou satellite, construct a dynamic environment model of the new energy power station based on the observation data, and generate the optimal inspection path based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station using the dynamic environment model.

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

[0066] Step S104: Based on the abnormal situation of the working equipment, generate an emergency response plan based on the cloud computing analysis platform and control the intelligent individual equipment to carry out emergency collaborative operations.

[0067] In this embodiment, the task requirement is represented as the specific inspection parameter requirement for the inspection task type of the intelligent individual soldier device;

[0068] In this embodiment, the equipment to be inspected refers to the working equipment that the intelligent individual soldier device will inspect.

[0069] In this embodiment, the observation data is represented as an overhead view observation of the entire energy power station from the BeiDou satellite.

[0070] In this embodiment, the dynamic environment model is represented as an intelligent model used to describe the distribution of static and dynamic obstacles within the new energy power station;

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

[0072] In this embodiment, obstacle perception includes: perception of human infrared signals, 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 soldier equipment; based on the task requirements, identify the equipment to be inspected; acquire the location information and communication environment parameters of the equipment to be inspected within the new energy power station; receive observation data from the BeiDou satellite; construct a dynamic environment model of the new energy power station based on the observation data; generate the optimal inspection path based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station using the dynamic environment model; control the intelligent individual soldier equipment to move and perceive obstacles according to the optimal inspection path; after confirming that the intelligent individual soldier 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 abnormal conditions of the equipment; based on the abnormal conditions of the equipment, generate an emergency response plan based on the cloud computing analysis platform and control the intelligent individual soldier equipment to perform emergency collaborative operations.

[0074] The beneficial effects of the above technical solution are as follows: By generating the optimal inspection path based on the location parameters and communication environment parameters of the equipment to be inspected, combined with the real-time obstacle distribution within the new energy power station, the impact of obstacles on passage can be minimized while ensuring the stability of data communication for intelligent individual equipment, thus guaranteeing communication quality and inspection efficiency. Furthermore, by controlling intelligent individual equipment for emergency collaborative operations, the equipment can quickly transmit the on-site situation to the central control center and simultaneously receive instructions and coordination information from the central control center, enabling collaborative operations with other equipment. This improves the flexibility and practicality of emergency response and solves the problem mentioned in the existing technology of using intelligent robots to replace manual inspections, which, although reducing labor costs to some extent, neglects the planning of inspection paths and emergency response measures, resulting in low inspection efficiency and a lack of practicality and flexibility.

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

[0076] Step S201: Obtain the periodic inspection plan for the new energy power station, determine multiple inspection tasks based on the periodic inspection plan, and obtain the task attributes of each inspection task.

[0077] Step S202: Determine the task scenario of each inspection task based on its task attributes, and determine the inspection indicators for each inspection task based on the task scenario.

[0078] Step S203: Determine the relevant sensor types based on the inspection indicators, and determine the target inspection tasks of the intelligent individual soldier equipment based on the relevant sensor types and the target sensors set in the intelligent individual soldier equipment.

[0079] Step S204: Obtain the specific inspection plan for the target inspection task, and determine the task requirements of the intelligent individual soldier equipment based on the specific inspection plan.

[0080] In this embodiment, the task attribute is represented as the functional attribute of each inspection task.

[0081] The beneficial effects of the above technical solution are as follows: the task scenario and inspection indicators of each inspection task are determined according to the task attributes of each inspection task, the target inspection task and specific inspection plan of the intelligent individual soldier equipment are determined based on the sensors, thereby determining the task requirements of the individual soldier equipment, which can ensure that the intelligent individual soldier equipment can effectively perform the user's specific task indicator requirements, and improve the efficiency and effectiveness of the intelligent individual soldier equipment in performing tasks.

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

[0083] Based on the task requirements, determine the task objects and task indicators, and then determine the equipment to be inspected based on the task objects and task indicators.

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

[0085] Acquire the communication signals of the equipment to be inspected in the area of ​​the new energy power station and analyze the communication signals. Determine the communication indicators of the area where the equipment to be inspected is located based on the analysis results.

[0086] The communication environment parameters of the equipment to be inspected are determined 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, task metrics are represented as detection metrics for task objects.

[0089] The beneficial effects of the above technical solution are as follows: by determining the location information of the equipment to be inspected in the new energy power station based on the high-definition monitoring image of the operating system to which the equipment to be inspected belongs, and by combining the communication signals of the area where the equipment to be inspected is located, the communication indicators of the area where the equipment to be inspected is located can be determined. This allows for better planning of inspection routes and communication parameters, and enables effective and stable inspection and management.

[0090] In one embodiment, receiving observation data from BeiDou satellites and constructing a dynamic environment model of the new energy power station based on the observation data includes:

[0091] Collect observation data from BeiDou satellites, determine the road conditions for new energy power stations based on the observation data, and determine the path static factors based on the road conditions;

[0092] Based on road conditions, determine real-time static and dynamic obstacle parameters, and based on these parameters, determine static and dynamic factors influencing road impact.

[0093] A dynamic environmental model for new energy power stations is constructed based on path static factors, road influence static factors, road influence dynamic factors, and the relationship between environmental variables between roads and obstacles.

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

[0095] In this embodiment, the static road impact factor is expressed as the impact factor of the distribution of static obstacles on road traffic.

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

[0097] The beneficial effects of the above technical solution are as follows: Based on the path static factors, road influence static factors and road influence dynamic factors, as well as the relationship between environmental variables between roads and obstacles, a dynamic environmental model of the new energy station is constructed. This model can 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, generating the optimal inspection path using a dynamic environment model based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station includes:

[0099] The data transmission frequency requirements are determined based on communication environment parameters, the wireless signal coverage of new energy power stations, and the preset data transmission parameters of intelligent individual soldier equipment.

[0100] Based on data transmission frequency requirements and the location information of the equipment to be inspected within the new energy power station, the path length limit parameters are planned.

[0101] Based on the planned path length constraint parameters, multiple feasible inspection paths are generated through a dynamic environment model, and the obstacle influence weight of each feasible inspection path is determined using the dynamic environment model.

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

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

[0104] The beneficial effects of the above technical solution are as follows: by determining the planning path length limit parameter, it can be ensured that the intelligent individual soldier equipment can stably transmit the detection data to the data platform, thus ensuring the data transmission efficiency and stability. Furthermore, by selecting the inspection path with the least obstacle weight, the inspection position can be reached at the fastest speed, improving inspection efficiency while also ensuring the safety of the intelligent individual soldier equipment.

[0105] In one embodiment, such as Figure 3 As shown, after generating the optimal inspection path based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station using a dynamic environment model, the process also includes:

[0106] Step S301: Determine the traffic safety rules based on the distribution of the working systems of the new energy power station, and determine the path restriction regulations based on the traffic safety rules;

[0107] Step S302: Determine multiple prohibited areas and restricted zones of the new energy power station according to the route restriction regulations, and determine whether the optimal inspection route passes through the prohibited areas and restricted zones. If so, issue an optimal inspection route non-compliance reminder; if not, confirm the safety of the optimal inspection route movement assessment.

[0108] Step S303: Obtain the road intersection parameters of the prohibited areas and the roads around the restricted areas traversed by the optimal inspection route, and adjust the optimal inspection route according to the road intersection parameters;

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

[0110] The beneficial effects of the above technical solution are as follows: Based on the path restriction regulations, it determines whether the optimal inspection path passes through prohibited areas and restricted zones, as well as the road intersection parameters around the prohibited areas and restricted zones, thereby adjusting the optimal inspection path to ensure that the planned path complies with the regulations and avoids entering prohibited areas. It can achieve 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 soldier device according to the optimal inspection path further includes:

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

[0113] The enhanced positioning signal is time-synchronized, and differential positioning technology or multi-frequency signal fusion technology is used to perform positioning calculation on the synchronized positioning signal and the original observation positioning signal of the intelligent individual soldier device.

[0114] Based on the calculation results, obtain multi-source precise positioning and obtain the working scenario requirements of the equipment to be inspected;

[0115] The location update frequency is determined based on the needs of the work scenario, and the multi-source accurate positioning is periodically updated based on the location update frequency.

[0116] The beneficial effects of the above technical solution are as follows: 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 calculate the positioning signal and determine the positioning update frequency in combination with the working scenario requirements of the equipment to be inspected. This improves the positioning accuracy and update frequency in the complex environment and electromagnetic interference of new energy power stations, thereby ensuring that intelligent individual equipment can obtain location information in real time and accurately.

[0117] In one embodiment, the step of controlling the intelligent individual soldier device to move and perceive obstacles according to the optimal inspection path, and after confirming that the intelligent individual soldier device has arrived at the location point, collecting the working data of the work equipment to be inspected in real time and using its own edge computing device to determine the abnormal situation of the work equipment includes:

[0118] Identify the motion constraints on the optimal inspection path, determine the perception dimension based on the motion constraints, and configure the corresponding sensors based on the perception dimension;

[0119] Based on the optimal inspection path, the intelligent individual soldier equipment is controlled to perceive obstacles and move to avoid them by using sensor detection results;

[0120] Detect the movement status of intelligent individual soldier equipment, and when the movement status is stationary, confirm whether the intelligent individual soldier equipment has arrived at the location of the equipment to be inspected.

[0121] If so, the working data of the equipment to be inspected is collected in real time through intelligent individual soldier devices, and the abnormal assessment model of its own edge computing device is used to analyze the abnormality of the working data, and the abnormality 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 still object perception.

[0123] The beneficial effects of the above technical solution are as follows: based on the optimal inspection path and the corresponding sensor control, the intelligent individual soldier equipment can perceive obstacles and move to avoid obstacles, thereby improving the perception capability. Furthermore, the location of the equipment to be inspected can be determined in a stationary state, and the work data can be analyzed for anomalies using edge computing devices, thereby improving the processing speed and accuracy and ensuring that stable performance can still be maintained under a large amount of complex data.

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

[0125] Collect historical operating data of various equipment in the new energy power station, including operating data under normal conditions and operating data under fault conditions;

[0126] Historical operational data is cleaned, labeled, and divided to generate a model training set;

[0127] Based on the data characteristics and inspection task requirements, select an appropriate deep learning model, train the deep learning model using the model training set, and generate an anomaly assessment model.

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

[0129] The beneficial effects of the above technical solution are as follows: Based on the data characteristics of the historical operation data of each equipment in the new energy power station and the inspection task requirements, a suitable deep learning model is obtained and trained to generate an anomaly assessment model, which can promptly detect potential anomalies in the working equipment and resolve them in a timely manner, thereby improving the working efficiency and reliability of the equipment.

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

[0131] Based on the abnormal conditions of the working equipment, big data analysis is conducted through a cloud computing analytics platform to identify the affected working systems;

[0132] An emergency response plan is generated based on the associated working equipment and working characteristics of the equipment to be inspected in the affected working system.

[0133] The operational attributes and operational sequence of intelligent individual soldier equipment are determined according to the emergency response plan, and an operational process is generated based on the operational attributes and operational sequence.

[0134] The system controls intelligent individual soldier equipment to conduct emergency collaborative operations based on the operational procedures.

[0135] The beneficial effects of the above technical solution are as follows: Based on the abnormal condition of the working equipment, the affected working system is identified, and the associated working equipment and working characteristics of the working equipment to be inspected are obtained to generate an emergency response plan, thereby improving the pertinence of the emergency response plan. Furthermore, the operation process is generated, thereby controlling the intelligent individual equipment to carry out emergency collaborative operations, which can improve the efficiency and accuracy of emergency response and support decision support for more efficient and stable emergency response.

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

[0137] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for path planning and emergency response of intelligent individual soldier equipment in new energy power stations, characterized in that, Includes the following steps: Determine the mission requirements of intelligent individual soldier equipment, identify 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 within the new energy power station. Receive observation data from Beidou satellites, construct a dynamic environment model of the new energy power station based on the observation data, and generate the optimal inspection path based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station using the dynamic environment model; Based on the optimal inspection path, the intelligent individual soldier equipment is controlled to move and sense obstacles. After confirming that the intelligent individual soldier equipment has arrived at the location point, the working data of the work equipment to be inspected is collected in real time and the abnormal situation of the work equipment is determined by its own edge computing device. Based on the abnormal situation of the working equipment, an emergency response plan is generated using a cloud computing analysis platform, and intelligent individual soldier equipment is controlled to carry out emergency collaborative operations. The process of controlling the movement of intelligent individual soldier equipment according to the optimal inspection path also includes: The positioning signal of the equipment to be inspected by the Beidou satellite is transmitted to the intelligent individual soldier equipment and the positioning signal strength is detected. The positioning signal stability is determined based on the positioning signal strength. Based on the positioning signal stability, signal enhancement processing is performed based on the array signal processing method. The enhanced positioning signal is time-synchronized, and differential positioning technology or multi-frequency signal fusion technology is used to perform positioning calculation on the synchronized positioning signal and the original observation positioning signal of the intelligent individual soldier device. Based on the calculation results, obtain multi-source precise positioning and obtain the working scenario requirements of the equipment to be inspected; The location update frequency is determined based on the needs of the work scenario, and the multi-source accurate positioning is periodically updated based on the location update frequency. The process of generating the optimal inspection path using a dynamic environment model based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station includes: The data transmission frequency requirements are determined based on communication environment parameters, the wireless signal coverage of new energy power stations, and the preset data transmission parameters of intelligent individual soldier equipment. Based on data transmission frequency requirements and the location information of the equipment to be inspected within the new energy power station, the path length limit parameters are planned. Based on the planned path length constraint parameters, multiple feasible inspection paths are generated through a dynamic environment model, and the obstacle influence weight of each feasible inspection path is determined using the dynamic environment model. The feasible inspection path with the lowest obstacle impact weight is selected as the optimal inspection path for the intelligent individual soldier device for the work equipment to be inspected.

2. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, The determination of the task requirements for intelligent individual soldier devices includes: Obtain the periodic inspection plan for the new energy power station, determine multiple inspection tasks based on the periodic inspection plan, and obtain the task attributes of each inspection task. The task scenario for each inspection task is determined based on its task attributes, and the inspection indicators for each inspection task are determined based on the task scenario. The relevant sensor types are determined based on the inspection indicators, and the target inspection tasks of the intelligent individual soldier equipment are determined based on the relevant sensor types and the target sensors set in the intelligent individual soldier equipment. Obtain the specific inspection plan for the target inspection task, and determine the task requirements of the intelligent individual soldier equipment based on the specific inspection plan.

3. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, The process of determining the equipment to be inspected based on task requirements and obtaining the location information and communication environment parameters of the equipment to be inspected within the new energy power station includes: Based on the task requirements, determine the task objects and task indicators, and then determine the equipment to be inspected based on the task objects and task indicators. Determine the operating system to which the equipment to be inspected belongs, acquire high-definition monitoring images of the operating system, and determine the location information of the equipment to be inspected at the new energy power station based on the high-definition monitoring images; Acquire the communication signals of the equipment to be inspected in the area of ​​the new energy power station and analyze the communication signals. Determine the communication indicators of the area where the equipment to be inspected is located based on the analysis results. The communication environment parameters of the equipment to be inspected are determined based on the communication indicators.

4. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, The process of receiving observation data from BeiDou satellites and constructing a dynamic environment model for the new energy power station based on the observation data includes: Collect observation data from BeiDou satellites, determine the road conditions for new energy power stations based on the observation data, and determine the static factors of the path based on the road conditions; Based on road conditions, determine real-time static and dynamic obstacle parameters, and based on these parameters, determine static and dynamic factors influencing road impact. A dynamic environmental model for new energy power stations is constructed based on path static factors, road influence static factors, road influence dynamic factors, and the relationship between environmental variables between roads and obstacles.

5. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, After generating the optimal inspection path using a dynamic environment model based on the location information and communication environment parameters of the equipment to be inspected within the new energy power station, the process also includes: Based on the distribution of the working systems of the new energy power stations, traffic safety rules are determined, and route restriction regulations are determined based on the traffic safety rules. Based on the route restriction regulations, multiple prohibited areas and restricted zones are identified for the new energy power station. It is determined whether the optimal inspection route passes through the prohibited areas and restricted zones. If so, an alert is issued that the optimal inspection route is not qualified. If not, the optimal inspection route is confirmed to be safe for movement assessment. Obtain the road intersection parameters of the prohibited areas and the roads around the restricted areas that the optimal inspection route passes through, and adjust the optimal inspection route according to the road intersection parameters; The adjusted optimal inspection path is evaluated and readjusted based on the planned path length limit parameter until it meets the planned path length limit parameter.

6. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, The process involves controlling the movement and obstacle perception of intelligent individual soldier equipment based on the optimal inspection path, and after confirming the arrival of the intelligent individual soldier equipment at the location point, collecting real-time working data of the equipment to be inspected and using its own edge computing device to determine abnormal conditions of the working equipment, including: Identify the motion constraints on the optimal inspection path, determine the perception dimension based on the motion constraints, and configure the corresponding sensors based on the perception dimension; Based on the optimal inspection path, the intelligent individual soldier equipment is controlled to perceive obstacles and move to avoid them by using sensor detection results; Detect the movement status of intelligent individual soldier equipment, and when the movement status is stationary, confirm whether the intelligent individual soldier equipment has arrived at the location of the equipment to be inspected. If so, the working data of the equipment to be inspected is collected in real time through intelligent individual soldier devices, and the abnormal assessment model of its own edge computing device is used to analyze the abnormality of the working data, and the abnormality 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 still object perception.

7. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, Before controlling the movement and obstacle perception of the intelligent individual soldier equipment according to the optimal inspection path, and before confirming the arrival point of the intelligent individual soldier equipment, collecting the working data of the work equipment to be inspected in real time, and using its own edge computing device to determine the abnormal situation of the work equipment, it also includes: Collect historical operating data of various equipment in the new energy power station, including operating data under normal conditions and operating data under fault conditions; Historical operational data is cleaned, labeled, and divided to generate a model training set; Based on the data characteristics and inspection task requirements, select an appropriate deep learning model, train the deep learning model using the model training set, and generate an anomaly assessment model. Deploy the anomaly assessment model to the edge computing device of the intelligent individual soldier device.

8. The path planning and emergency response method for intelligent individual soldier equipment at new energy power stations according to claim 1, characterized in that, The process of generating an emergency response plan based on a cloud computing analysis platform and controlling intelligent individual soldier equipment to perform emergency collaborative operations according to the abnormal situation of the working equipment includes: Based on the abnormal conditions of the working equipment, big data analysis is conducted through a cloud computing analytics platform to identify the affected working systems; An emergency response plan is generated based on the associated working equipment and working characteristics of the equipment to be inspected in the affected working system. The operational attributes and operational sequence of intelligent individual soldier equipment are determined according to the emergency response plan, and an operational process is generated based on the operational attributes and operational sequence. The system controls intelligent individual soldier equipment to conduct emergency collaborative operations based on the operational procedures.

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