Power station inspection method for mobile robot and mobile robot

Abstract

The invention provides a power station inspection method for a mobile robot and the mobile robot, and the method comprises the steps: the mobile robot obtains an inspection task which comprises an inspection starting point and an inspection terminal point, calculates a shortest path based on the inspection starting point and the inspection terminal point, and drives to a path intersection point along the shortest path; every time the mobile robot runs to the path intersection point, a historical inspection path from the current path intersection point to the inspection terminal point is screened from the historical data, and the shortest path from the current path intersection point to the inspection terminal point is calculated; acquiring a sub-path to be passed from the current path intersection point to the next path intersection point in the historical inspection path and a sub-path to be passed from the current path intersection point to the next path intersection point in the shortest path; and calculating the feasible degree values of the two sub-paths based on the mobile robots currently existing on the two sub-paths, and determining the next driving sub-path.

Description

Technical Field

[0001] The present invention relates to the technical field of power station inspection, and in particular to a power station inspection method for a mobile robot and a mobile robot. Background Art

[0002] Power plants or power stations have a variety of large electrical equipment, such as distribution cabinets and distribution boxes. When there are a large number of these devices, a lot of inspection work is required to ensure the safe and stable operation of the power plant or power station. At present, power plants or power stations usually use manual inspections, but manual inspections have high safety risks. In the prior art, there are patrol mobile robots that can patrol in power plants, replacing manual operations and regularly moving to specific equipment for image acquisition.

[0003] However, with the improvement of inspection requirements, there are often multiple inspection mobile robots working simultaneously in the inspection area of ​​the electric field. The existing automatically generated path planning solutions often only consider the length of the path, but lack consideration for other mobile robots.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The object of the present invention is to provide a power station inspection method for a mobile robot and a mobile robot. This solution increases the consideration of other mobile robots and avoids the low inspection efficiency caused by too many mobile robots.

[0006] The present invention provides a power station inspection method for a mobile robot, the method comprising the following steps:

[0007] The mobile robot obtains an inspection task, the inspection task includes an inspection starting point and an inspection end point, calculates a shortest path based on the inspection starting point and the inspection end point, and drives along the shortest path to a path intersection;

[0008] Each time the mobile robot travels to a path intersection, it selects a historical inspection path from the current path intersection to the inspection endpoint from historical data, and calculates the shortest path from the current path intersection to the inspection endpoint;

[0009] Obtain the sub-path from the current path intersection to the next path intersection in the historical inspection path and the sub-path from the current path intersection to the next path intersection in the shortest path, and compare whether the two sub-paths are the same;

[0010] If they are the same, the next sub-path to be traveled is determined to be the same sub-path;

[0011] If they are different, the mobile robots currently existing on the two sub-paths are respectively obtained, the feasibility values ​​of the two sub-paths are respectively calculated based on the mobile robots currently existing on the two sub-paths, and the next traveling sub-path is determined based on the feasibility values.

[0012] The above scheme is adopted. This scheme first combines the historical path and the shortest path in the process of path planning. The historical path can be the path that the inspector operates the mobile robot to travel. By comparing the historical path and the shortest path, a more efficient path is determined. In addition, each time the mobile robot travels to the intersection of the paths, this scheme compares whether the sub-paths of the next step of the historical path and the shortest path are the same. If they are not the same, this scheme determines the feasibility value based on the current mobile robot in the two sub-paths to be selected. This scheme increases the consideration of other mobile robots and avoids the low inspection efficiency caused by too many mobile robots.

[0013] In some embodiments of the present invention, in the step of filtering the historical inspection paths from the current path intersection to the inspection end point from the historical data, all the historical inspection paths from the current path intersection to the inspection end point in the historical data are obtained, and the number of times each historical inspection path is used is counted, and the historical inspection paths are filtered based on the number of times used.

[0014] By adopting the above scheme, the historical inspection paths are fully considered. Since the historical paths can be the paths for the inspectors to operate the mobile robots, the operating experience of the inspectors is fully referenced to ensure the efficiency of the inspection paths.

[0015] In some embodiments of the present invention, the step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths includes:

[0016] Get the number of mobile robots existing on the subpath;

[0017] Acquire a path width of the sub-path, and calculate a first congestion parameter based on the number of mobile robots and the path width;

[0018] If the inspection endpoint exists on the determined sub-path, a feasibility value is calculated based on the first congestion parameter.

[0019] With the above scheme, when the historical inspection path conflicts with the shortest path, it is necessary to select a more efficient path based on the actual situation. This scheme combines the number of mobile robots and the width of the path to determine the feasibility of the sub-path to be determined, thereby improving the credibility of the feasibility determination. In addition, this scheme determines in advance whether there is an inspection end point on the determined sub-path, and provides different calculation methods according to different situations. When there is an inspection end point on the determined sub-path, it should be driven first to improve the inspection efficiency.

[0020] In some embodiments of the present invention, in the step of calculating the first congestion parameter based on the number of mobile robots and the path width, the first congestion parameter is calculated based on the following formula:

[0021] First congestion parameter = number of mobile robots / path width.

[0022] By adopting the above solution, the first congestion parameter is calculated by the number of mobile robots and the path width, so that the degree of congestion can be intuitively obtained.

[0023] In some embodiments of the present invention, in the step of calculating the feasibility value based on the first congestion parameter, the feasibility value is calculated based on the following formula:

[0024] avail = δ - first congestion parameter;

[0025] avail represents the feasibility value, and δ represents the preset calculation parameters.

[0026] With the above scheme, when there is an inspection end point on the determined sub-path, it should be driven first. This scheme can improve the feasibility value by using the corresponding calculation parameters of the facilities, so that the mobile robot can quickly drive to the inspection end point, ensuring the efficiency and speed of the inspection task.

[0027] In some embodiments of the present invention, the step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths further includes:

[0028] Obtain the position and driving speed of the mobile robot on the sub-path;

[0029] constructing a path real-time image based on the position and driving speed of the mobile robot, inputting the path real-time image into a preset calculation model, and the calculation model outputting a second congestion parameter;

[0030] If the inspection endpoint does not exist on the determined sub-path, the feasibility value is calculated based on the second congestion parameter.

[0031] In some embodiments of the present invention, the step of constructing a path real-time image based on the position and driving speed of the mobile robot includes:

[0032] Obtaining a basic image of the currently determined sub-path, wherein the basic image is used to mark edge lines on both sides of the path;

[0033] The position of each mobile robot in the basic image is indicated by a first mark, the driving direction of the mobile robot is indicated by a second mark, and the driving speed of the mobile robot is indicated by a third mark, so as to obtain a path real-time image.

[0034] By adopting the above scheme, the position, driving direction and driving speed of the mobile robot are all represented in the image, so that the image fully reflects the current road condition information.

[0035] In some implementations of the present invention, in the step of calculating the feasibility value based on the second congestion parameter, the feasibility value is calculated based on the following formula:

[0036]

[0037] Wherein, avail represents the feasibility value, width represents the width of the subpath, α represents the second congestion parameter, and β represents the preset congestion threshold.

[0038] Adopting the above scheme, this scheme first calculates the second congestion parameter by drawing the real-time image of the path according to the actual road conditions, compares the second congestion parameter with the preset congestion threshold, and calculates the feasibility values ​​of the two cases respectively by comparison. This scheme divides the feasibility values ​​into multiple cases for discussion to ensure the accuracy of the feasibility value calculation.

[0039] In some embodiments of the present invention, in the step of obtaining the path width of the sub-path and calculating the first congestion parameter based on the number of mobile robots and the path width, the width of the sub-path at the minimum width is used as the path width of the sub-path, and in the step of obtaining a basic image of the currently determined sub-path, in which the basic image is used to mark the edge lines on both sides of the path, the distance between the edge lines on both sides of the path in the basic image corresponds to the path width of the sub-path.

[0040] Another aspect of the present invention also relates to a mobile robot, which includes a data acquisition module, a movement module and a processing module. The acquisition module is used to collect inspection information, the movement module is used to drive the mobile robot to move, and the processing module is provided with a processing program for applying the above method.

[0041] In summary, the present invention has the following beneficial effects:

[0042] 1. This scheme first combines the historical path and the shortest path in the process of path planning. The historical path can be the path that the inspector operated the mobile robot to travel. By comparing the historical path and the shortest path, a more efficient path is determined. In addition, each time the mobile robot travels to a path intersection, the scheme compares whether the sub-paths of the historical path and the shortest path for the next step are the same. If they are not the same, the scheme determines the feasibility value based on the current mobile robot in the two sub-paths to be selected. This scheme increases the consideration of other mobile robots and avoids the low inspection efficiency caused by too many mobile robots;

[0043] 2. When the historical inspection path conflicts with the shortest path, this solution needs to select a more efficient path according to the actual situation. This solution combines the number of mobile robots and the width of the path to determine the feasibility of the sub-path to be determined, and improves the reliability of the feasibility determination. This solution determines in advance whether there is an inspection endpoint on the determined sub-path, and provides different calculation methods according to different situations. When there is an inspection endpoint on the determined sub-path, it should be driven first to improve the inspection efficiency;

[0044] 3. This scheme first calculates the second congestion parameter by drawing the path real-time image according to the actual road conditions, compares the second congestion parameter with the preset congestion threshold, and calculates the feasibility values ​​of the two cases respectively by comparison. This scheme divides the feasibility values ​​into multiple cases for discussion to ensure the accuracy of the feasibility value calculation;

[0045] 4. When there is an inspection end point on the determined sub-path, it should be driven first. This solution can improve the feasibility value by using the corresponding calculation parameters of the facilities, so that the mobile robot can quickly drive to the inspection end point and ensure the efficiency and speed of the inspection task. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of an implementation of a power station inspection method for a mobile robot according to the present invention;

[0048] Figure 2 A schematic diagram of another embodiment of the power station inspection method for a mobile robot according to the present invention;

[0049] Figure 3 A schematic diagram of a real-time image of a path in a power station inspection method using a mobile robot according to the present invention;

[0050] Figure 4 It is a schematic diagram of the structure of the mobile robot of the present invention. DETAILED DESCRIPTION

[0051] 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 invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0052] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0053] like Figure 1 As shown, the present invention provides a power station inspection method for a mobile robot, the method comprising the steps of:

[0054] Step S100, the mobile robot obtains an inspection task, the inspection task includes an inspection starting point and an inspection end point, calculates the shortest path based on the inspection starting point and the inspection end point, and drives along the shortest path to a path intersection;

[0055] In the specific implementation process, the mobile robot is connected to the central control center, which is equipped with computer equipment with computing capabilities such as computers or servers. Inspection tasks are issued to the mobile robots through the central control center, and each mobile robot stores an electronic map of the power station.

[0056] Step S200, when the mobile robot travels to a path intersection, it selects a historical inspection path from the current path intersection to the inspection end point from the historical data, and calculates the shortest path from the current path intersection to the inspection end point;

[0057] In a specific implementation process, the electronic map includes sub-paths and path intersections, the sub-path is a path extending along a straight line, at least one endpoint of the sub-path is connected to an endpoint of another sub-path, and the endpoint is the path intersection.

[0058] During the specific implementation process, each time the mobile robot drives to a path intersection, it selects the historical inspection path from the current path intersection to the inspection end point from the historical data, and calculates the shortest path from the current path intersection to the inspection end point until the mobile robot drives to the inspection end point.

[0059] Step S300, obtaining a sub-path from a current path intersection to a next path intersection in a historical inspection path and a sub-path from a current path intersection to a next path intersection in a shortest path, and comparing the two sub-paths to see if they are the same;

[0060] In the specific implementation process, when the historical inspection path is the same as the shortest path, it means that the sub-path is more efficient and should be followed. When the historical inspection path conflicts with the shortest path, it is necessary to select a more efficient path based on the actual situation.

[0061] Step S410, if the sub-paths are the same, determining that the next sub-path to be driven is the same sub-path;

[0062] Step S420: If they are different, the mobile robots currently existing on the two sub-paths are obtained respectively, and the feasibility values ​​of the two sub-paths are calculated based on the mobile robots currently existing on the two sub-paths, and the next traveling sub-path is determined based on the feasibility values.

[0063] When the historical inspection path conflicts with the shortest path, this scheme combines the number of mobile robots and the width of the path to determine the feasibility of the sub-path to be determined, improves the credibility of the feasibility determination, and thus improves the inspection efficiency.

[0064] The above scheme is adopted. This scheme first combines the historical path and the shortest path in the process of path planning. The historical path can be the path that the inspector operates the mobile robot to travel. By comparing the historical path and the shortest path, a more efficient path is determined. In addition, each time the mobile robot travels to the intersection of the paths, this scheme compares whether the sub-paths of the next step of the historical path and the shortest path are the same. If they are not the same, this scheme determines the feasibility value based on the current mobile robot in the two sub-paths to be selected. This scheme increases the consideration of other mobile robots and avoids the low inspection efficiency caused by too many mobile robots.

[0065] In some embodiments of the present invention, in the step of filtering the historical inspection paths from the current path intersection to the inspection end point from the historical data, all the historical inspection paths from the current path intersection to the inspection end point in the historical data are obtained, and the number of times each historical inspection path is used is counted, and the historical inspection paths are filtered based on the number of times used.

[0066] In the specific implementation process, in the step of selecting the historical inspection path based on the number of times used, the historical inspection path with the most times used is selected as the historical inspection path finally selected.

[0067] During the specific implementation process, this solution obtains all historical inspection paths from the current path intersection to the inspection end point in the historical data. On the one hand, it can combine a large amount of historical data for analysis to ensure that the historical inspection path finally screened is the most efficient path. On the other hand, this solution extracts all historical inspection paths from the current path intersection to the inspection end point to ensure that the robot always keeps moving towards the inspection end point.

[0068] By adopting the above scheme, the historical inspection paths are fully considered. Since the historical paths can be the paths for the inspectors to operate the mobile robots, the operating experience of the inspectors is fully referenced to ensure the efficiency of the inspection paths.

[0069] like Figure 2 As shown, in some embodiments of the present invention, the step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths includes:

[0070] Step S421, obtaining the number of mobile robots existing on the sub-path;

[0071] Step S422, obtaining the path width of the sub-path, and calculating a first congestion parameter based on the number of mobile robots and the path width;

[0072] Step S423: If the inspection endpoint exists on the determined sub-path, a feasibility value is calculated based on the first congestion parameter.

[0073] With the above scheme, when the historical inspection path conflicts with the shortest path, it is necessary to select a more efficient path based on the actual situation. This scheme combines the number of mobile robots and the width of the path to determine the feasibility of the sub-path to be determined, thereby improving the credibility of the feasibility determination. In addition, this scheme determines in advance whether there is an inspection end point on the determined sub-path, and provides different calculation methods according to different situations. When there is an inspection end point on the determined sub-path, it should be driven first to improve the inspection efficiency.

[0074] In some embodiments of the present invention, in the step of calculating the first congestion parameter based on the number of mobile robots and the path width, the first congestion parameter is calculated based on the following formula:

[0075] First congestion parameter = number of mobile robots / path width.

[0076] By adopting the above solution, the first congestion parameter is calculated by the number of mobile robots and the path width, so that the degree of congestion can be intuitively obtained.

[0077] In some embodiments of the present invention, in the step of calculating the feasibility value based on the first congestion parameter, the feasibility value is calculated based on the following formula:

[0078] avail = δ - first congestion parameter;

[0079] avail represents the feasibility value, and δ represents the preset calculation parameters.

[0080] With the above scheme, when there is an inspection end point on the determined sub-path, it should be driven first. This scheme can improve the feasibility value by using the corresponding calculation parameters of the facilities, so that the mobile robot can quickly drive to the inspection end point, ensuring the efficiency and speed of the inspection task.

[0081] like Figure 2 As shown, in some embodiments of the present invention, the step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths further includes:

[0082] Step S424, obtaining the position and driving speed of the mobile robot on the sub-path;

[0083] Step S425, constructing a path real-time image based on the position and driving speed of the mobile robot, inputting the path real-time image into a preset calculation model, and the calculation model outputs a second congestion parameter;

[0084] Step S426: If the determined sub-path does not have an inspection endpoint, a feasibility value is calculated based on the second congestion parameter.

[0085] In the specific implementation process, the computing model is a pre-trained graph neural network model, which includes a convolutional layer and a fully connected layer.

[0086] During the specific implementation process, the central control center records the position and driving speed of each mobile robot in real time. When the mobile robot drives to a path intersection and the historical inspection path conflicts with the shortest path, the central control center will feed back the position and driving speed of the mobile robot on the sub-path connected to the driving intersection to the mobile robot at the path intersection.

[0087] In some embodiments of the present invention, the step of constructing a path real-time image based on the position and driving speed of the mobile robot includes:

[0088] Obtaining a basic image of the currently determined sub-path, wherein the basic image is used to mark edge lines on both sides of the path;

[0089] The position of each mobile robot in the basic image is indicated by a first mark, the driving direction of the mobile robot is indicated by a second mark, and the driving speed of the mobile robot is indicated by a third mark, so as to obtain a path real-time image.

[0090] like Figure 3As shown, in the specific implementation process, the first mark can be a solid dot, and the position of the center of the solid dot is the position of the mobile robot on the actual sub-path; the second mark can be an arrow, and the direction pointed by the arrow is the driving direction of the mobile robot; the third mark can be a line segment connected by a solid dot and an arrow, and the length of the line segment is used to indicate the driving speed of the mobile robot. The faster the speed of the mobile robot, the longer the line segment. Specifically, the basic length of the line segment can be 1mm, and the line segment increases by 1mm for every 1km / h increase in the driving speed from stationary.

[0091] By adopting the above scheme, the position, driving direction and driving speed of the mobile robot are all represented in the image, so that the image fully reflects the current road condition information.

[0092] In some implementations of the present invention, in the step of calculating the feasibility value based on the second congestion parameter, the feasibility value is calculated based on the following formula:

[0093]

[0094] Wherein, avail represents the feasibility value, width represents the width of the subpath, α represents the second congestion parameter, and β represents the preset congestion threshold.

[0095] Adopting the above scheme, this scheme first calculates the second congestion parameter by drawing the real-time image of the path according to the actual road conditions, compares the second congestion parameter with the preset congestion threshold, and calculates the feasibility values ​​of the two cases respectively by comparison. This scheme divides the feasibility values ​​into multiple cases for discussion to ensure the accuracy of the feasibility value calculation.

[0096] In some embodiments of the present invention, in the step of obtaining the path width of the sub-path and calculating the first congestion parameter based on the number of mobile robots and the path width, the width of the sub-path at the minimum width is used as the path width of the sub-path, and in the step of obtaining a basic image of the currently determined sub-path, in which the basic image is used to mark the edge lines on both sides of the path, the distance between the edge lines on both sides of the path in the basic image corresponds to the path width of the sub-path.

[0097] like Figure 4 As shown, on the other hand, the present invention also relates to a mobile robot, which includes a data acquisition module, a movement module and a processing module. The acquisition module is used to collect inspection information, the movement module is used to drive the mobile robot to move, and the processing module is provided with a processing program for applying the above method.

[0098] In the specific implementation process, the data acquisition module collects image information through the camera installed on the mobile robot and feeds the image information back to the central control center, scans through the radar installed on the mobile robot, and avoids obstacles based on the real-time scanning results.

[0099] In a specific implementation process, the mobile module drives the wheels or tracks of the robot to rotate through the motor installed on the mobile robot, so that the mobile robot can move.

[0100] In a specific implementation process, the processing module includes a processor and a memory. Data is stored through the memory, and data calculation is completed through the processor. The processor may be a CPU, and the memory may be a DDR.

[0101] In the specific implementation process, the mobile robot is also provided with a communication module, and the communication module is used for the mobile robot to communicate with the central control center.

[0102] In the specific implementation process, the communication module can realize the communication between the mobile robot and the central control center through Bluetooth transmission or network transmission.

[0103] The embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned model building method based on network architecture search. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0104] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0105] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0106] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A power station inspection method for a mobile robot, characterized in that: The steps of the method include: The mobile robot obtains an inspection task, the inspection task includes an inspection starting point and an inspection end point, calculates a shortest path based on the inspection starting point and the inspection end point, and drives along the shortest path to a path intersection; Each time the mobile robot travels to a path intersection, it selects a historical inspection path from the current path intersection to the inspection endpoint from historical data, and calculates the shortest path from the current path intersection to the inspection endpoint; Obtain the sub-path from the current path intersection to the next path intersection in the historical inspection path and the sub-path from the current path intersection to the next path intersection in the shortest path, and compare whether the two sub-paths are the same; If they are the same, the next sub-path to be traveled is determined to be the same sub-path; If they are different, the mobile robots currently existing on the two sub-paths are respectively obtained, the feasibility values ​​of the two sub-paths are respectively calculated based on the mobile robots currently existing on the two sub-paths, and the next traveling sub-path is determined based on the feasibility values.

2. The power station inspection method for a mobile robot according to claim 1, characterized in that: In the step of filtering the historical inspection paths from the current path intersection to the inspection end point from the historical data, all the historical inspection paths from the current path intersection to the inspection end point in the historical data are obtained, and the number of times each historical inspection path is used is counted, and the historical inspection paths are filtered based on the number of times used.

3. The power station inspection method for a mobile robot according to claim 1, characterized in that: The step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths comprises: Get the number of mobile robots existing on the subpath; Acquire a path width of the sub-path, and calculate a first congestion parameter based on the number of mobile robots and the path width; If the inspection endpoint exists on the determined sub-path, a feasibility value is calculated based on the first congestion parameter.

4. The power station inspection method for a mobile robot according to claim 3, characterized in that: In the step of calculating the first congestion parameter based on the number of mobile robots and the path width, the first congestion parameter is calculated based on the following formula: First congestion parameter = number of mobile robots / path width.

5. The power station inspection method for a mobile robot according to claim 3, characterized in that: In the step of calculating the feasibility value based on the first congestion parameter, the feasibility value is calculated based on the following formula: Feasibility value = δ-first congestion parameter; δ represents a preset calculation parameter.

6. The power station inspection method for a mobile robot according to any one of claims 1 to 5, characterized in that: The step of respectively calculating the feasibility values ​​of the two sub-paths based on the mobile robots currently existing on the two sub-paths also includes: Obtain the position and driving speed of the mobile robot on the sub-path; constructing a path real-time image based on the position and driving speed of the mobile robot, inputting the path real-time image into a preset calculation model, and the calculation model outputting a second congestion parameter; If the inspection endpoint does not exist on the determined sub-path, the feasibility value is calculated based on the second congestion parameter.

7. The power station inspection method for a mobile robot according to claim 6, characterized in that: The step of constructing a path real-time image based on the position and driving speed of the mobile robot comprises: Obtaining a basic image of the currently determined sub-path, wherein the basic image is used to mark edge lines on both sides of the path; The position of each mobile robot in the basic image is indicated by a first mark, the driving direction of the mobile robot is indicated by a second mark, and the driving speed of the mobile robot is indicated by a third mark, so as to obtain a path real-time image.

8. The power station inspection method for a mobile robot according to claim 6, characterized in that: In the step of calculating the feasibility value based on the second congestion parameter, the feasibility value is calculated based on the following formula: Wherein, avail represents the feasibility value, width represents the width of the subpath, α represents the second congestion parameter, and β represents the preset congestion threshold.

9. The power station inspection method for a mobile robot according to claim 7, characterized in that: In the step of obtaining the path width of the sub-path and calculating the first congestion parameter based on the number of mobile robots and the path width, the width of the sub-path at the minimum width is used as the path width of the sub-path, and in the step of obtaining a basic image of the currently determined sub-path, in which the basic image is used to mark the edge lines on both sides of the path, the distance between the edge lines on both sides of the path in the basic image corresponds to the path width of the sub-path.

10. A mobile robot, characterized in that: The mobile robot includes a data acquisition module, a movement module and a processing module. The acquisition module is used to collect inspection information, the movement module is used to drive the mobile robot to move, and the processing module is provided with a processing program for applying the method described in any one of claims 1 to 9.

Images