Substation joint patrol method and device, electronic equipment and storage medium

Abstract

The application provides a substation joint patrol method and device, electronic equipment and storage medium. An initial patrol path of a UAV and a patrol path of a ground robot are obtained through path planning. Based on the UAV path points in the initial patrol path of the UAV and the robot path points in the patrol path of the ground robot, a first bipartite graph is constructed, and the robot path points matched with each UAV path point are matched to determine the maximum battery replacement time. Based on the maximum battery replacement time, the battery replacement path points in the initial patrol path of the UAV and the battery replacement path points matched in the patrol path of the ground robot are determined, and the battery replacement path points are added to the initial patrol path of the UAV to obtain the patrol path of the UAV. The UAV and the ground robot can jointly complete the patrol task, and the ground robot can provide battery replacement service for the UAV, thereby solving the defect of short endurance time of the UAV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of path planning, and in particular to a substation joint patrol method and device, an electronic device and a storage medium. BACKGROUND

[0002] As an important infrastructure, the safety management of substations and their surrounding environment is of great importance. Weather, external intrusion and natural disasters and other factors may pose potential threats to the operation of substations. Traditional manual patrol has the problems of low efficiency and coverage blind area, while the automatic patrol scheme can more efficiently and comprehensively complete the monitoring task, especially in the complex environment around the substation.

[0003] In the automatic patrol task, the joint patrol scheme of unmanned aerial vehicles and ground robots shows significant advantages. Unmanned aerial vehicles, with their flexibility and wide field of view, can quickly cover large areas, monitor high-altitude equipment and the overall situation of the environment. Ground robots, on the other hand, can conduct in-depth ground patrols, inspect the bottom of equipment, the vicinity of fences and other blind areas, and obtain detailed data through sensors. The two complement each other, on the one hand, to improve patrol efficiency, and on the other hand, to make up for the limitations of a single device. In addition, the combination of unmanned aerial vehicles and ground robots also allows for quick response in emergency situations, such as the unmanned aerial vehicle first discovering an anomaly and guiding the ground robot to the scene for further inspection, achieving efficient patrol through division of labor.

[0004] However, unmanned aerial vehicles have limited endurance and are difficult to complete the entire patrol task without interruption. Currently, some work uses ground unmanned vehicles as battery replacement points or charging points for unmanned aerial vehicles to solve the problem of short endurance of unmanned aerial vehicles, but in these works, the ground robots are only used as battery replacement points or charging points for unmanned aerial vehicles and cannot perform ground patrol at the same time. Therefore, it is necessary to provide a substation joint patrol scheme to jointly plan paths for unmanned aerial vehicles and ground robots, so that the ground robots can perform ground patrol at the same time and provide battery replacement services for unmanned aerial vehicles performing patrol tasks simultaneously. SUMMARY

[0005] The present application provides a substation joint patrol method, device, electronic device and storage medium to solve the problem of short endurance of unmanned aerial vehicles in the prior art, so that the ground robots can perform ground patrol at the same time and provide battery replacement services for unmanned aerial vehicles.

[0006] The present application provides a substation joint patrol method, comprising:

[0007] Based on the area map of the patrol area of the unmanned aerial vehicle and the area map of the patrol area of the ground robot, the coverage path planning is performed respectively to obtain the initial patrol path of the unmanned aerial vehicle and the patrol path of the ground robot.

[0008] construct a first bipartite graph based on the UAV path points in the initial patrol path of the UAV and the robot path points in the patrol path of the ground robot;

[0009] perform matching on the first bipartite graph to obtain a robot path point matched by each UAV path point, and determine a maximum battery replacement time based on a distance between each UAV path point and the robot path point matched thereby;

[0010] determine a battery replacement path point in the initial patrol path of the UAV and a battery replacement path point matched thereby in the patrol path of the ground robot based on the maximum battery replacement time;

[0011] add the battery replacement path point matched by the battery replacement path point in the initial patrol path of the UAV in the patrol path of the ground robot to the battery replacement path point in the initial patrol path of the UAV to obtain a patrol path of the UAV;

[0012] perform joint patrol based on the patrol path of the UAV and the patrol path of the ground robot.

[0013] According to the substation joint patrol method provided by the application, the battery replacement path point in the initial patrol path of the UAV and the battery replacement path point matched thereby in the patrol path of the ground robot are determined based on the maximum battery replacement time, which includes:

[0014] cluster the initial patrol path of the UAV and the patrol path of the ground robot respectively based on the maximum battery replacement time to obtain a plurality of UAV path clusters and robot path clusters; wherein the sum of flight times of all path points in any UAV path cluster is not greater than the difference between a preset maximum flight time and the maximum battery replacement time, and the sum of travel times of all path points in any robot path cluster is not greater than the preset maximum flight time;

[0015] determine a robot path cluster matched by each UAV path cluster;

[0016] determine a battery replacement path point in the corresponding UAV path cluster and a battery replacement path point matched thereby in the robot path cluster based on each UAV path cluster and the robot path cluster matched thereby.

[0017] According to the substation joint patrol method provided by the application, the UAV path cluster is constructed based on the following manner:

[0018] The first cluster expansion step is: determining a flight time of a current UAV path point in a current UAV path cluster to a next UAV path point of the current UAV path point in an initial patrol path of the UAV; if a sum of the flight time of the current UAV path point to the next UAV path point and a current total flight time is less than or equal to a difference between the preset maximum flight time and the maximum battery replacement time, adding the next UAV path point to the current UAV path cluster, updating the current total flight time based on the flight time of the current UAV path point to the next UAV path point, and jumping to the first iteration step when the next UAV path point is not the last UAV path point; if the sum of the flight time of the current UAV path point to the next UAV path point and the current total flight time is greater than the difference between the preset maximum flight time and the maximum battery replacement time, jumping to the first cluster creation step;

[0019] The first iteration step is: repeating the first cluster expansion step.

[0020] The first cluster creation step is: creating an empty UAV path cluster as a current UAV path cluster, adding the next UAV path point to the current UAV path cluster, and jumping to the first cluster expansion step when the next UAV path point is not the last UAV path point.

[0021] According to the substation joint patrol method provided by the application, the robot path cluster is constructed based on the following manner:

[0022] The second cluster expansion step is: determining a travel time of a current robot path point in a current robot path cluster to a next robot path point of the current robot path point in a patrol path of the ground robot; if a sum of the travel time of the current robot path point to the next robot path point and a current total travel time is less than or equal to the preset maximum flight time, adding the next robot path point to the current robot path cluster, updating the current total travel time based on the travel time of the current robot path point to the next robot path point, and jumping to the second iteration step when the next robot path point is not the last robot path point; if the sum of the travel time of the current robot path point to the next robot path point and the current total travel time is greater than the preset maximum flight time, jumping to the second cluster creation step.

[0023] The second iteration step is: repeating the second cluster expansion step.

[0024] The second type of cluster creation step: creating an empty robot path class cluster as a current robot path class cluster, adding the next robot path point into the current robot path class cluster, and jumping to the second type of cluster expansion step when the next robot path point is not the last robot path point, taking the next robot path point as the current robot path point.

[0025] According to the substation joint patrol method provided by the application, the power change path point in the corresponding unmanned aerial vehicle path class cluster and the power change path point in the matching robot path class cluster are determined based on each unmanned aerial vehicle path class cluster and the matching robot path class cluster, and the method comprises the following steps:

[0026] A second bipartite graph is constructed based on any unmanned aerial vehicle path class cluster and the matching robot path class cluster.

[0027] The second bipartite graph is matched to obtain the matching robot path point of each unmanned aerial vehicle path point in the any unmanned aerial vehicle path class cluster.

[0028] The last unmanned aerial vehicle path point of the any unmanned aerial vehicle path class cluster and the matching robot path point are determined as the power change path point in the any unmanned aerial vehicle path class cluster and the power change path point in the matching robot path class cluster.

[0029] According to the substation joint patrol method provided by the application, the matching robot path class cluster of each unmanned aerial vehicle path class cluster is determined, and the method comprises the following steps:

[0030] For any unmanned aerial vehicle path class cluster, the robot path class cluster closest to the first unmanned aerial vehicle path point of the any unmanned aerial vehicle path class cluster is determined as the matching robot path class cluster of the any unmanned aerial vehicle path class cluster.

[0031] According to the substation joint patrol method provided by the application, the maximum power change time is determined based on the distance between each unmanned aerial vehicle path point and the matching robot path point, and the method comprises the following steps:

[0032] The single-trip power change time is determined based on the maximum value in the distance between each unmanned aerial vehicle path point and the matching robot path point.

[0033] The double value of the single-trip power change time is determined as the maximum power change time.

[0034] The application also provides a substation joint patrol device, which comprises:

[0035] The path initial planning unit is used for performing coverage path planning based on the area map of the unmanned aerial vehicle's patrol area and the area map of the ground robot's patrol area, respectively, to obtain the initial patrol path of the unmanned aerial vehicle and the patrol path of the ground robot.

[0036] a first bipartite graph construction unit, configured to construct a first bipartite graph based on the UAV path points in the initial patrol path of the UAV and the robot path points in the patrol path of the ground robot;

[0037] a battery replacement time determination unit, configured to match the first bipartite graph to obtain a robot path point matched to each UAV path point, and determine a maximum battery replacement time based on a distance between each UAV path point and the robot path point matched thereto;

[0038] a battery replacement path point determination unit, configured to determine a battery replacement path point in the initial patrol path of the UAV and a battery replacement path point matched thereto in the patrol path of the ground robot based on the maximum battery replacement time;

[0039] a path updating unit, configured to add the battery replacement path point matched to the battery replacement path point in the initial patrol path of the UAV in the patrol path of the ground robot to obtain a patrol path of the UAV;

[0040] a joint patrol unit, configured to perform joint patrol based on the patrol path of the UAV and the patrol path of the ground robot.

[0041] The application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the substation joint patrol method according to any one of the above when executing the program.

[0042] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the substation joint patrol method according to any one of the above.

[0043] The application further provides a computer program product, which includes a computer program, and the computer program is executable on a processor to implement the substation joint patrol method according to any one of the above.

[0044] The power substation joint patrol method, device, electronic equipment and storage medium provided by the application, through the region map of the patrol region based on the unmanned aerial vehicle and the region map of the patrol region of the ground robot, respectively perform coverage path planning to obtain an initial patrol path of the unmanned aerial vehicle and a patrol path of the ground robot; based on the unmanned aerial vehicle path point in the initial patrol path of the unmanned aerial vehicle and the robot path point in the patrol path of the ground robot, a first bipartite graph is constructed; the first bipartite graph is matched to obtain the robot path point matched with each unmanned aerial vehicle path point, and based on the distance between each unmanned aerial vehicle path point and the robot path point matched therewith, the maximum battery replacement time is determined; based on the maximum battery replacement time, the battery replacement path point in the initial patrol path of the unmanned aerial vehicle and the battery replacement path point matched therewith in the patrol path of the ground robot are determined; the battery replacement path point in the initial patrol path of the unmanned aerial vehicle matched with the battery replacement path point in the patrol path of the ground robot is added to the corresponding battery replacement path point in the initial patrol path of the unmanned aerial vehicle to obtain the patrol path of the unmanned aerial vehicle; based on the patrol path of the unmanned aerial vehicle and the patrol path of the ground robot, joint patrol is performed, which can enable the unmanned aerial vehicle and the ground robot to jointly complete the patrol task while the ground robot provides battery replacement service for the unmanned aerial vehicle, and solve the defect of short endurance time of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0046] Figure 1 is a flowchart of the power substation joint patrol method provided by the application;

[0047] Figure 2 is one of the flowcharts of the battery replacement path point determination method provided by the application;

[0048] Figure 3 is the second flowchart of the battery replacement path point determination method provided by the application;

[0049] Figure 4 is a structural schematic diagram of the power substation joint patrol device provided by the application;

[0050] Figure 5 is a structural schematic diagram of the electronic equipment provided by the application. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0052] Figure 1 is a flowchart of a substation joint patrol method provided by the present application, as shown in Figure 1 The method comprises the following steps.

[0053] Step 110, based on the area map of the patrol area of the unmanned aerial vehicle and the area map of the patrol area of the ground robot, respectively performing coverage path planning to obtain an initial patrol path of the unmanned aerial vehicle and a patrol path of the ground robot.

[0054] Step 120, based on the unmanned aerial vehicle path point in the initial patrol path of the unmanned aerial vehicle and the robot path point in the patrol path of the ground robot, constructing a first bipartite graph.

[0055] Step 130, matching the first bipartite graph to obtain the robot path point matched by each unmanned aerial vehicle path point, and determining the maximum battery replacement time based on the distance between each unmanned aerial vehicle path point and the robot path point matched therewith.

[0056] Step 140, based on the maximum battery replacement time, determining the battery replacement path point in the initial patrol path of the unmanned aerial vehicle and the battery replacement path point matched therewith in the patrol path of the ground robot.

[0057] Step 150, adding the battery replacement path point matched by the battery replacement path point in the initial patrol path of the unmanned aerial vehicle in the patrol path of the ground robot to the corresponding battery replacement path point in the initial patrol path of the unmanned aerial vehicle to obtain the patrol path of the unmanned aerial vehicle.

[0058] Step 160, based on the patrol path of the unmanned aerial vehicle and the patrol path of the ground robot, performing joint patrol.

[0059] Specifically, according to the patrol needs of the substation and the surrounding environment, the patrol area responsible by the unmanned aerial vehicle and the patrol area of the ground robot are pre-delineated. According to the area map of the patrol area of the unmanned aerial vehicle and the area map of the patrol area of the ground robot, the initial patrol path of the unmanned aerial vehicle and the patrol path of the ground robot can be obtained by using a coverage path planning algorithm (CCP), such as a Boustrophedon Cellular Decomposition algorithm and its derivative algorithms, etc. It should be noted that considering that the ground robot needs to be used as a battery replacement station for the unmanned aerial vehicle in addition to completing its own patrol task, the patrol paths of the two need to be updated and the meeting points of the two are added. Considering that the moving speed of the ground robot is slow and the moving direction is less, while the unmanned aerial vehicle can realize straight-line motion between two points, when adding the meeting points, the patrol path of the ground robot is kept unchanged, and the initial patrol path of the unmanned aerial vehicle is modified so that the unmanned aerial vehicle actively finds the ground robot meeting point when the power is insufficient.

[0060] The basic goal of the meeting point determination task of the unmanned aerial vehicle and the ground robot is that the unmanned aerial vehicle reaches the meeting point for battery replacement before the power is exhausted, and the optimization goal is to shorten the overall flight path of the unmanned aerial vehicle and the waiting time in the battery replacement process as much as possible. For this purpose, a first bipartite graph can be constructed based on the unmanned aerial vehicle path points in the initial patrol path of the unmanned aerial vehicle and the robot path points in the patrol path of the ground robot. In the first bipartite graph, each left vertex is a respective unmanned aerial vehicle path point, and each right vertex is a respective robot path point. Subsequently, the edge weights of each unmanned aerial vehicle path point to each robot path point are determined according to the distance between each unmanned aerial vehicle path point and each robot path point, and the time when the unmanned aerial vehicle reaches any unmanned aerial vehicle path point and the time when the ground robot reaches any robot path point. In some embodiments, based on the distance from any unmanned aerial vehicle path point to any robot path point and the flight time of the unmanned aerial vehicle, the one-way flight time can be determined, and based on the time when the unmanned aerial vehicle reaches the unmanned aerial vehicle path point and the time when the ground robot reaches the robot path point and the one-way flight time, the battery replacement waiting time of the unmanned aerial vehicle is determined, so that the sum of the one-way flight time and the battery replacement waiting time is the edge weight of the unmanned aerial vehicle path point to the robot path point.

[0061] Based on the edge weight of each UAV path point to each robot path point, the bipartite graph is matched by using a graph matching algorithm (e.g., the Hungarian algorithm) to obtain the robot path point matched by each UAV path point, and based on the distance between each UAV path point and the robot path point matched by the UAV path point, the maximum battery replacement time is determined. The maximum battery replacement time represents the longest round trip time of the UAV from the current UAV path point to the robot path point in the patrol path of the ground robot as the battery replacement point of the UAV. In some embodiments, based on the maximum value in the distance between each UAV path point and the robot path point matched by the UAV path point and the flight speed of the UAV, the one-way battery replacement time can be determined, and the double value of the one-way battery replacement time is determined as the maximum battery replacement time.

[0062] Based on the maximum battery replacement time, the battery replacement path points in the initial patrol path of the UAV and the battery replacement path points matched in the patrol path of the ground robot can be determined, so that the power of the UAV meets the condition that the UAV flies from the last battery replacement path point G i-1 to the battery replacement path point A i-1 matched in the initial patrol path of the UAV i-1 to the next battery replacement path point A i from the battery replacement path point A i to the battery replacement path point G i matched in the patrol path of the ground robot, replaces the battery, and flies back to the battery replacement path point A i , until the patrol task is completed. Wherein, the UAV flies from the last battery replacement path point G i-1 to the battery replacement path point A i-1 matched in the initial patrol path of the UAV i to the battery replacement path point G i matched in the patrol path of the ground robot, and the sum of the time spent is not greater than the maximum battery replacement time.

[0063] In some embodiments, as Figure 2 shown, the battery replacement path points in the initial patrol path of the UAV and the battery replacement path points matched in the patrol path of the ground robot can be determined based on the following manner:

[0064] Step 210, based on the maximum battery replacement time, respectively clustering the initial patrol path of the UAV and the patrol path of the ground robot to obtain a plurality of UAV path clusters and robot path clusters; wherein the sum of the flight time of all path points in any UAV path cluster is not greater than the difference between the preset maximum flight time and the maximum battery replacement time, and the sum of the travel time of all path points in any robot path cluster is not greater than the preset maximum flight time;

[0065] Step 220: Determine the robot path cluster that matches each UAV path cluster;

[0066] Step 230: Based on each UAV path cluster and its matching robot path cluster, determine the battery swapping path points in the corresponding UAV path cluster and the battery swapping path points in the matching robot path cluster.

[0067] Here, based on the maximum battery swapping time, the initial patrol path of the UAV and the patrol path of the ground robot can be clustered separately, resulting in multiple UAV path clusters and robot path clusters. Each UAV path cluster contains multiple consecutive UAV path points in the initial patrol path, and each robot path cluster contains multiple consecutive robot path points in the patrol path. The UAV path clusters obtained after path clustering satisfy the condition that the sum of the flight times of all path points in any UAV path cluster is no greater than the difference between the preset maximum flight time and the maximum battery swapping time. Similarly, each robot path cluster satisfies the condition that the sum of the travel times of all path points in any robot path cluster is no greater than the preset maximum flight time. Here, the maximum flight time is the flight time that the UAV can support when flying at a preset speed with a fully charged battery.

[0068] In some embodiments, clustering can be performed to obtain drone path clusters in the following manner:

[0069] First cluster expansion step: Determine the current UAV path point A in the current UAV path cluster. j (Initially, this is the first drone path point on the drone's initial patrol path) to the next drone path point A on the drone's initial patrol path. j+1 The flight time Ti; if the current UAV path point A j To the next drone waypoint A j+1 If the sum of the flight time Ti and the current total flight time Tf (initially 0) is less than or equal to the difference between the preset maximum flight time T and the maximum battery swapping time C, then the next UAV path point A will be moved. j+1 Add to the current drone path cluster, based on the current drone path point A j To the next drone waypoint A j+1 The flight time Ti is updated to the current total flight time Tf (Tf = Tf + Ti), and at the next UAV waypoint A j+1 If it is not the last drone waypoint, then the next drone waypoint A will be... j+1 As the current UAV path point, jump to the first iteration step to iteratively execute the first cluster expansion step; if the current UAV path point A j To the next drone waypoint Aj+1 the sum of the current flight time Ti and the current total flight time Tf is greater than the difference between the preset maximum flight time T and the maximum battery replacement time C, the method jumps to the first cluster creation step;

[0070] the first iteration step: repeating the first cluster expansion step;

[0071] the first cluster creation step: creating an empty UAV path cluster as the current UAV path cluster, adding the next UAV path point A j+1 to the current UAV path cluster, and taking the next UAV path point A j+1 as the current UAV path point if the next UAV path point A j+1 is not the last UAV path point, the method jumps to the first cluster expansion step.

[0072] Similarly, the robot path cluster can be clustered based on the following method:

[0073] the second cluster expansion step: determining the current robot path point G n (the first robot path point of the patrol path in the initial case) in the current robot path cluster to the next robot path point G n of the current robot path point G n+1 in the patrol path of the ground robot; if the sum of the travel time tn of the current robot path point G n to the next robot path point G n+1 is less than or equal to the preset maximum flight time T, the next robot path point G n+1 is added to the current robot path cluster, the current total travel time Tr (Tr=Tr+tn) is updated based on the travel time tn of the current robot path point G n to the next robot path point G n+1 , and the next robot path point G n+1 is taken as the current robot path point if the next robot path point G n+1 is not the last robot path point, the method jumps to the second iteration step to continue to iteratively execute the step; if the sum of the travel time tn of the current robot path point G n to the next robot path point G n+1 is greater than the preset maximum flight time T, the method jumps to the second cluster creation step.

[0074] the second iteration step: repeating the second cluster expansion step;

[0075] the second cluster creation step: creating an empty robot path cluster as the current robot path cluster, adding the next robot path point Gn+1 is added to the current robot path cluster, and the next robot path point G n+1 is added to the current robot path cluster, and the next robot path point G n+1 is added to the current robot path cluster, and the next robot path point G

[0076] After obtaining each UAV path cluster and robot path cluster, a robot path cluster matched with each UAV path cluster is determined. In some embodiments, for any UAV path cluster, a robot path cluster closest to the first UAV path point of the UAV path cluster and the first robot path point of the robot path cluster can be determined as the robot path cluster matched with the UAV path cluster. Based on each UAV path cluster and the robot path cluster matched with the UAV path cluster, each swap battery path point in the UAV path cluster and the swap battery path point in the robot path cluster matched with the UAV path cluster can be determined one by one. There is one swap battery path point in one UAV path cluster. It should be noted that, by using the maximum swap battery time determination method and the path clustering method given in the above embodiments, the swap battery path point in each UAV path cluster and the swap battery path point in the robot path cluster matched with the UAV path cluster can meet the requirements of the UAV reaching the meeting point for swap battery before the battery is exhausted, short swap battery waiting time, and short overall flight path, thereby reducing the influence of the swap battery of the UAV on the patrol task of the UAV and the ground robot.

[0077] In some embodiments, in order to further shorten the overall flight path length of the UAV including the swap battery path and the swap battery waiting time, as shown in FIG. 6, the following method can be used to determine the swap battery path point in each UAV path cluster and the swap battery path point in the robot path cluster matched with the UAV path cluster: Figure 3

[0078] In step 310, a second bipartite graph is constructed based on any UAV path cluster and the robot path cluster matched with the UAV path cluster.

[0079] In step 320, the second bipartite graph is matched to obtain a robot path point matched with each UAV path point in the any UAV path cluster.

[0080] In step 330, the last UAV path point of the any UAV path cluster and the robot path point matched with the last UAV path point are determined as the swap battery path point in the any UAV path cluster and the swap battery path point in the robot path cluster matched with the any UAV path cluster.

[0081] ​Here, based on any one of the UAV path cluster and the matched robot path cluster, a second bipartite graph can be constructed, so that each left vertex in the second bipartite graph is a UAV path point in the UAV path cluster, and each right vertex is a robot path point in the robot path cluster matched with the UAV path cluster. Based on the distance between each UAV path point and each robot path point, and the time when the UAV reaches any UAV path point and the time when the ground robot reaches any robot path point, the edge weight of each UAV path point to each robot path point is determined. The edge weight of each UAV path point to each robot path point can be directly obtained from the first bipartite graph, which will not be described here. Then, the second bipartite graph is matched by using a graph matching algorithm, and each UAV path point in the UAV path cluster matched with the robot path point can be obtained. The last UAV path point in the UAV path cluster and the matched robot path point are determined as the battery replacement path point Ca in the UAV path cluster and the matched robot path cluster Cg, respectively.

[0082] In summary, the method provided by the embodiment of the application comprises the following steps: performing coverage path planning based on the area map of the UAV's patrol area and the area map of the ground robot's patrol area to obtain an initial UAV patrol path and a ground robot patrol path; constructing a first bipartite graph based on the UAV path points in the initial UAV patrol path and the robot path points in the ground robot patrol path; matching the first bipartite graph to obtain each UAV path point matched with a robot path point, and determining a maximum battery replacement time based on the distance between each UAV path point and the matched robot path point; determining a battery replacement path point in the initial UAV patrol path and a battery replacement path point matched with the battery replacement path point in the ground robot patrol path based on the maximum battery replacement time; adding the battery replacement path point matched with the battery replacement path point in the ground robot patrol path to the corresponding battery replacement path point in the initial UAV patrol path to obtain a UAV patrol path; and performing joint patrol based on the UAV patrol path and the ground robot patrol path, so that the UAV and the ground robot jointly complete the patrol task, and the ground robot provides battery replacement service for the UAV, thereby solving the problem of short endurance of the UAV.

[0083] The substation joint patrol device provided by the application will be described below. The substation joint patrol device described below can be correspondingly referred to the substation joint patrol method described above.

[0084] Based on any one of the above embodiments, Figure 4 is a structural schematic diagram of the substation joint patrol device provided by the application, as Figure 4 shown, the device comprises:

[0085] The path initial planning unit 410 is configured to perform coverage path planning based on the region map of the patrol region of the unmanned aerial vehicle and the region map of the patrol region of the ground robot respectively, to obtain an initial patrol path of the unmanned aerial vehicle and a patrol path of the ground robot;

[0086] The first bipartite graph construction unit 420 is configured to construct a first bipartite graph based on the unmanned aerial vehicle path points in the initial patrol path of the unmanned aerial vehicle and the robot path points in the patrol path of the ground robot;

[0087] The battery replacement time determination unit 430 is configured to match the first bipartite graph to obtain a robot path point matched with each unmanned aerial vehicle path point, and determine a maximum battery replacement time based on the distance between each unmanned aerial vehicle path point and the robot path point matched therewith;

[0088] The battery replacement path point determination unit 440 is configured to determine a battery replacement path point in the initial patrol path of the unmanned aerial vehicle and a battery replacement path point matched therewith in the patrol path of the ground robot based on the maximum battery replacement time;

[0089] The path updating unit 450 is configured to add the battery replacement path point matched with the battery replacement path point in the initial patrol path of the unmanned aerial vehicle in the patrol path of the ground robot to the corresponding battery replacement path point in the initial patrol path of the unmanned aerial vehicle, to obtain a patrol path of the unmanned aerial vehicle;

[0090] The joint patrol unit 460 is configured to perform joint patrol based on the patrol path of the unmanned aerial vehicle and the patrol path of the ground robot.

[0091] The device provided by the embodiment of the present application can obtain an initial patrol path of the unmanned aerial vehicle and a patrol path of the ground robot by respectively performing coverage path planning based on the region map of the patrol region of the unmanned aerial vehicle and the region map of the patrol region of the ground robot; construct a first bipartite graph based on the unmanned aerial vehicle path points in the initial patrol path of the unmanned aerial vehicle and the robot path points in the patrol path of the ground robot; match the first bipartite graph to obtain the robot path points matched by each unmanned aerial vehicle path point, and determine the maximum battery replacement time based on the distance between each unmanned aerial vehicle path point and the robot path point matched thereby; determine the battery replacement path points in the initial patrol path of the unmanned aerial vehicle and the battery replacement path points matched thereby in the patrol path of the ground robot based on the maximum battery replacement time; add the battery replacement path points matched by the battery replacement path points in the initial patrol path of the unmanned aerial vehicle in the patrol path of the ground robot to the corresponding battery replacement path points in the initial patrol path of the unmanned aerial vehicle to obtain the patrol path of the unmanned aerial vehicle; and perform joint patrol based on the patrol path of the unmanned aerial vehicle and the patrol path of the ground robot, so that the unmanned aerial vehicle and the ground robot jointly complete the patrol task while the ground robot provides battery replacement service for the unmanned aerial vehicle, thereby solving the defect of short endurance time of the unmanned aerial vehicle.

[0092] Based on any of the above embodiments, the battery replacement path points in the initial patrol path of the unmanned aerial vehicle and the battery replacement path points matched thereby in the patrol path of the ground robot are determined based on the maximum battery replacement time, including:

[0093] Based on the maximum battery replacement time, the initial patrol path of the unmanned aerial vehicle and the patrol path of the ground robot are respectively clustered to obtain a plurality of unmanned aerial vehicle path clusters and robot path clusters; wherein the sum of the flight times of all path points in any unmanned aerial vehicle path cluster is not greater than the difference between the preset maximum flight time and the maximum battery replacement time, and the sum of the travel times of all path points in any robot path cluster is not greater than the preset maximum flight time.

[0094] The robot path clusters matched by each unmanned aerial vehicle path cluster are determined.

[0095] Based on each unmanned aerial vehicle path cluster and the robot path cluster matched thereby, the battery replacement path points in the corresponding unmanned aerial vehicle path cluster and the battery replacement path points in the robot path cluster matched thereby are determined.

[0096] Based on any of the above embodiments, the unmanned aerial vehicle path clusters are constructed based on the following manner:

[0097] The first cluster expansion step is: determining a flight time of a current UAV path point in a current UAV path cluster to a next UAV path point of the current UAV path point in an initial patrol path of the UAV; if a sum of the flight time of the current UAV path point to the next UAV path point and a current total flight time is less than or equal to a difference between the preset maximum flight time and the maximum battery replacement time, adding the next UAV path point to the current UAV path cluster, updating the current total flight time based on the flight time of the current UAV path point to the next UAV path point, and jumping to the first iteration step when the next UAV path point is not the last UAV path point; if the sum of the flight time of the current UAV path point to the next UAV path point and the current total flight time is greater than the difference between the preset maximum flight time and the maximum battery replacement time, jumping to the first cluster creation step;

[0098] The first iteration step is: repeating the first cluster expansion step;

[0099] The first cluster creation step is: creating an empty UAV path cluster as a current UAV path cluster, adding the next UAV path point to the current UAV path cluster, and jumping to the first cluster expansion step when the next UAV path point is not the last UAV path point.

[0100] Based on any of the above embodiments, the robot path cluster is constructed based on the following manner:

[0101] The second cluster expansion step is: determining a travel time of a current robot path point in a current robot path cluster to a next robot path point of the current robot path point in a patrol path of the ground robot; if a sum of the travel time of the current robot path point to the next robot path point and a current total travel time is less than or equal to the preset maximum flight time, adding the next robot path point to the current robot path cluster, updating the current total travel time based on the travel time of the current robot path point to the next robot path point, and jumping to the second iteration step when the next robot path point is not the last robot path point; if the sum of the travel time of the current robot path point to the next robot path point and the current total travel time is greater than the preset maximum flight time, jumping to the second cluster creation step;

[0102] The second iteration step is: repeating the second cluster expansion step;

[0103] The second type of cluster creation step: creating an empty robot path class cluster as a current robot path class cluster, adding the next robot path point into the current robot path class cluster, and jumping to the second type of cluster expansion step when the next robot path point is not the last robot path point, taking the next robot path point as the current robot path point.

[0104] Based on any of the above embodiments, based on each UAV path class cluster and its matched robot path class cluster, determining the battery swap path point in the corresponding UAV path class cluster and the battery swap path point in the matched robot path class cluster of the battery swap path point, comprises:

[0105] Based on any UAV path class cluster and its matched robot path class cluster, constructing a second bipartite graph;

[0106] Matching the second bipartite graph to obtain each UAV path point in the any UAV path class cluster matched robot path point;

[0107] Determining the last UAV path point of the any UAV path class cluster and its matched robot path point as the battery swap path point in the any UAV path class cluster and the battery swap path point in the matched robot path class cluster of the battery swap path point.

[0108] Based on any of the above embodiments, determining the matched robot path class cluster of each UAV path class cluster, comprises:

[0109] For any UAV path class cluster, determining the first robot path point and the first UAV path point of the any UAV path class cluster closest robot path class cluster as the matched robot path class cluster of the any UAV path class cluster.

[0110] Based on any of the above embodiments, based on the distance between each UAV path point and its matched robot path point, determining the maximum battery swap time, comprises:

[0111] Based on the maximum value in the distance between each UAV path point and its matched robot path point, determining the one-way battery swap time;

[0112] Determining the double value of the one-way battery swap time as the maximum battery swap time.

[0113] Figure 5 is a structural schematic diagram of an electronic device provided by the application, as Figure 5As shown, the electronic device can include a processor 510, a memory 520, a communications interface 530, and a communications bus 540, wherein the processor 510, the memory 520, and the communications interface 530 complete mutual communication through the communications bus 540. The processor 510 can invoke a logic instruction in the memory 520 to execute a substation joint patrol method, which includes: based on a region map of a patrol region of a UAV and a region map of a patrol region of a ground robot, respectively performing coverage path planning to obtain an initial patrol path of the UAV and a patrol path of the ground robot; based on a UAV path point in the initial patrol path of the UAV and a robot path point in the patrol path of the ground robot, constructing a first bipartite graph; matching the first bipartite graph to obtain a robot path point matched by each UAV path point, and determining a maximum battery replacement time based on a distance between each UAV path point and the robot path point matched therewith; based on the maximum battery replacement time, determining a battery replacement path point in the initial patrol path of the UAV and a battery replacement path point matched therewith in the patrol path of the ground robot; adding the battery replacement path point matched by the battery replacement path point in the initial patrol path of the UAV in the patrol path of the ground robot to a corresponding battery replacement path point in the initial patrol path of the UAV to obtain a patrol path of the UAV; and based on the patrol path of the UAV and the patrol path of the ground robot, performing joint patrol.

[0114] In addition, the logic instruction in the memory 520 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0115] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform the substation joint patrol method provided by any of the above methods, the method comprising: performing coverage path planning based on a region map of a patrol region of a UAV and a region map of a patrol region of a ground robot respectively to obtain an initial patrol path of the UAV and a patrol path of the ground robot; constructing a first bipartite graph based on UAV path points in the initial patrol path of the UAV and robot path points in the patrol path of the ground robot; matching the first bipartite graph to obtain a robot path point matched with each UAV path point, and determining a maximum battery replacement time based on a distance between each UAV path point and the robot path point matched therewith; determining a battery replacement path point in the initial patrol path of the UAV and a battery replacement path point matched therewith in the patrol path of the ground robot based on the maximum battery replacement time; adding the battery replacement path point matched with the battery replacement path point in the initial patrol path of the UAV to a corresponding battery replacement path point in the initial patrol path of the UAV to obtain a patrol path of the UAV; and performing joint patrol based on the patrol path of the UAV and the patrol path of the ground robot.

[0116] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a substation joint patrol method provided by any of the above methods, the method comprising: performing coverage path planning based on a region map of a patrol region of a UAV and a region map of a patrol region of a ground robot respectively to obtain an initial patrol path of the UAV and a patrol path of the ground robot; constructing a first bipartite graph based on UAV path points in the initial patrol path of the UAV and robot path points in the patrol path of the ground robot; matching the first bipartite graph to obtain a robot path point matched with each UAV path point, and determining a maximum battery replacement time based on a distance between each UAV path point and the robot path point matched therewith; determining a battery replacement path point in the initial patrol path of the UAV and a battery replacement path point matched therewith in the patrol path of the ground robot based on the maximum battery replacement time; adding the battery replacement path point matched with the battery replacement path point in the initial patrol path of the UAV to a corresponding battery replacement path point in the initial patrol path of the UAV to obtain a patrol path of the UAV; and performing joint patrol based on the patrol path of the UAV and the patrol path of the ground robot.

[0117] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0119] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for joint patrol of substations, characterized in that, include: Coverage path planning is performed on the area maps of the UAV's patrol area and the area maps of the ground robot's patrol area to obtain the initial patrol path of the UAV and the patrol path of the ground robot. Based on the drone path points in the initial patrol path of the drone and the robot path points in the patrol path of the ground robot, a first bipartite graph is constructed. The first bipartite graph is matched to obtain the robot path points matched by each UAV path point, and the maximum battery swapping time is determined based on the distance between each UAV path point and its matched robot path point. Based on the maximum battery swapping time, the battery swapping path points in the initial patrol path of the UAV and their matching battery swapping path points in the patrol path of the ground robot are determined, specifically including: Based on the maximum battery swapping time, the initial patrol path of the UAV and the patrol path of the ground robot are clustered to obtain multiple UAV path clusters and robot path clusters; wherein, the sum of the flight time of all path points in any UAV path cluster is not greater than the difference between the preset maximum flight time and the maximum battery swapping time, and the sum of the travel time of all path points in any robot path cluster is not greater than the preset maximum flight time. Determine the robot path cluster that matches each UAV path cluster; Based on each UAV path cluster and its matching robot path cluster, determine the battery swapping path points in the corresponding UAV path cluster and the battery swapping path points in the matching robot path cluster. After adding the battery swapping path point in the initial inspection path of the UAV to the corresponding battery swapping path point in the inspection path of the ground robot, the inspection path of the UAV is obtained. Joint patrols are conducted based on the patrol paths of the drone and the ground robot.

2. The substation joint patrol method according to claim 1, characterized in that, The UAV path clusters are constructed in the following manner: The first cluster expansion step: determine the flight time from the current UAV path point in the current UAV path cluster to the next UAV path point in the initial inspection path of the UAV; If the sum of the flight time from the current UAV waypoint to the next UAV waypoint and the current total flight time is less than or equal to the difference between the preset maximum flight time and the maximum battery swapping time, then the next UAV waypoint is added to the current UAV path cluster, the current total flight time is updated based on the flight time from the current UAV waypoint to the next UAV waypoint, and if the next UAV waypoint is not the last UAV waypoint, the next UAV waypoint is used as the current UAV waypoint, and the process jumps to the first iteration step; if the sum of the flight time from the current UAV waypoint to the next UAV waypoint and the current total flight time is greater than the difference between the preset maximum flight time and the maximum battery swapping time, the process jumps to the first cluster creation step. First iteration step: Repeat the first cluster expansion step; The first cluster creation step is as follows: create an empty drone path cluster as the current drone path cluster, add the next drone path point to the current drone path cluster, and if the next drone path point is not the last drone path point, use the next drone path point as the current drone path point, and jump to the first cluster expansion step.

3. The substation joint patrol method according to claim 1, characterized in that, The robot path cluster is constructed based on the following method: The second cluster expansion step: determine the travel time from the current robot path point in the current robot path cluster to the next robot path point in the inspection path of the ground robot; If the sum of the travel time from the current robot path point to the next robot path point and the current total travel time is less than or equal to the preset maximum flight time, then the next robot path point is added to the current robot path cluster, the current total travel time is updated based on the travel time from the current robot path point to the next robot path point, and if the next robot path point is not the last robot path point, the next robot path point is used as the current robot path point, and the process jumps to the second iteration step; if the sum of the travel time from the current robot path point to the next robot path point and the current total travel time is greater than the preset maximum flight time, the process jumps to the second cluster creation step. Second iteration step: Repeat the second cluster expansion step; The second cluster creation step is as follows: create an empty robot path cluster as the current robot path cluster, add the next robot path point to the current robot path cluster, and if the next robot path point is not the last robot path point, use the next robot path point as the current robot path point, and jump to the second cluster expansion step.

4. The substation joint patrol method according to claim 1, characterized in that, Based on each UAV path cluster and its matching robot path cluster, the battery swapping path points in the corresponding UAV path cluster and their matching robot path clusters are determined, including: Construct a second bipartite graph based on any UAV path cluster and its matching robot path cluster; Matching the second bipartite graph yields the robot path points matched with each UAV path point in any UAV path cluster. The last UAV path point and its matching robot path point in any UAV path cluster are determined as the battery swapping path point in the UAV path cluster and the battery swapping path point in the matching robot path cluster.

5. The substation joint patrol method according to claim 1, characterized in that, Determine the robot path clusters that match each UAV path cluster, including: For any UAV path cluster, determine the robot path cluster whose first robot path point is closest to the first UAV path point of any UAV path cluster, and use it as the robot path cluster that matches any UAV path cluster.

6. The substation joint patrol method according to any one of claims 1 to 5, characterized in that, The maximum battery swapping time is determined based on the distance between each drone waypoint and its matched robot waypoint, including: The one-way battery swapping time is determined based on the maximum distance between each UAV waypoint and its matched robot waypoint. The maximum battery swap time is determined to be twice the one-way battery swap time.

7. A substation joint patrol device, characterized in that, include: The initial path planning unit is used to perform coverage path planning based on the area map of the UAV's patrol area and the area map of the ground robot's patrol area, respectively, to obtain the initial patrol path of the UAV and the patrol path of the ground robot. The first bipartite graph construction unit is used to construct a first bipartite graph based on the UAV path points in the initial inspection path of the UAV and the robot path points in the inspection path of the ground robot. The battery swapping time determination unit is used to match the first bipartite graph to obtain the robot path points matched by each UAV path point, and to determine the maximum battery swapping time based on the distance between each UAV path point and its matched robot path point. The battery swapping path point determination unit is used to determine, based on the maximum battery swapping time, the battery swapping path points in the initial patrol path of the UAV and the matching battery swapping path points in the patrol path of the ground robot, specifically including: Based on the maximum battery swapping time, the initial patrol path of the UAV and the patrol path of the ground robot are clustered to obtain multiple UAV path clusters and robot path clusters; wherein, the sum of the flight time of all path points in any UAV path cluster is not greater than the difference between the preset maximum flight time and the maximum battery swapping time, and the sum of the travel time of all path points in any robot path cluster is not greater than the preset maximum flight time. Determine the robot path cluster that matches each UAV path cluster; Based on each UAV path cluster and its matching robot path cluster, determine the battery swapping path points in the corresponding UAV path cluster and the battery swapping path points in the matching robot path cluster. The path update unit is used to add the battery swapping path point in the initial inspection path of the UAV to the battery swapping path point matched in the inspection path of the ground robot, and then to the corresponding battery swapping path point in the initial inspection path of the UAV, so as to obtain the inspection path of the UAV. A joint patrol unit is used to conduct joint patrols based on the patrol paths of the UAV and the ground robot.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the substation joint patrol method as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the substation joint patrol method as described in any one of claims 1 to 5.

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