Path planning control method and system for substation inspection equipment

Abstract

The invention discloses a path planning control method and system for substation inspection equipment. The method comprises the following steps: acquiring a target data set of a target inspection object; according to the target data set, determining a comprehensive index for evaluating the abnormal movement state of the inspection equipment; determining a threshold range of the comprehensive index, and evaluating an abnormal state of movement of the inspection equipment according to the threshold range; and according to different abnormal conditions in the abnormal states, adjusting an inspection path of the inspection equipment. According to the method, the measures of predicting the potential risk nodes and detecting the inspection nodes in real time are combined, the inspection equipment is fully assisted to avoid dynamic obstacles with relatively high activity and abruptness in advance, and the safety and the inspection efficiency of the inspection equipment are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection equipment, and in particular to a path planning control method and system for substation inspection equipment. Background Art

[0002] To ensure the normal operation of substation equipment and the stability of the power system, on-duty personnel need to conduct regular inspections. As the scale and complexity of power systems increase, manual inspections are no longer sufficient to meet the safe operation requirements of substations. Therefore, the application of substation inspection equipment has emerged.

[0003] However, existing inspection equipment cannot flexibly avoid dynamic obstacles during the specific inspection process, which makes it easy for the inspection equipment to collide with the dynamic obstacles when moving towards them, posing certain safety hazards.

[0004] In response to the above problems, the present invention designs a path planning control method and system for substation inspection equipment. By improving and optimizing the control algorithm and obstacle avoidance strategy of the inspection equipment, its safety and flexibility are improved, and collisions between the inspection equipment and dynamic obstacles are avoided. This not only improves the inspection efficiency, but also reduces the occurrence of accidents and the scope of accident impact, thereby ensuring the normal and safe operation of substation equipment. Summary of the Invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the technical problem solved by the present invention is that the control system of the existing inspection equipment is unable to avoid dynamic obstacles in a specific environment in advance.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a path planning and control method for substation inspection equipment, comprising: obtaining a target data set of a target inspection object; determining a comprehensive indicator for evaluating the abnormal state of movement of the inspection equipment based on the target data set; determining a threshold range for the comprehensive indicator, and evaluating the abnormal state of movement of the inspection equipment based on the threshold range; and adjusting the inspection path of the inspection equipment according to different abnormal conditions in the abnormal state.

[0008] As a preferred solution of the path planning control method for substation inspection equipment described in the present invention, the target data set includes environmental data, static obstacle data, and dynamic obstacle data; the target data set is divided into a historical target data set and a real-time target data set.

[0009] As a preferred solution of the path planning and control method for substation inspection equipment according to the present invention, the step of determining a comprehensive indicator for evaluating an abnormal movement state of the inspection equipment comprises the following steps:

[0010] Obtain the values of each environmental parameter in the historical environmental data, establish an environmental data evaluation model, and quantify the first comprehensive impact of the environmental parameters on the movement characteristics of the inspection equipment with this model;

[0011] Obtain the values of each static obstacle parameter in the historical static obstacle data, establish a static obstacle data evaluation model, and quantify the second comprehensive impact of the static obstacle parameters on the movement characteristics of the inspection equipment with this model;

[0012] Obtain the values of each dynamic obstacle parameter in the historical environmental data, establish a dynamic obstacle data evaluation model, and quantify the third comprehensive impact of the dynamic obstacle parameters on the movement characteristics of the inspection equipment with this model;

[0013] Summarize the first comprehensive impact, the second comprehensive impact, and the third comprehensive impact and perform unified comparison processing to obtain a comprehensive index for evaluating the abnormal movement state of the inspection equipment.

[0014] As a preferred solution of the path planning control method for the substation inspection equipment described in the present invention, it is as follows: Determine the threshold range of the comprehensive index, and evaluate the abnormal movement state of the inspection equipment according to the threshold range, including the following steps:

[0015] Let the comprehensive index be S;

[0016] Let the threshold range be defined by the first preset threshold T, the second preset threshold U, and zero V;

[0017] When 0 < S < T, the movement of the inspection equipment is abnormal; among which, the abnormal situation includes invalid interference, effective interference, and severe interference;

[0018] When 0 < S < T / 2, the inspection equipment is subject to invalid interference and there is no need to adjust the path planning of the inspection equipment;

[0019] When T / 2 < S < U, the inspection equipment is subject to effective interference, then adjust the path planning of the inspection equipment;

[0020] When U < S < T, the inspection equipment is subject to severe interference, the inspection equipment turns on the alarm in real time and retreats to a safe position according to the current path planning.

[0021] As a preferred solution of the path planning control method for the substation inspection equipment described in the present invention, it is as follows: After obtaining the quantization values I1 of the first comprehensive impact, I2 of the second comprehensive impact, and I3 of the third comprehensive impact respectively, further calculate to obtain the quantization value S of the comprehensive index.

[0022] As a preferred solution of the path planning control method for the substation inspection equipment described in the present invention, wherein: adjusting the inspection path of the inspection equipment according to different abnormal conditions in the abnormal state includes the following steps:

[0023] When S obtained from the historical target data set satisfies T / 2 < S < U, after summarizing the position coordinates, abnormal duration, and abnormal frequency of each target inspection object when S is in the range of T / 2 < S < U, two alternative inspection paths of the original inspection path are preset; among them, the first alternative inspection path follows the principle of comprehensive coverage of target inspection objects, and the second alternative inspection path follows the principle of prioritizing key target inspection objects;

[0024] The principle of comprehensive coverage means that the inspection equipment shuffles the order of each target inspection object in the original inspection path and inspects them one by one according to the duration difference and frequency difference of the abnormal conditions of each target inspection object;

[0025] The principle of prioritizing key target inspection objects means that according to the duration difference and frequency difference of the abnormal conditions of each target inspection object, only the key target inspection objects in the original inspection path are shuffled and inspected one by one;

[0026] When S obtained from the historical target data set satisfies U < S < T, a priority skip selection of the original inspection path is preset.

[0027] As a preferred solution of the path planning control method for the substation inspection equipment described in the present invention, wherein: after obtaining the target data set of the target inspection object, the following steps are included:

[0028] Obtain environmental data, static obstacle data, and dynamic obstacle data;

[0029] Clean the obtained environmental data, static obstacle data, and dynamic obstacle data, and剔除 invalid data and error data;

[0030] Perform normalization processing on the cleaned environmental data, static obstacle data, and dynamic obstacle data.

[0031] In the second aspect, the present invention further provides an inspection equipment control system, including a data acquisition module that collects a target data set through sensors, and the inspection equipment feeds the target data set back to the central processing system for preprocessing;

[0032] An abnormal state evaluation module, the central processing system extracts each value for evaluation by the abnormal state evaluation module and outputs the result;

[0033] A path adjustment module, the central processing system preset alternative paths and adjustment rules according to the output result.

[0034] In a third aspect, the present invention further provides a computing device, comprising: a memory and a processor;

[0035] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the path planning control method for the substation inspection equipment are implemented.

[0036] In a fourth aspect, the present invention further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the path planning control method for the substation inspection equipment.

[0037] The beneficial effects of the present invention are as follows: the present invention can not only predict the comprehensive influence of the environmental factors, static obstacle factors and dynamic obstacle factors of each inspection node on the mobile characteristics of the inspection equipment according to the historical data of each inspection node of the substation, and pre-set alternative paths to completely avoid all dynamic obstacles that may have a negative impact on the inspection equipment; it can also detect the comprehensive influence of the environmental factors, static obstacle factors and dynamic obstacle factors of each inspection node on the mobile characteristics of the inspection equipment in real time according to the real-time data of each inspection node of the substation, so that the inspection equipment can urgently avoid sudden dynamic obstacles that have a negative impact on the movement of the inspection equipment; the present invention combines the measures of predicting potential risk nodes and detecting inspection nodes in real time, fully assisting the inspection equipment to avoid dynamic obstacles with strong activity and suddenness in advance, and effectively improving the safety and inspection efficiency of the inspection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 An overall flow chart of a path planning control method for substation inspection equipment provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0041] Example 1

[0042] Reference Figure 1 , as one embodiment of the present invention, provides a path planning and control method for substation inspection equipment, comprising:

[0043] S1: Obtain the target data set of the target inspection object.

[0044] Furthermore, the target data set includes environmental data, static obstacle data, and dynamic obstacle data; the target data set is divided into a historical target data set and a real-time target data set.

[0045] Furthermore, after obtaining the target data set of the target inspection object, the following steps are included:

[0046] Acquire environmental data, static obstacle data, and dynamic obstacle data;

[0047] Clean the acquired environmental data, static obstacle data, and dynamic obstacle data, and remove invalid and erroneous data;

[0048] Normalize the cleaned environmental data, static obstacle data, and dynamic obstacle data.

[0049] In this application, target inspection objects refer to the equipment and / or areas within a substation that require inspection and evaluation. Specifically, these include switchgear, transformers, circuit breakers, and other electrical equipment within the substation. Specifically, these areas include distribution rooms, cable tunnels, and underground passages within the substation. Inspection equipment uses electronic mechanisms such as sensors and cameras to collect data about the target inspection objects, such as the status and / or operating parameters of each device, as well as environmental data and / or safety protection status of each area. This ensures that each substation device is operating normally and that the operating environment of each device is safe.

[0050] In the present invention, environmental data includes the flatness, slope and friction coefficient of the ground, the width of the channel and the turning radius; static obstacle data includes the diameter of the pillars, the thickness of the walls and the size of the equipment box; dynamic obstacle data includes the number, position coordinates, movement speed and movement direction of staff and / or cats and / or mice and / or moving machinery and equipment, as well as the proportion of behavior patterns to space occupancy.

[0051] Among them, the flatness, slope and friction coefficient of the ground affect the stability and running speed of the inspection equipment during movement. The width of the channel and the turning radius directly determine whether the inspection equipment can pass through this area smoothly. The column diameter, wall thickness and equipment box volume affect the spatial layout and the size of the passable space of the channel, which indirectly affects whether the inspection equipment can pass through this area smoothly. The number, position coordinates, moving speed and moving direction of staff and / or animals (cats, mice) and / or moving machinery and equipment will increase the difficulty of the inspection equipment to pass smoothly based on the inherent environment and static obstacles. The behavior patterns of different dynamic obstacles not only diversify the size of the space occupied, but also easily lead to friction and collision between the inspection equipment and the obstacles.

[0052] In the present invention, since the inspection equipment will be interfered with by the ground environment, static obstacles and dynamic obstacles in the area where the inspection equipment is located and the inspection area during its movement, corresponding sensors (laser scanner / rangefinder, ground friction coefficient tester, three-dimensional scanner and thermal imaging camera) are installed near the inspection equipment, in the area where the inspection equipment is located and in other inspection areas to obtain various environmental parameter data, static obstacle parameter data and dynamic obstacle parameter data in real time.

[0053] In the present invention, priority is given to obtaining various parameter data that directly and indirectly affect the mobile characteristics of the inspection equipment, improving the comprehensiveness and accuracy of the inspection equipment's mobile abnormality assessment, and directly uploading the corresponding data to the inspection equipment's central processing system through various sensors for cleaning, screening and normalization, thereby improving the data accuracy and reliability of the target data set, and laying a good foundation for the efficient and accurate calculation of the inspection equipment's mobile abnormality assessment, thereby realizing the optimization of the inspection path planning of the inspection equipment and effective obstacle avoidance.

[0054] In the present invention, historical data and real-time data of the target data set are obtained respectively. The former predicts the comprehensive influence of the historical target data set of each target inspection object on the mobile characteristics of the inspection equipment, and pre-sets alternative paths, which helps the inspection equipment to completely avoid all dynamic obstacles that may have a negative impact on the inspection equipment during the inspection process; the latter detects the comprehensive influence of the real-time target data set of each inspection node on the mobile characteristics of the inspection equipment in real time, which helps the inspection equipment to urgently avoid sudden dynamic obstacles that have a negative impact on the movement of the inspection equipment; the combination of the two fully assists the inspection equipment to avoid dynamic obstacles with strong activity and suddenness in advance, effectively improving the safety and inspection efficiency of the inspection equipment.

[0055] S2: Determine comprehensive indicators for evaluating abnormal movement status of inspection equipment based on the target data set.

[0056] Furthermore, comprehensive indicators for evaluating abnormal movement of inspection equipment are determined, including the following steps:

[0057] Obtain the values ​​of various environmental parameters in historical environmental data, establish an environmental data evaluation model, and use it to quantify the first comprehensive impact of environmental parameters on the mobile characteristics of inspection equipment;

[0058] Obtain the values ​​of each static obstacle parameter in the historical static obstacle data, establish a static obstacle data evaluation model, and use it to quantify the second comprehensive impact of the static obstacle parameters on the movement characteristics of the inspection equipment;

[0059] Obtain the values ​​of various dynamic obstacle parameters in historical environmental data, establish a dynamic obstacle data evaluation model, and use it to quantify the third comprehensive impact of dynamic obstacle parameters on the mobility characteristics of inspection equipment;

[0060] The first comprehensive impact, the second comprehensive impact, and the third comprehensive impact are summarized and compared in a unified manner to obtain comprehensive indicators for evaluating the abnormal movement status of the inspection equipment.

[0061] Furthermore, the quantitative value S of the comprehensive indicator is further calculated based on the quantitative value I1 of the first comprehensive impact, the quantitative value I2 of the second comprehensive impact, and the quantitative value I3 of the third comprehensive impact. Specifically, the quantitative value S of the comprehensive indicator is as follows:

[0062] The quantitative value I1 of the first comprehensive impact is expressed as:

[0063]

[0064] Where d represents the flatness of the ground; s represents the slope; f represents the friction coefficient; w represents the width of the channel; r represents the turning radius; represents an exponential decay function to realistically simulate the impact of inspection equipment when it moves away from various environmental parameter values; I1 represents the cumulative comprehensive impact of ground flatness d, slope s, and friction coefficient f on the movement characteristics of inspection equipment within the range of turning radius r and different channel widths;

[0065] The quantitative value of the second comprehensive impact I2 is expressed as:

[0066]

[0067] in, represents the average value of column diameter; represents the average wall thickness; c max Indicates the maximum volume of the equipment box; Represents an exponential decay function to simulate the impact of the inspection equipment when it moves away from static obstacles; I2 represents the maximum volume of the equipment box cmax Within the range of and wall thickness The cumulative comprehensive impact value on the mobile characteristics of the inspection equipment;

[0068] The quantitative value I3 of the third comprehensive impact is expressed as:

[0069]

[0070] Where p represents the number of dynamic obstacles; q i Represents the position coordinates of the i-th dynamic obstacle; r i represents the moving speed of the i-th dynamic obstacle; s i Indicates the moving direction of the i-th dynamic obstacle; m i Indicates the ratio of the behavior pattern of the i-th dynamic obstacle to the space occupied; Represents an exponential decay function to realistically simulate the impact of inspection equipment as it moves away from dynamic obstacles. represents an exponential amplification function to amplify the impact of the behavior pattern of dynamic obstacles on the proportion of space occupied by the inspection equipment during movement; I3 represents the comprehensive impact of the position coordinates, movement speed, movement direction and behavior pattern of each dynamic obstacle on the movement characteristics of the inspection equipment;

[0071] The expression of the quantitative value S of the comprehensive index is:

[0072]

[0073] Where D represents the normalization of the impact of dynamic obstacles, which is expressed as:

[0074]

[0075] Among them, q i Represents the position coordinates of the i-th dynamic obstacle; r i Indicates the moving speed of the i-th dynamic obstacle;

[0076] In summary, the complete expression of the quantitative value S of the comprehensive indicator is:

[0077]

[0078] In the expression of the quantitative value I1 of the first comprehensive impact of the present invention, an integral algorithm is adopted. During the movement of the inspection equipment, various environmental parameters change with the position. The integral algorithm can reflect the comprehensive impact of the dynamic changes of various environmental parameters on the movement characteristics of the inspection equipment, thereby more accurately evaluating the abnormal state of the movement of the inspection equipment.

[0079] Among them, since the turning radius r represents the turning ability of the inspection equipment at a specific location, the turning radius r experienced by the inspection equipment during the actual inspection movement is in dynamic change at any time, so the turning radius r is selected for integration in this integral formula; d 2 +s 2 +f 2 The square sum algorithm amplifies the effects of ground flatness d, slope s and friction coefficient f. Since the turning radius r and channel width w are more inclined to environmental conditions among the parameters affecting the mobile characteristics of the inspection equipment, the turning radius r and channel width w are not taken as part of the square sum. By making d 2 +s 2 +f 2 As the numerator, the channel width w is used as the denominator, and the comprehensive influence of the ground flatness d, slope s and friction coefficient f at different channel widths w on the movement characteristics of the inspection equipment can be obtained. The quantitative value I1 of the first comprehensive influence increases with the increase of the ground flatness d, slope s and friction coefficient f, and the quantitative value I1 of the first comprehensive influence decreases with the increase of the channel width w; finally, the exponential decay function introduced This means that as the inspection equipment gradually moves away from the inspection location, the impact of the environmental parameters at the inspection location on the movement characteristics of the inspection equipment naturally decreases, thereby improving the authenticity of the simulation.

[0080] In the expression of the quantitative value I2 of the second comprehensive impact of the present invention, an integral algorithm is adopted. During the movement of the inspection equipment, the parameters of each static obstacle change with the position due to different layouts. The integral algorithm can reflect the comprehensive impact of the dynamic changes of each static obstacle parameter on the movement characteristics of the inspection equipment, thereby more accurately evaluating the abnormal state of the movement of the inspection equipment.

[0081] Among them, since the volume of the equipment box c is the largest among the static obstacles that the inspection equipment must bypass, and this parameter satisfies the corresponding dynamic changes during the movement of the inspection equipment, the maximum volume c of the equipment box is selected in this integral formula. max Perform integration; The average value of the column diameter is magnified using the sum of squares algorithm and the average wall thickness In order to avoid the equipment box volume c affecting the average column diameter and the average wall thickness Relative to the maximum volume c of different equipment boxes max The combined effect on the mobile characteristics of the inspection equipment is that the volume of the equipment box c is not included in the square sum algorithm. The quantitative value I2 of the second combined effect increases with the average value of the column diameter. and the average wall thickness The second comprehensive impact value I2 increases with the increase of the maximum volume c of the equipment box. max decreases with the increase of ; the exponential decay function introduced last This means that as the inspection device gradually moves away from the inspection position, the influence of the static obstacle parameters at the inspection position on the movement characteristics of the inspection device naturally decreases, thereby improving the simulation authenticity.

[0082] The average diameter of the column is are all the measured column diameters a1, a2, ...a n The average value of is expressed as:

[0083]

[0084] Where a represents the diameter of the column; n represents the number of columns; i represents the i-th column, and the value range of i is 1, 2, ... n;

[0085] Among them, the average wall thickness are all measured wall thicknesses b1, b2, ... b m The average value of is expressed as:

[0086]

[0087] Where b represents the wall thickness; m represents the number of walls; j represents the jth wall, and the value range of j is 1, 2, ... m;

[0088] Among them, the maximum volume of the equipment box c max is the maximum value of all measured equipment box volumes c, and its expression is:

[0089] c max =max(L,W,H)

[0090] Wherein, c represents the volume of the equipment box; L represents the length of the equipment box; W represents the width of the equipment box; and H represents the height of the equipment box.

[0091] In the expression of the third quantified value I3 of the comprehensive impact of the present invention, since the number p of dynamic obstacles is a variable and multiple dynamic obstacles may exist at the same location and time, a product algorithm is used to reflect the comprehensive impact of all dynamic obstacles at this time and place on the movement characteristics of the inspection robot;

[0092] Among them, the exponential decay function Select the position coordinate q of the i-th dynamic obstacle i As the numerator, select the moving speed r of the i-th dynamic obstacle iis the denominator, reflecting the moving speed of the dynamic obstacle relative to the inspection device, and simulating that as the inspection device gradually moves away from the dynamic obstacle, the influence of the dynamic obstacle on the inspection device naturally decreases; the exponential amplification function e simi selects the moving direction s of the i-th dynamic obstacle in i and multiplies it by the proportion m of the space occupied by the behavior pattern of the i-th dynamic obstacle, reflecting the size of the space occupied by the dynamic obstacle in a specific moving direction, and simulating that as the inspection device moves away from the dynamic obstacle, the influence of the dynamic obstacle on the inspection device gradually amplifies.

[0093] In the expression of the quantified value of the comprehensive index, since the position coordinate q i of the i-th dynamic obstacle and the moving speed r i of the i-th dynamic obstacle relative to the moving direction s i of the i-th dynamic obstacle and the proportion m of the space occupied by the behavior pattern of the i-th dynamic obstacle i are more stable; therefore, when making D the normalization denominator, the position coordinate q i of the i-th dynamic obstacle and the moving speed r i of the i-th dynamic obstacle are selected as representative parameters to normalize the comprehensive influence of the dynamic obstacle, avoiding the inaccuracy and unreliability of the quantified value S of the comprehensive index caused by the instability of the comprehensive influence of the dynamic obstacle; multiplying the quantified values of the three groups of comprehensive influences can directly reflect the actual change size of the quantified values of each group of comprehensive influences and the proportion in the quantified value S of the comprehensive index, ensuring the accuracy and reliability of the evaluation result of the abnormal state of the movement of the inspection device, and helping to improve the feasibility after the path planning optimization.

[0094] S3: Determine the threshold range of the comprehensive index, and evaluate the abnormal state of the movement of the inspection device according to the threshold range.

[0095] Furthermore, determining the threshold range of the comprehensive index and evaluating the abnormal state of the movement of the inspection device according to the threshold range includes the following steps:

[0096] Let the comprehensive index be S;

[0097] Let the threshold range be defined by the first preset threshold T, the second preset threshold U, and zero V;

[0098] When 0 < S < T, the movement of the inspection device is an abnormal situation; among them, the abnormal situation includes invalid interference, effective interference, and severe interference;

[0099] When 0 < S < T / 2, the inspection device is subject to invalid interference and there is no need to adjust the path planning of the inspection device; ​​

[0100] When T / 2 < S < U, the patrol equipment is effectively interfered, and the path planning of the patrol equipment is adjusted;

[0101] When U < S < T, the patrol equipment is severely interfered, and the patrol equipment immediately activates an alarm and retreats to a safe position according to the current path planning.

[0102] S4: Adjust the patrol path of the patrol equipment according to different abnormal situations in the abnormal state.

[0103] Furthermore, adjusting the patrol path of the patrol equipment according to different abnormal situations in the abnormal state includes the following steps: [[ID=第十二条]]

[0104] When S obtained from the historical target dataset is in the range of T / 2 < S < U, after summarizing the position coordinates, abnormal duration, and abnormal frequency of each target patrol object when S is in the range of T / 2 < S < U, two alternative patrol paths of the original patrol path are preset; among them, the first alternative patrol path follows the principle of comprehensive coverage of target patrol objects, and the second alternative patrol path follows the principle of prioritizing key target patrol objects;

[0105] The principle of comprehensive coverage means that the patrol equipment patrols each target patrol object in the original patrol path one by one after shuffling their order according to the duration difference and frequency difference of the abnormal situations of each target patrol object;

[0106] The principle of prioritizing key target patrol objects means that according to the duration difference and frequency difference of the abnormal situations of each target patrol object, only the key target patrol objects in the original patrol path are shuffled and patrolled one by one;

[0107] When it is in the range of U < S < T obtained from the historical target dataset, a priority skip selection for the original patrol path is preset.

[0108] In the present invention, through the Geographic Information System (GIS) technology, the position coordinates of all target patrol equipment and areas are obtained and a position coordinate database is established, and all target patrol equipment and areas within the range of U < S < T are marked according to the patrol interference level and patrol priority.

[0109] Obtain the abnormal duration of each target patrol equipment and area, including the start time, end time, and total duration, analyze the distribution of the abnormal duration, and identify whether there are specific periods or conditions that cause an increase in the abnormal duration, such as correlating the abnormal duration with relevant data in equipment maintenance records and operation logs for analysis.

[0110] Summarize the number of abnormal occurrences of each target patrol equipment and area in a fixed period of a day / daily / weekly / monthly, and obtain the abnormal frequency.

[0111] In the first alternative inspection path of the present invention, a weighted algorithm is used to prioritize all target inspection equipment and areas according to the duration and frequency of the abnormalities, ensuring that target inspection equipment and areas with serious abnormalities are inspected first; the first alternative inspection path is planned on the basis of the original inspection path through the shortest path algorithm (such as the Dijkstra algorithm), ensuring that all target inspection equipment and areas are covered while reducing the overall inspection distance and time.

[0112] According to the S obtained from the real-time target data set, the inspection equipment can dynamically adjust the inspection order by itself, and the staff can also manually intervene to dynamically adjust the inspection order.

[0113] In the second alternative inspection path of the present invention, if the target inspection equipment and areas with serious abnormalities are all key inspection objects, then the priority inspection of the target inspection equipment and areas with serious abnormalities is ensured while the priority inspection of the remaining key inspection objects is considered;

[0114] If the target inspection equipment and areas with serious abnormal conditions are completely non-critical inspection objects, the key inspection objects will be inspected first;

[0115] If the target inspection equipment and areas with serious abnormalities include key inspection objects and non-key inspection objects, ensure that the key inspection objects with serious abnormalities are inspected first while considering the priority inspection of the remaining key inspection objects;

[0116] A second alternative inspection route is replanned using the shortest path algorithm (such as the Dijkstra algorithm) to ensure that key inspection objects are covered while reducing the overall inspection distance and time.

[0117] In the present invention, two alternative inspection paths can also be used at the same time. The A / B group inspection equipment performs inspection according to one of the alternative inspection paths respectively. The A / B group inspection equipment synchronizes information in real time and makes full use of the time difference and frequency difference of abnormal situations. This not only ensures that the A / B group inspection equipment can accurately avoid obstacles, but also achieves efficient inspection of all target inspection objects and key inspection objects.

[0118] Example 2

[0119] The following is an embodiment of the present invention, which provides a patrol inspection equipment control system, including a data acquisition module that collects a target data set through a sensor and feeds the collected target data set back to a central processing system of the patrol inspection equipment for preprocessing;

[0120] Abnormal state assessment module: the central processing system extracts each target value and transmits it to the abnormal state assessment module for abnormal state assessment and outputs the result;

[0121] Execution module, the central processing system selects the adjustment path in real time based on the output results of the abnormal state assessment module.

[0122] This embodiment also provides a computing device, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute computer-executable instructions to implement the path planning and control method for substation inspection equipment proposed in the above embodiment.

[0123] This embodiment further provides a storage medium storing a computer program, which, when executed by a processor, implements the path planning and control method for substation inspection equipment proposed in the above embodiment.

[0124] The storage medium proposed in this embodiment and the path planning control method for substation inspection equipment proposed in the above embodiment belong to the same inventive concept. Technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0125] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer's floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0126] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A path planning control method for substation inspection equipment, characterized in that: Including: Obtain the target data set of the target inspection object; Determine a comprehensive index for evaluating the abnormal movement state of the inspection device according to the target data set; Determine the threshold range of the comprehensive index, and evaluate the abnormal movement state of the inspection device according to the threshold range; Adjust the inspection path of the inspection device according to different abnormal situations in the abnormal state.

2. The path planning control method for a substation inspection device according to claim 1, wherein: The target data set includes environmental data, static obstacle data, and dynamic obstacle data; The target data set is divided into a historical target data set and a real-time target data set.

3. The path planning control method for a substation inspection device according to claim 2, wherein: Determining the comprehensive index for evaluating the abnormal movement state of the inspection device includes the following steps: Obtain each environmental parameter value in the historical environmental data, establish an environmental data evaluation model, and quantify the first comprehensive influence of the environmental parameters on the movement characteristics of the inspection device; Obtain each static obstacle parameter value in the historical static obstacle data, establish a static obstacle data evaluation model, and quantify the second comprehensive influence of the static obstacle parameters on the movement characteristics of the inspection device; Obtain each dynamic obstacle parameter value in the historical environmental data, establish a dynamic obstacle data evaluation model, and quantify the third comprehensive influence of the dynamic obstacle parameters on the movement characteristics of the inspection device; 汇总 the first comprehensive influence, the second comprehensive influence, and the third comprehensive influence, and perform unified comparison and processing to obtain a comprehensive index for evaluating the abnormal movement state of the inspection device.

4. The path planning control method for a substation inspection device according to claim 3, wherein: Determining the threshold range of the comprehensive index and evaluating the abnormal movement state of the inspection device according to the threshold range includes the following steps: Let the comprehensive index be S; Let the threshold range be defined by a first preset threshold T, a second preset threshold U, and a zero limit V; When 0 < S < T, the movement of the inspection device is an abnormal situation; wherein, the abnormal situation includes ineffective interference, effective interference, and severe interference; When 0 < S < T / 2, the inspection device is subject to ineffective interference, and there is no need to adjust the path planning of the inspection device; When T / 2 < S < U, the inspection device is subject to effective interference, and the path planning of the inspection device is adjusted; When U < S < T, the inspection device is subject to severe interference, and the inspection device turns on the alarm in real time and retreats to a safe position according to the current path planning.

5. The path planning control method for a substation inspection device according to claim 4, wherein: The quantified value S of the comprehensive index is further calculated and obtained after respectively obtaining the quantified value I1 of the first comprehensive influence, the quantified value I2 of the second comprehensive influence, and the quantified value I3 of the third comprehensive influence.

6. The path planning control method for a substation inspection device according to claim 5, wherein: Adjusting the inspection path of the inspection device according to different abnormal situations in the abnormal state includes the following steps: It should be noted that there is an inappropriate expression "汇总" in item , which should be "Summarize" or other appropriate words. And the Chinese text seems to be a patent text description, and the translation should be as accurate as possible to convey the technical meaning. When S obtained according to the historical target dataset satisfies T / 2 < S < U, after summarizing the position coordinates, abnormal duration, and abnormal frequency of each target inspection object when T / 2 < S < U, two alternative inspection paths of the original inspection path are preset; among them, the first alternative inspection path follows the principle of comprehensive coverage of target inspection objects, and the second alternative inspection path follows the principle of prioritizing key target inspection objects; The principle of comprehensive coverage means that the inspection device shuffles the order of each target inspection object in the original inspection path and inspects them one by one according to the duration difference and frequency difference of the abnormal conditions of each target inspection object; The principle of prioritizing key target inspection objects means that according to the duration difference and frequency difference of the abnormal conditions of each target inspection object, only the key target inspection objects in the original inspection path are shuffled and inspected one by one; When 0 < S < T / 2 is obtained according to the historical target dataset, a priority skip selection of the original inspection path is preset.

7. The path planning control method of the substation inspection device according to claim 6, characterized in that: After obtaining the target dataset of the target inspection object, the following steps are included: Obtain environmental data, static obstacle data, and dynamic obstacle data; Clean the obtained environmental data, static obstacle data, and dynamic obstacle data, and剔除 invalid data and error data; Perform normalization processing on the cleaned environmental data, static obstacle data, and dynamic obstacle data.

8. A fast-response inspection equipment centralized control system using the method as claimed in any one of claims 1 to 7, characterized in that: Including, A data acquisition module, which collects a target dataset through a sensor and feeds the collected target dataset back to the central processing system of the inspection device for preprocessing; An abnormal state evaluation module, where the central processing system extracts each target value and transmits it to the abnormal state evaluation module for abnormal state evaluation and outputs the result; An execution module, where the central processing system selects and adjusts the path in real time according to the output result of the abnormal state evaluation module.

9. A computing device comprising: A memory and a processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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