Patrol route planning method and system and readable storage medium

Abstract

The invention relates to a patrol route planning method and system and a readable storage medium, and the method comprises the steps: dividing a factory topographic map through employing a grid method, and taking a vertical column in a factory as an end point of each standard grid; obstacles in the factory are drawn on a factory topographic map; according to the distribution condition of the obstacles, patrol points are arranged on the factory topographic map, the patrol points are divided into at least two groups, and patrol point position maps are drawn respectively; using a heuristic search algorithm to calculate the actual walking distance required by every two inspection points in each inspection point map to bypass the obstacle; and for each patrol point map, a route planning problem passing through all patrol points in the patrol point map is converted into a traveling salesman problem, and an optimal patrol route of the traveling salesman problem is solved according to a result calculated by a heuristic search algorithm, so that an optimal patrol route of each patrol point map is obtained. According to the invention, factory inspection full coverage can be realized while the personnel inspection distance is reduced, and clear guidance is provided for on-site inspection personnel.

Description

Technical Field

[0001] The present invention relates to the field of semiconductor manufacturing technology, and in particular to a patrol route planning method, system and readable storage medium. Background Art

[0002] In wafer fabs, inspectors usually use a pre-planned inspection route map for inspection. The inspection route map simply marks the order of the check-in points and the inspection direction. However, as the number of equipment in the factory increases year by year, the factory environment becomes more complex. Since the original inspection route map is only a schematic diagram of the inspection direction of the check-in points, it is unable to provide specific guidance to on-site inspectors. On-site inspectors need to repeat the inspection many times to meet the requirements of full coverage of factory inspections, which is time-consuming and labor-intensive, and the inspection effect is not good. Summary of the invention

[0003] The purpose of the present invention is to provide a patrol route planning method, system and readable storage medium, which can achieve full coverage of factory patrols while reducing the patrol distance of personnel and provide clear guidance to on-site patrol personnel.

[0004] To achieve the above object, the present invention provides a patrol route planning method, comprising the following steps:

[0005] The factory topographic map is divided into grids, with the pillars in the factory as the endpoints of each standard grid;

[0006] mapping obstacles within the factory onto the factory topographic map;

[0007] According to the distribution of the obstacles, patrol points are set on the factory topographic map, and the patrol points are divided into at least two groups and patrol point maps are drawn respectively;

[0008] Using a heuristic search algorithm to calculate the actual walking distance required for each two patrol points in each patrol point map to bypass obstacles;

[0009] For each patrol point map, the route planning problem passing through all patrol points in the patrol point map is converted into a traveling salesman problem, and the optimal patrol route of the traveling salesman problem is solved according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point map.

[0010] Optionally, the strategy for setting patrol points on the factory topographic map according to the distribution of the obstacles includes:

[0011] If the obstacle is set outside the standard grid, the patrol point is set at the center of the standard grid;

[0012] If the obstacle is arranged in the standard grid, the patrol points are arranged on one side or both sides of the obstacle.

[0013] Optionally, the obstacle is arranged within the standard grid;

[0014] If the obstacles are arranged in the longitudinal direction, the patrol point is set on the side with larger space of the standard grid;

[0015] If the obstacles are arranged in the horizontal direction, the patrol points are set on both sides of the obstacles in the standard grid.

[0016] Optionally, the heuristic search algorithm is an A* algorithm.

[0017] Optionally, the LKH-3 solver is used to solve the optimal tour route of the traveling salesman problem.

[0018] Optionally, after obtaining the optimal patrol route of each patrol point map, the patrol route planning method further includes:

[0019] Carry out alternating inspections according to the optimal inspection route of each inspection point map.

[0020] Based on the same technical concept, the present invention also provides a patrol route planning system, comprising:

[0021] A division module is used to divide the factory topographic map using a grid method, with the pillars in the factory as the endpoints of each standard grid;

[0022] A drawing module, used for drawing obstacles in the factory onto the factory topographic map;

[0023] A patrol grouping module, used for setting patrol points on the factory topographic map according to the distribution of the obstacles, and dividing the patrol points into at least two groups and drawing patrol point maps respectively;

[0024] A calculation module, used for calculating the actual walking distance required for each two patrol points in each patrol point map to bypass obstacles by using a heuristic search algorithm;

[0025] The optimization module is used to convert the route planning problem passing through all the patrol points in each patrol point map into a traveling salesman problem, and solve the optimal patrol route of the traveling salesman problem according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point map.

[0026] Optionally, the strategy of the patrol grouping module setting patrol points on the factory topographic map according to the distribution of the obstacles includes:

[0027] If the obstacle is set outside the standard grid, the patrol point is set at the center of the standard grid;

[0028] If the obstacle is arranged in the standard grid, the patrol points are arranged on one side or both sides of the obstacle.

[0029] Optionally, the obstacle is arranged within the standard grid;

[0030] If the obstacles are arranged in the longitudinal direction, the patrol point is set on the side with larger space of the standard grid;

[0031] If the obstacles are arranged in the horizontal direction, the patrol points are set on both sides of the obstacles in the standard grid.

[0032] Based on the same technical concept, the present invention also provides a readable storage medium on which a computer program is stored. When the computer program is executed, the patrol route planning method as described above can be implemented.

[0033] In a patrol route planning method, system and readable storage medium provided by the present invention, a grid method is used to divide the factory topographic map and draw obstacles, and patrol points are set according to the distribution of the obstacles. Then, a heuristic search algorithm is used to calculate the actual walking distance between every two patrol points. The patrol route planning problem is simplified to a traveling salesman problem, and the optimal patrol route is obtained by solving it. This can achieve full coverage of factory patrols while reducing the patrol distance of personnel, give clear guidance to on-site patrol personnel, and further consolidate the safety foundation of the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Those skilled in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0035] Figure 1 A flowchart of a patrol route planning method provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a factory topographic map provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the arrangement of patrol points of group A provided in one embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the arrangement of patrol points of group B provided by an embodiment of the present invention;

[0039] Figure 5-Figure 6 A schematic diagram of setting patrol points when obstacles are set outside the standard grid provided by an embodiment of the present invention;

[0040] Figure 7 A schematic diagram of setting patrol points when obstacles are set in a standard grid and arranged longitudinally, provided in one embodiment of the present invention;

[0041] Figure 8 A schematic diagram of setting patrol points when obstacles are set in a standard grid and arranged horizontally according to an embodiment of the present invention;

[0042] Fig. 9 A schematic diagram of an optimal patrol route for patrol points of group A provided in one embodiment of the present invention;

[0043] Fig.10 A schematic diagram of the optimal patrol route for patrol points in group B provided by an embodiment of the present invention.

[0044] Optimal patrol route.

[0045] In the attached figure:

[0046] 100-standard grid; 110-column; 120-obstacle; 130-patrol point; 141-first optimal patrol route; 142-second optimal patrol route. DETAILED DESCRIPTION

[0047] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size, under the same or similar conditions as the effects that can be produced by the present invention and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0048] As used in the present invention, the singular forms "one", "an", and "the" include plural objects, unless the content clearly indicates otherwise. As used in the present invention, the term "or" is generally used in a sense that includes "and / or", unless the content clearly indicates otherwise. As used in the present invention, the term "several" is generally used in a sense that includes "at least one", unless the content clearly indicates otherwise. As used in the present invention, the term "at least two" is generally used in a sense that includes "two or more", unless the content clearly indicates otherwise. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features.

[0049] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] Please refer to Figure 1 , an embodiment of the present invention provides a patrol route planning method, comprising the following steps:

[0051] S1. Use the grid method to divide the factory topographic map, with the pillars in the factory as the endpoints of each standard grid;

[0052] S2. drawing obstacles in the factory onto the factory topographic map;

[0053] S3. Setting patrol points on the factory topographic map according to the distribution of the obstacles, and dividing the patrol points into at least two groups and drawing patrol point maps for each group;

[0054] S4, using a heuristic search algorithm to calculate the actual walking distance required for each two patrol points in each patrol point map to bypass obstacles;

[0055] S5. For each patrol point map, the route planning problem passing through all patrol points in the patrol point map is converted into a traveling salesman problem, and the optimal patrol route of the traveling salesman problem is solved according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point map.

[0056] By using the grid method to divide the factory terrain map and draw obstacles, and then setting inspection points according to the distribution of the obstacles, and then using the heuristic search algorithm to calculate the actual walking distance between every two inspection points, the inspection route planning problem is simplified to a traveling salesman problem. By solving the problem, the optimal inspection route is obtained, which can achieve full coverage of factory inspections while reducing the inspection distance of personnel, giving clear guidance to on-site inspection personnel, and further consolidating the safety foundation of the factory.

[0057] First, execute S1, refer to Figure 2 and Figure 5 , the factory topographic map is divided by the grid method, and the pillars 110 in the factory are used as the endpoints of each standard grid 100. In some embodiments, patrol personnel or patrol robots can be used for patrol, and the present invention does not limit this. In this embodiment, the line of sight of the patrol personnel has a certain extension distance, and the line of sight cannot penetrate the pillars 110 and various obstacles 120 such as walls. According to the actual situation of the factory, the distance between adjacent pillars 110 is 6 meters. Therefore, the patrol personnel's line of sight patrol coverage area is the 6*6 meter square space between the pillars 110, so the 6*6 meter square space can be defined as a standard grid 100, and a total of 326 standard grids are generated. Of course, the present invention does not limit the size of the standard grid 100, and it can be divided according to actual conditions.

[0058] Then execute S2, such as Figure 2 As shown, obstacles 120 in the factory (illustrated by black thick lines in the figure) are drawn on the factory topographic map, providing a corresponding topographic plan for subsequent setting of patrol points and using a heuristic search algorithm to calculate the actual walking distance required to bypass obstacles 120 between every two patrol points. In this embodiment, the obstacles 120 include but are not limited to shear walls and immovable electrical cabinets.

[0059] Then execute S3, please refer to Figure 3 and Figure 4 According to the distribution of the obstacles 120, patrol points 130 (indicated by black dots in the figure) are set on the factory topographic map, and the patrol points 130 are divided into at least two groups and patrol point maps are drawn for each group. By dividing the patrol points 130 into at least two groups and planning patrol routes for each group, the patrol distance of personnel can be reduced while achieving full coverage of factory patrol. In this embodiment, the patrol points 130 are divided into two groups A and B and patrol point maps are drawn for each group. The patrol point map of the patrol points 130 in group A is shown in FIG. Figure 3 As shown, the patrol point map of group B patrol point 130 is as follows Figure 4 When the patrol personnel passes through all patrol points 130, the patrol is considered completed.

[0060] In this embodiment, the strategy of setting the patrol points 130 on the factory topographic map according to the distribution of the obstacles 120 includes:

[0061] If the obstacle 120 is set outside the standard grid 100, the patrol point 130 is set at the center position of the standard grid 100;

[0062] If the obstacle 120 is disposed within the standard grid 100 , the patrol points 130 are disposed on one side or both sides of the obstacle 120 .

[0063] The obstacle 120 is arranged outside the standard grid 100. Figure 5 and Figure 6 As shown, an obstacle 120 (shear wall) is arranged between two adjacent columns 110 of the standard grid 100 .

[0064] Further, the obstacle 120 is arranged in the standard grid 100;

[0065] If the obstacles 120 are arranged in the longitudinal direction, the patrol point 130 is set on the side of the standard grid 100 where the space is larger, such as Figure 7 As shown;

[0066] If the obstacles 120 are arranged in the horizontal direction, the patrol points 130 are set on both sides of the obstacles 120 in the standard grid 100, such as Figure 8 shown.

[0067] Of course, the setting positions of the patrol points 130 may also be adjusted according to actual needs, and the present invention does not limit this.

[0068] Then, S4 is executed to use a heuristic search algorithm to calculate the actual walking distance required for every two patrol points 130 in each patrol point map to bypass the obstacle 120. In this embodiment, the heuristic search algorithm is an A* algorithm.

[0069] Finally, S5 is executed to transform the route planning problem passing through all the patrol points 130 in the patrol point map into a traveling salesman problem for each patrol point map, and solve the optimal patrol route of the traveling salesman problem according to the result calculated by the heuristic search algorithm, thereby obtaining the optimal patrol route of each patrol point map.

[0070] The Traveling Salesman Problem is one of the famous problems in the field of mathematics. Suppose a traveling salesman wants to visit N cities. He must choose the path to take. The restriction of the path is that each city can only be visited once, and finally he must return to the original starting city. The goal is to obtain the minimum distance of all paths. This embodiment simplifies the patrol route planning problem into the traveling salesman problem, solves the optimal patrol route, and thereby achieves full coverage of factory patrol while reducing the patrol distance of personnel.

[0071] Preferably, the LKH-3 solver is used to solve the optimal tour route of the traveling salesman problem.

[0072] In this embodiment, the check-in points can be rearranged according to the optimal patrol route obtained by solving the problem, and the patrol personnel use the optimal patrol route to conduct patrols.

[0073] Preferably, after obtaining the optimal patrol route of each patrol point map, the patrol route planning method further includes:

[0074] Carry out alternating inspections according to the optimal inspection route of each inspection point map.

[0075] In this embodiment, Figure 9-10 As shown, this embodiment obtains the first optimal patrol route 141 of the patrol points 130 of group A and the second optimal patrol route 142 of the patrol points 130 of group B, then the patrol personnel can perform alternating patrols in the manner of alternating and repeating the first optimal patrol route 141-the second optimal patrol route 142-the first optimal patrol route 141, that is, after completing the clocking in of all patrol points 130 of group A according to the first optimal patrol route 141, and then completing the clocking in of all patrol points 130 of group B according to the second optimal patrol route 142, every two patrols (AB line) can achieve full coverage of the factory area.

[0076] Based on the same invention concept, please combine Figure 2-Figure 8 , an embodiment of the present invention further provides a patrol route planning system, comprising:

[0077] A division module, for dividing the factory topographic map using a grid method, with the pillars 110 in the factory as the endpoints of each standard grid 100;

[0078] A drawing module, used for drawing the obstacles 120 in the factory onto the factory topographic map;

[0079] A patrol grouping module, used to set patrol points on the factory topographic map according to the distribution of the obstacles 120, and to divide the patrol points 130 into at least two groups and draw bitmaps of the patrol points 130 respectively;

[0080] A calculation module, used for calculating the actual walking distance required for every two patrol points 130 in the patrol point 130 bitmap to bypass the obstacle 120 by using a heuristic search algorithm;

[0081] The optimization module is used to convert the route planning problem of all patrol points 130 in the patrol point 130 bitmap into a traveling salesman problem for each patrol point 130 bitmap, and solve the optimal patrol route of the traveling salesman problem according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point 130 bitmap.

[0082] In this embodiment, the strategy of the patrol grouping module to set the patrol points 130 on the factory topographic map according to the distribution of the obstacles 120 includes:

[0083] If the obstacle 120 is set outside the standard grid 100, the patrol point 130 is set at the center position of the standard grid 100;

[0084] If the obstacle 120 is disposed within the standard grid 100 , the patrol points 130 are disposed on one side or both sides of the obstacle 120 .

[0085] Further, the obstacle 120 is arranged in the standard grid 100;

[0086] If the obstacles 120 are arranged in the longitudinal direction, the patrol point 130 is set on the side of the standard grid 100 with a larger space;

[0087] If the obstacles 120 are arranged in the transverse direction, the patrol points 130 are set on both sides of the obstacles 120 in the standard grid 100 .

[0088] In this embodiment, Figure 9-10 As shown, in this embodiment, the first optimal patrol route 141 of the patrol points 130 of group A and the second optimal patrol route 142 of the patrol points 130 of group B are obtained, and the patrol personnel can perform alternating patrols in a patrol manner of alternating and repeating the first optimal patrol route 141-the second optimal patrol route 142-the first optimal patrol route 141, that is, after completing the clocking in of all patrol points 130 of group A according to the first optimal patrol route 141, the clocking in of all patrol points 130 of group B can be completed according to the second optimal patrol route 142.

[0089] Based on the same inventive concept, an embodiment of the present invention further provides a readable storage medium on which a computer program is stored. When the computer program is executed, the patrol route planning method as described above can be implemented.

[0090] The readable storage medium can be a tangible device that can keep and store the instructions used by the instruction execution device, such as but not limited to an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device or any suitable combination thereof. The more specific example (non-exhaustive list) of the readable storage medium includes: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof. The computer program described herein can be downloaded from the readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network and / or a wireless network. The network can include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer program from the network and forwards the computer program for storage in the readable storage medium in each computing / processing device. The computer program for performing the operation of the present invention can be an assembly instruction, an instruction set architecture (ISA) instruction, a machine instruction, a machine-related instruction, a microcode, a firmware instruction, a state setting data, or a source code or object code written in any combination of one or more programming languages, including object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. The computer program can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by utilizing the state information of a computer program to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute computer-readable program instructions to implement various aspects of the present invention.

[0091] Here, various aspects of the present invention are described with reference to the flowchart and / or block diagram of the method, system and computer program product according to the embodiment of the present invention. It should be understood that each square frame of the flowchart and / or block diagram and the combination of the square frames in the flowchart and / or block diagram can be realized by a computer program. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so as to produce a machine, so that these programs, when executed by the processor of a computer or other programmable data processing device, produce a device for realizing the function / action specified in one or more square frames in the flowchart and / or block diagram. These computer programs can also be stored in a readable storage medium, and these computer programs make the computer, programmable data processing device and / or other equipment work in a specific way, so that the readable storage medium storing the computer program includes a manufactured product, which includes instructions for realizing various aspects of the function / action specified in one or more square frames in the flowchart and / or block diagram.

[0092] The computer program may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are executed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the computer program executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0093] In summary, the embodiments of the present invention provide a patrol route planning method, system and readable storage medium, which divide the factory topographic map and draw obstacles by using the grid method, set patrol points according to the distribution of the obstacles, and then use the heuristic search algorithm to calculate the actual walking distance between every two patrol points. The patrol route planning problem is simplified to a traveling salesman problem, and the optimal patrol route is obtained by solving it, so that full coverage of factory patrols can be achieved while reducing the patrol distance of personnel, giving clear guidance to on-site patrol personnel, and further consolidating the safety foundation of the factory.

[0094] The above description is only a description of the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention based on the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A patrol route planning method, characterized in that: The following steps are involved: The factory topographic map is divided into grids, with the pillars in the factory as the endpoints of each standard grid; mapping obstacles within the factory onto the factory topographic map; According to the distribution of the obstacles, patrol points are set on the factory topographic map, and the patrol points are divided into at least two groups and patrol point maps are drawn respectively; Using a heuristic search algorithm to calculate the actual walking distance required for each two patrol points in each patrol point map to bypass obstacles; For each patrol point map, the route planning problem passing through all patrol points in the patrol point map is converted into a traveling salesman problem, and the optimal patrol route of the traveling salesman problem is solved according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point map.

2. The patrol route planning method according to claim 1, characterized in that: The strategies for setting patrol points on the factory topographic map according to the distribution of the obstacles include: If the obstacle is set outside the standard grid, the patrol point is set at the center of the standard grid; If the obstacle is arranged in the standard grid, the patrol points are arranged on one side or both sides of the obstacle.

3. The patrol route planning method according to claim 2, characterized in that: The obstacle is arranged in the standard grid; If the obstacles are arranged in the longitudinal direction, the patrol point is set on the side of the standard grid with a larger space; If the obstacles are arranged in the horizontal direction, the patrol points are set on both sides of the obstacles in the standard grid.

4. The patrol route planning method according to claim 1, characterized in that: The heuristic search algorithm is the A* algorithm.

5. The patrol route planning method according to claim 1, characterized in that: The LKH-3 solver is used to solve the optimal tour route of the traveling salesman problem.

6. The patrol route planning method according to claim 1, characterized in that: After obtaining the optimal patrol route of each patrol point map, the patrol route planning method further includes: Carry out alternating inspections according to the optimal inspection route of each inspection point map.

7. A patrol route planning system, characterized in that: include: A division module is used to divide the factory topographic map using the grid method, with the pillars in the factory as the endpoints of each standard grid; A drawing module, used for drawing obstacles in the factory onto the factory topographic map; A patrol grouping module, used for setting patrol points on the factory topographic map according to the distribution of the obstacles, and dividing the patrol points into at least two groups and drawing patrol point maps respectively; A calculation module, used for calculating the actual walking distance required for each two patrol points in each patrol point map to bypass obstacles by using a heuristic search algorithm; The optimization module is used to convert the route planning problem passing through all the patrol points in each patrol point map into a traveling salesman problem, and solve the optimal patrol route of the traveling salesman problem according to the result calculated by the heuristic search algorithm, so as to obtain the optimal patrol route of each patrol point map.

8. The patrol route planning system according to claim 7, characterized in that: The strategy of the patrol grouping module setting patrol points on the factory topographic map according to the distribution of the obstacles includes: If the obstacle is set outside the standard grid, the patrol point is set at the center of the standard grid; If the obstacle is arranged in the standard grid, the patrol points are arranged on one side or both sides of the obstacle.

9. The patrol route planning system according to claim 8, characterized in that: The obstacle is arranged in the standard grid; If the obstacles are arranged in the longitudinal direction, the patrol point is set on the side of the standard grid with a larger space; If the obstacles are arranged in the horizontal direction, the patrol points are set on both sides of the obstacles in the standard grid.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the patrol route planning method according to any one of claims 1 to 6 can be implemented.

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