Path planning method for cable position

Abstract

The invention discloses a path planning method for a cable position. The method comprises the following steps: acquiring a target position of a target cable; determining a built road adjacent to the target position, and determining an initial position of a cable on the built road according to the built road; each preset path point corresponding to the target position is acquired, each path point comprises path points from the target position to the established road, and each path point is a path point which can be passed; selecting a target path point from the initial position of the cable to the target position from the path points; and determining a second navigation path from the initial position of the cable to the target position according to the target path point. According to the scheme provided by the invention, a reasonable path for reaching the cable position can be planned, so that a maintainer can smoothly reach the cable position according to the planned path.

Description

Technical Field

[0001] The present application relates to the technical field of position navigation, and in particular to a path planning method for cable positions. Background Art

[0002] With the acceleration of urbanization, the construction and maintenance of underground infrastructure has become increasingly important. As an important part of power transmission and communication, the safety and reliability of underground cables directly affect the normal operation of the city. Therefore, underground cables often need to be inspected and repaired. However, for many cables buried in remote places, such as cables buried in forests or woods, conventional navigation maps can only provide path navigation based on existing roads. There are often no roads built in these remote areas, resulting in the inability of existing navigation maps to perform reasonable path planning to reach the cable location, so that maintenance personnel can only find the road themselves according to the cable location. Or, even if the navigation map has planned a path, due to the lack of road guidance, the planned path is often unreasonable. When navigating along the path, maintenance personnel are likely to encounter difficulties and obstacles on the road and fail to reach the cable location. Summary of the invention

[0003] The present application provides a cable location path planning method, which can plan a reasonable path to the cable location, so that maintenance personnel can smoothly reach the cable location according to the planned path. The specific scheme is as follows:

[0004] The present application provides a cable location path planning method, the method comprising:

[0005] Obtain the target position of the target cable;

[0006] Determine an existing road adjacent to the target location, and determine a preliminary location of the cable based on the existing road;

[0007] Acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point;

[0008] Selecting a target path point from the cable preliminary position to the target position from the path points;

[0009] A second navigation path is determined from the preliminary position of the cable to the target position based on the target path point.

[0010] Optionally, the selecting a target path point from the cable preliminary position to the target position from the path points includes:

[0011] Based on the principle of minimizing the cost from the initial position of the cable to the target position, selecting a target path point from the initial position of the cable to the target position from the path points;

[0012] A navigation path from the preliminary position of the cable to the target position is determined based on the target path point.

[0013] Optionally, determining a second navigation path from the cable preliminary position to the target position according to the target path point comprises:

[0014] When the navigation path includes multiple paths, obtaining historical path selection information, the historical path selection information includes the paths selected by the inspection personnel during historical inspections;

[0015] A second navigation path from the cable preliminary position to the target position is selected from the plurality of navigation paths according to the historical path selection information.

[0016] Optionally, the selecting a target path point from the cable preliminary position to the target position from the path points based on the principle of minimizing the cost from the cable preliminary position to the target position comprises:

[0017] Another i=1;

[0018] Traverse each adjacent path point of the i-th path point, and calculate the selection cost corresponding to each adjacent path point, wherein the selection cost represents the cost of selecting the adjacent path point as a path point to reach the target position, and the first path point is the initial position of the cable;

[0019] The adjacent path point with the minimum cost is selected as the i+1th path point;

[0020] If i=i+1, return to execute the step of traversing each adjacent path point of the i-th path point;

[0021] When the (i+1)th path point is the target position, the (1) to (i+1)th path points are used as target path points from the initial position of the cable to the target position.

[0022] Optionally, the calculating the selection cost corresponding to each adjacent path point includes:

[0023] For any adjacent path point of the i-th path point, calculate the actual cost from the preliminary position of the cable to the adjacent path point, and calculate the estimated cost from the adjacent path point to the target position;

[0024] The sum of the actual cost and the estimated cost is determined as the selection cost corresponding to the adjacent path point.

[0025] Optionally, the calculating the estimated cost from the adjacent path points to the target location includes:

[0026] The distance from the adjacent path point to the target location is determined, and the estimated cost from the adjacent path point to the target location is determined based on the calculated distance.

[0027] Optionally, obtaining each preset path point corresponding to the target position includes:

[0028] Acquire a panoramic image corresponding to the target position, wherein each pre-set path point corresponding to the target position is marked in the panoramic image;

[0029] The preset path points corresponding to the target position are obtained from the panoramic image.

[0030] Optionally, the method further comprises: displaying a path from the preliminary position of the cable to the target position on a navigation map of a handheld terminal;

[0031] Before obtaining the target position of the target cable, the method further includes:

[0032] Get faulty cable information;

[0033] The target cables to be repaired are determined based on the inspection history and / or the replacement time of the cable intermediate joints.

[0034] Optionally, before acquiring each preset path point corresponding to the target position, the method further includes:

[0035] Creating a first navigation path from an initial navigation position to the cable preliminary position, wherein the first navigation path is used to guide the user to reach the cable preliminary position from the initial navigation position;

[0036] The obtaining of each preset path point corresponding to the target position includes:

[0037] In response to the target object arriving at the preliminary position of the cable, each preset path point corresponding to the target position is acquired.

[0038] Optionally, determining a preliminary position of the cable according to the built road comprises:

[0039] The intersection of the motor vehicle lane and the pedestrian path closest to the target position is determined according to the built road, and the intersection is determined as the preliminary position of the cable.

[0040] Compared with the prior art, this application has the following advantages:

[0041] The path planning method for the cable position provided in the present application obtains the target position of the target cable, determines the built roads adjacent to the target position, and then determines the initial position of the cable based on the built roads. Since the built roads are existing roads, maintenance personnel can accurately navigate to the built roads. Since the initial position of the cable is located on the built roads, it is also possible to quickly reach the initial position of the cable based on existing navigation technology, and then obtain the pre-set path points corresponding to the target position. Since each path point is pre-set, and each path point includes a path point from the target position to the built road, each path point is a passable path point. Therefore, the path planned to the target position according to each path point can enable the maintenance personnel to smoothly reach the target position where the target cable is located through the planned path; therefore, a target path point from the initial position of the cable to the target position can be selected from the path points, and a second navigation path from the initial position of the cable to the target position can be determined based on the target path point. The determined second navigation path can enable the inspection personnel to smoothly reach the target position where the target cable is located from the initial position of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a flowchart of an example of a cable location path planning method provided in an embodiment of the present application;

[0043] Figure 2 It is a structural block diagram of an example of a cable location path planning device provided in an embodiment of the present application;

[0044] Figure 3 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is described clearly and completely below in conjunction with the drawings in the embodiments of the present application. However, the present application can be implemented in many other ways different from the following description. Therefore, based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the scope of protection of the present application.

[0046] It should be noted that the terms "first", "source domain", "third", etc. in the claims, description and drawings of the present application are used to distinguish similar objects and are not used to describe a specific order or sequence. The data used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including", "having" and their variants are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] In order to facilitate understanding of the various embodiments of the present application, the application background of the embodiments is described.

[0048] With the acceleration of urbanization, the construction and maintenance of underground infrastructure has become increasingly important. As an important part of power transmission and communication, the safety and reliability of underground cables directly affect the normal operation of the city. Therefore, underground cables often need to be inspected and repaired. However, for many cables buried in remote places, such as cables buried in forests or woods, conventional navigation maps can only perform path navigation based on existing roads. There are often no roads built in these remote areas, resulting in the inability of existing navigation maps to perform reasonable path planning to reach the cable location, so that maintenance personnel can only find the road according to the cable location. Or, even if the navigation map plans a path, the planned path is often unreasonable due to the lack of road guidance. For example, the navigation map may plan a straight path from the starting point to the cable location. There may be obstacles that cannot be passed on this straight path. When navigating along this path, maintenance personnel may encounter difficulties and obstacles on the road and cannot reach the cable location.

[0049] In order to solve the above problems, the embodiments of the present application provide a cable location path planning method, device, electronic device and computer-readable storage medium, which can plan a reasonable path to the cable location so that maintenance personnel can smoothly reach the cable location according to the planned path.

[0050] The first embodiment of the present application provides a path planning method for cable locations. The executor of the method may be an electronic device, which may be a mobile phone, tablet computer, desktop computer, laptop computer, smart mobile terminal, server, controller, navigation device, or other device with positioning and navigation functions and data processing functions.

[0051] like Figure 1As shown, the cable location path planning method provided in the first embodiment of the present application includes the following steps S110 to S150.

[0052] Step S110: Acquire the target position of the target cable.

[0053] The target cable may be a cable to be repaired. Since the cable damage position usually occurs at the joint position, the target cable may specifically be a target cable joint.

[0054] In an embodiment of the present application, construction workers have recorded and saved the location of each cable in advance when burying or installing the cables. The background system can pre-store the location of each cable, so that the electronic device can obtain the target location of the target cable from the stored records.

[0055] Exemplarily, the faulty cable may be determined as the target cable, for example, the location of the faulty cable connector may be determined as the target location of the target cable, so that maintenance personnel can subsequently find the faulty cable according to the path.

[0056] In one implementation, before step S110, the method may further include the following steps S110a to S110b.

[0057] Step S110a: Acquire the faulty cable.

[0058] Specifically, the faulty cable can be the name, ID, identification and other information of the faulty cable manually input into the electronic device, and the electronic device determines the faulty cable based on the manually input information; or, a cable monitoring system can be set up. When a cable fails somewhere, the cable monitoring system can send fault information to the electronic device, so that the electronic device can determine which cable has failed, thereby determining the faulty cable.

[0059] Step S110b: determining a target cable to be repaired from the faulty cables according to the inspection history and / or the replacement time of the cable intermediate connector.

[0060] For example, the intermediate connector that has been replaced the longest can be determined as the target cable to be repaired, or the cable that has not been repaired for the longest time in the inspection history can be determined as the target cable to be repaired. The longer the replacement time, the more likely it is to fail, so the cables that have been replaced the longest can be repaired first. The longer the unrepaired time, the more likely it is to have problems, so the cables that have not been repaired for a long time can be repaired first, so that the cables with a higher probability of having problems can be processed first, and the failures can be solved more efficiently.

[0061] In this embodiment, the faulty cable is determined as the target cable to be repaired, and the path planning method provided in this application can be used to quickly navigate to the location of the faulty target cable to facilitate rapid repair by maintenance personnel.

[0062] Step S120: Determine an existing road adjacent to the target location, and determine a preliminary location of the cable on the existing road based on the existing road.

[0063] Since the target location of the target cable may be remote, the maintenance personnel can first be navigated to a road close to the target location through conventional navigation, so that the built roads near the target location can be determined. The built roads can be motor vehicle roads, sidewalks, etc., or other built roads.

[0064] Specifically, the road closest to the target location can be determined as the above-mentioned adjacent built road, so that the inspection personnel can quickly reach the road closest to the target cable. Alternatively, multiple roads closest to the target location can be determined as the above-mentioned adjacent built roads. The multiple roads can be 2, 3 or other numbers. Selecting multiple adjacent roads can give users more choices to navigate to adjacent roads that are easy to reach.

[0065] In step S120, when determining the preliminary position of the cable, if there is one adjacent built road, the position closest to the target position in the adjacent built road can be determined as the preliminary position of the cable; if there are multiple adjacent opinion roads, the position selected by the user on the multiple built roads can be determined as the preliminary position of the cable; optionally, the intersection of the motor vehicle lane and the sidewalk closest to the target position can be determined based on the adjacent built roads, and the intersection can be determined as the preliminary position of the cable, so that it is convenient for people to walk and for motor vehicles to arrive. The specific method of determining the preliminary position of the cable from the adjacent opinion roads can be flexibly set by those skilled in the art, and this application does not specifically limit it.

[0066] The above preliminary cable location is used to guide maintenance personnel to first reach the built road near the target cable.

[0067] In one implementation, before step S130, the following step S130a may also be included.

[0068] Step S130a: creating a first navigation path from the initial navigation position to the cable preliminary position, wherein the first navigation path is used to guide the user to reach the cable preliminary position from the initial navigation position.

[0069] Through the first navigation path, maintenance personnel can successfully reach the initial location of the cable, that is, to the built road adjacent to the target cable.

[0070] Step S130: Acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point.

[0071] The above-mentioned path points are location points pre-set by the staff that can be passed by people. The staff can conduct on-site exploration near the cable when burying the cable, mark the locations from the road near the cable to the cable that can be passed as path points and store them in the background system, so that subsequent path planning can be carried out through the stored path points.

[0072] Specifically, step S130 can obtain the preset path points corresponding to the target position according to the following steps: obtain a panoramic image corresponding to the target position, wherein the preset path points corresponding to the target position are marked in the panoramic image; and obtain the preset path points corresponding to the target position from the panoramic image. The specific position of the path point can be more easily identified through the panoramic image.

[0073] Optionally, when the present application creates a first navigation path from the initial navigation position to the preliminary position of the cable, step S130 can be implemented according to the following steps: in response to the target object arriving at the preliminary position of the cable, obtaining each pre-set path point corresponding to the target position. The target object is the navigation device carried by the maintenance personnel. In this embodiment, after the maintenance personnel arrive at the preliminary position of the cable, the second navigation path is planned, which can plan the path for the user in real time, improve navigation efficiency, and avoid invalid path planning.

[0074] Step S140: Selecting a target path point from the initial position of the cable to the target position from the path points.

[0075] In this step, any number of path points from the initial position of the cable to the target position can be determined as target path points. The path composed of the target path points can lead from the initial position of the cable to the target position. This application does not limit the specific selection method.

[0076] For example, the cable can be routed from its initial position to its target position via path points 1, 2, and 5, or via path points 3, 4, and 6, or via 1 and 6. In this case, any point on the path can be selected as the target path point.

[0077] In order to determine the optimal path so that the maintenance personnel can easily and quickly reach the target location through the selected path points, the above step S140 can be implemented according to the following step S141.

[0078] Step S141: Based on the principle of minimizing the cost from the initial position of the cable to the target position, a target path point from the initial position of the cable to the target position is selected from the various path points.

[0079] Cost minimization may include the shortest distance or other costs, such as the best road conditions, etc., which are not specifically limited in this application. The second navigation path subsequently generated based on the cost minimization principle for each target path point can enable the inspector to reach the target cable more quickly and smoothly.

[0080] Specifically, step S141 can determine the target path point by following steps 1 to 5.

[0081] Step 1: Set i=1.

[0082] Step 2: Traverse each adjacent path point of the i-th selected path point, and calculate the selection cost corresponding to each adjacent path point. The selection cost represents the cost of selecting the adjacent path point as the path point to reach the target location. The first selected path point is the initial position of the cable.

[0083] Each adjacent path point of the first path point is each adjacent path point of the cable initial position. In a specific embodiment, step 2 can specifically be traversing each unselected adjacent path point of the i-th path point and calculating the selection cost corresponding to each unselected adjacent path point, wherein the unselected adjacent path point refers to an adjacent path point that has not been selected as a target path point from the cable initial position to the target position.

[0084] Specifically, step 2 can calculate the selection cost corresponding to each adjacent path point according to the following steps: for any adjacent path point of the i-th path point, calculate the actual cost from the initial position of the cable to the adjacent path point, and calculate the estimated cost from the adjacent path point to the target position; determine the sum of the actual cost and the estimated cost as the selection cost corresponding to the adjacent path point.

[0085] Specifically, the estimated cost from the adjacent path point to the target position can be calculated according to the following steps: determine the distance from the adjacent path point to the target position, and determine the estimated cost from the adjacent path point to the target position based on the calculated distance. Specifically, the calculated distance can be determined as the estimated cost from the adjacent path point to the target position.

[0086] The actual cost mentioned above may be the distance from the initial position of the cable to the adjacent path point.

[0087] For example, the selection cost corresponding to the adjacent path points of the i-th path point can be calculated according to the following formula:

[0088] f(i)=g(i)+h(i)

[0089] Among them, f(i) represents the selection cost corresponding to the current adjacent path point of the i-th path point, g(i) represents the actual cost from the initial position of the cable to the current adjacent path point, and j(i) represents the estimated cost from the current adjacent path point to the target position.

[0090] Step 3: Select the adjacent path point with the minimum cost as the i+1th selected path point.

[0091] Step 3 is to select the adjacent path point with the smallest cost for expansion.

[0092] Step 4: if i=i+1, return to execute the step of traversing each adjacent path point of the i-th selected path point.

[0093] Step 5: When the (i+1)th selected path point is the target position, determine the target path point from the initial position of the cable to the target position based on the (1)th to (i+1)th selected path points.

[0094] Specifically, the 1st to (i+1)th selected path points may be determined as target path points from the initial position of the cable to the target position.

[0095] Exemplarily, the above step S141 may further include the following step 6.

[0096] Steps 1 to 5 are path planning through the A* algorithm (A-Star Algorithm). The A* algorithm is a path search algorithm that combines the optimality of the Dijkstra algorithm (actual cost) and the heuristic estimate of the greedy search (predicted cost). It can efficiently find the optimal path from the starting point to the end point in most cases.

[0097] Step S150: determining a second navigation path from the cable preliminary position to the target position according to the target path point.

[0098] Specifically, step S150 can be implemented according to the following steps S151 to S152.

[0099] Step S151: when the navigation path includes multiple paths, historical path selection information is obtained, where the historical path selection information includes the paths selected by the inspection personnel during historical inspections.

[0100] Step S152: selecting a second navigation path from the cable preliminary position to the target position from the plurality of navigation paths according to the historical path selection information.

[0101] For example, the path that is selected most times by the inspectors during the historical inspection process may be determined as the second navigation path.

[0102] Optionally, the above method may further include the following step: displaying a second navigation path from the preliminary position of the cable to the target position on a navigation map of the handheld terminal.

[0103] After the maintenance personnel arrive at the target location, they can use radio frequency detection equipment to detect the exact location of the target cable (such as the target middle joint) and perform excavation.

[0104] The path planning method for the cable position provided in the present application obtains the target position of the target cable, determines the built roads adjacent to the target position, and then determines the initial position of the cable based on the built roads. Since the built roads are existing roads, maintenance personnel can accurately navigate to the built roads. Since the initial position of the cable is located on the built roads, it is also possible to quickly reach the initial position of the cable based on existing navigation technology, and then obtain the pre-set path points corresponding to the target position. Since each path point is pre-set, and each path point includes a path point from the target position to the built road, each path point is a passable path point. Therefore, the path planned to the target position according to each path point can enable the maintenance personnel to smoothly reach the target position where the target cable is located through the planned path; therefore, a target path point from the initial position of the cable to the target position can be selected from the path points, and a second navigation path from the initial position of the cable to the target position can be determined based on the target path point. The determined second navigation path can enable the inspection personnel to smoothly reach the target position where the target cable is located from the initial position of the cable.

[0105] The second embodiment of the present application also provides a cable location path planning device corresponding to the cable location path planning method embodiment provided in the first embodiment. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple. For details of the relevant technical features and the effects achieved, please refer to the corresponding description of the cable location path planning method embodiment provided above. Figure 2 The cable location path planning device provided in the present application includes:

[0106] An acquisition unit 210 is used to acquire a target position where a target cable is located;

[0107] A determination unit 220, configured to determine an existing road adjacent to the target location, and determine a preliminary location of the cable on the existing road based on the existing road;

[0108] The acquisition unit 210 is further used to: acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point;

[0109] A selection unit 230, configured to select a target path point from the cable preliminary position to the target position from the path points;

[0110] The determining unit 220 is further configured to determine a second navigation path from the cable preliminary position to the target position according to the target path point.

[0111] The third embodiment of the present application also provides an electronic device embodiment corresponding to the cable location path planning method embodiment provided in the first embodiment above. The following description of the electronic device embodiment is only illustrative. The electronic device embodiment is as follows:

[0112] Please refer to Figure 3 Understand the above electronic devices, Figure 3 The electronic device provided in this embodiment includes: a processor 1001, a memory 1002, a communication bus 1003, and a communication interface 1004;

[0113] The memory 1002 is used to store computer instructions for data processing. When the computer instructions are read and executed by the processor 1001, the following steps are performed:

[0114] Obtain the target position of the target cable;

[0115] Determine an existing road adjacent to the target location, and determine a preliminary location of the cable on the existing road based on the existing road;

[0116] Acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point;

[0117] Selecting a target path point from the cable preliminary position to the target position from the path points;

[0118] A second navigation path is determined from the preliminary position of the cable to the target position based on the target path point.

[0119] The fourth embodiment of the present application also provides a computer-readable storage medium for implementing the above-mentioned cable location path planning method. The computer-readable storage medium embodiment provided in the present application is described relatively simply. For the relevant parts, please refer to the corresponding description of the above-mentioned method embodiment. The following described embodiment is merely illustrative.

[0120] The computer readable storage medium provided in this embodiment stores computer instructions, and when the instructions are executed by a processor, the following steps are implemented:

[0121] Obtain the target position of the target cable;

[0122] Determine an existing road adjacent to the target location, and determine a preliminary location of the cable on the existing road based on the existing road;

[0123] Acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point;

[0124] Selecting a target path point from the cable preliminary position to the target position from the path points;

[0125] A second navigation path is determined from the preliminary position of the cable to the target position based on the target path point.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0128] 1. Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0129] 2. Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] Although the present application is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present application. Any technical personnel in this field may make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined by the claims of the present application.

Claims

1. A cable location path planning method, characterized in that: The method comprises: Obtain the target position of the target cable; Determine an existing road adjacent to the target location, and determine a preliminary location of the cable on the existing road based on the existing road; Acquire each pre-set path point corresponding to the target position, wherein each path point includes a path point from the target position to the built road, and each path point is a passable path point; Selecting a target path point from the cable preliminary position to the target position from the path points; A second navigation path is determined from the preliminary position of the cable to the target position based on the target path point.

2. The cable location path planning method according to claim 1, characterized in that: The step of selecting a target path point from the cable preliminary position to the target position from the path points comprises: Based on the principle of minimizing the cost from the initial position of the cable to the target position, a target path point from the initial position of the cable to the target position is selected from the various path points.

3. The cable location path planning method according to claim 2, characterized in that: Determining a second navigation path from the cable preliminary position to the target position according to the target path point comprises: When the navigation path includes multiple paths, obtaining historical path selection information, the historical path selection information includes the paths selected by the inspection personnel during historical inspections; A second navigation path from the cable preliminary position to the target position is selected from the plurality of navigation paths according to the historical path selection information.

4. The cable location path planning method according to claim 3, characterized in that: The step of selecting a target path point from the cable preliminary position to the target position from the path points based on the principle of minimizing the cost from the cable preliminary position to the target position comprises: Another i=1; Traversing each adjacent path point of the i-th selected path point, and calculating the selection cost corresponding to each adjacent path point, wherein the selection cost represents the cost of selecting the adjacent path point as a path point to reach the target location, and the first selected path point is the initial position of the cable; The adjacent path point with the minimum cost is selected as the i+1th selected path point; If i=i+1, return to execute the step of traversing each adjacent path point of the i-th selected path point; When the (i+1)th selected path point is the target position, the (1) to (i+1)th selected path points are used as target path points from the initial position of the cable to the target position.

5. The cable location path planning method according to claim 4, characterized in that: The calculating of the selection cost corresponding to each adjacent path point includes: For any adjacent path point of the i-th path point, calculate the actual cost from the preliminary position of the cable to the adjacent path point, and calculate the estimated cost from the adjacent path point to the target position; The sum of the actual cost and the estimated cost is determined as the selection cost corresponding to the adjacent path point.

6. The cable location path planning method according to claim 5, characterized in that: The traversing each adjacent path point of the i-th path point and calculating the selection cost corresponding to each adjacent path point includes: Traversing each unselected adjacent path point of the i-th path point, and calculating the selection cost corresponding to each unselected adjacent path point, wherein the unselected path point refers to a path point that has not been selected as a target path point from the initial position of the cable to the target position; The calculating the estimated cost from the adjacent path points to the target location includes: The distance from the adjacent path point to the target location is determined, and the estimated cost from the adjacent path point to the target location is determined based on the calculated distance.

7. The cable location path planning method according to claim 1, characterized in that: Obtaining each preset path point corresponding to the target location includes: Acquire a panoramic image corresponding to the target position, wherein each pre-set path point corresponding to the target position is marked in the panoramic image; The preset path points corresponding to the target position are obtained from the panoramic image.

8. The cable location path planning method according to claim 7, characterized in that: The method further includes: displaying a second navigation path from the preliminary position of the cable to the target position on a navigation map of the handheld terminal; Before obtaining the target position of the target cable, the method further includes: Identify the faulty cable; According to the inspection history and / or the replacement time of the intermediate cable joints, the target cable to be repaired is determined from the faulty cables.

9. The cable location path planning method according to claim 1, characterized in that: Before obtaining each preset path point corresponding to the target position, the method further includes: Creating a first navigation path from an initial navigation position to the cable preliminary position, wherein the first navigation path is used to guide the user to reach the cable preliminary position from the initial navigation position; The obtaining of each preset path point corresponding to the target position includes: In response to the target object arriving at the preliminary position of the cable, each preset path point corresponding to the target position is acquired.

10. The cable location path planning method according to claim 9, characterized in that: The step of determining the preliminary location of the cable according to the built road comprises: The intersection of the motor vehicle lane and the pedestrian path closest to the target position is determined according to the built road, and the intersection is determined as the preliminary position of the cable.

Images