Verification method for failure of navigation positioning function of power transformation inspection robot

Abstract

The invention discloses a power transformation inspection robot navigation positioning function failure verification method comprising the following steps: arranging a square test plane for an inspection robot to walk in a closed space, the square test plane comprising a plurality of test points; simulating a plurality of environmental conditions in the square test plane, and counting the original failure probability of the navigation positioning function failure of the robot at each test point under the plurality of environmental conditions; according to predetermined failure factors and original failure probabilities under various environmental conditions, calculating corrected failure probabilities under various environmental conditions; and calculating the reliability of the robot according to the correction failure probabilities under various environmental conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent power grid inspection, and more specifically, to a method for verifying the failure of the navigation and positioning function of a substation inspection robot. Background Art

[0002] At present, inspection robots have been widely used in substations of various voltage levels. The inspection robot can realize automated inspection operations for different types of recognition targets (including pointer-type meters, digital display meters, analog switches, analog hygrometers, etc.). The standard DL / T 2239-2021 "Technical Specification for the Detection of Substation Inspection Robots" involves test methods for inspection robots such as appearance quality tests, environmental adaptability tests, motion function tests, inspection function tests, electromagnetic compatibility performance tests, monitoring background function tests, and safety performance tests. However, the current assessment and verification of the navigation and positioning performance of substation inspection robots are all based on a result-oriented technical route, that is, verifying whether the navigation and positioning accuracy indicators of the inspection robot can meet the standard requirements by simulating the on-site environment, and there is a lack of a verification method for the failure of the navigation and positioning function and performance of substation inspection robots in various different scenarios. In fact, in the application of inspection robots in substations, their navigation and positioning functions are easily affected by changes in the surrounding environment (the growth of grass and shrubs and construction scenarios will interfere with the positioning accuracy of the navigation system), strong light (direct sunlight or reflection), and foggy days (fog interferes with the lidar of the navigation system). How to accurately verify the failure of the navigation and positioning function and performance of substation inspection robots in various different scenarios has become an urgent technical problem to be solved. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a method for verifying the failure of the navigation and positioning function of a substation inspection robot.

[0004] According to one aspect of the present invention, there is provided a method for verifying the failure of the navigation and positioning function of a substation inspection robot, including:

[0005] Arranging a square test plane for the inspection robot to walk in a closed space, wherein the square test plane includes a plurality of test points;

[0006] Simulating various environmental conditions in the square test plane, and statistically calculating the original failure probability of the navigation and positioning function failure of the robot at each test point under various environmental conditions;

[0007] Calculating the corrected failure probability under various environmental conditions according to the pre-determined failure factors and the original failure probability under various environmental conditions;

[0008] Calculating the reliability of the robot according to the corrected failure probability under various environmental conditions.

[0009] Optionally, the positive direction test plane is divided into a nine-square grid, and the geometric center of each grid is marked as a test point.

[0010] Optionally, the original failure probability includes a first original failure probability, a second original failure probability, and a third original failure probability, and

[0011] Simulate various environmental conditions within the square test plane, and statistically calculate the original failure probability of the navigation and positioning function failure at each test point under various environmental conditions for the robot, including:

[0012] Set a gaseous carbon dioxide device at a preset position directly below each test point of the square test plane to simulate a foggy environment, and statistically calculate the first original failure probability of the navigation and positioning function failure at each test point when the robot is in the simulated foggy environment;

[0013] Arrange multiple movable baffles along the four side lengths of the square test plane to simulate a change in the surrounding environment, and statistically calculate the second original failure probability of the navigation and positioning function failure at each test point when the robot is in the simulated change in the surrounding environment;

[0014] Arrange multiple strong light devices at a preset position directly above each test point of the square test plane to simulate a strong light environment, and statistically calculate the third original failure probability of the navigation and positioning function failure at each test point when the robot is in the simulated strong light environment.

[0015] Optionally, according to the failure factors and the original failure probability under a predetermined variety of environmental conditions, calculate the corrected failure probability under a variety of environmental conditions, including:

[0016] Statistically calculate the actual occurrence times of various environmental conditions in the actual working environment of the robot;

[0017] Determine the failure factors under a variety of environmental conditions according to the actual occurrence times under a variety of environmental conditions;

[0018] Calculate the corrected failure probability under a variety of environmental conditions according to the failure factors and the original failure probability under a variety of environmental conditions.

[0019] Optionally, the failure factors include a foggy environment failure factor, a surrounding environment change failure factor, and a strong light environment failure factor, and the corrected failure probability includes a first corrected failure probability, a second corrected failure probability, and a third corrected failure probability, and,

[0020] Calculate the corrected failure probability under a variety of environmental conditions according to the failure factors and the original failure probability under a variety of environmental conditions, including:

[0021] Determine the first corrected failure probability, the second corrected failure probability, and the third corrected failure probability according to the foggy environment failure factor, the surrounding environment change failure factor, the strong light environment failure factor, the first original failure probability, the second original failure probability, and the third original failure probability.

[0022] Optionally, the calculation expression of the reliability K is:

[0023] K = (1 - P1') × (1 - P2') × (1 - P3')

[0024] In the formula, P1' is the first corrected failure probability; P2' is the second corrected failure probability; P3' is the third corrected failure probability, where P1' = N1 × P1; P2' = N2 × P2; P3' = N3 × P3; P1 is the first original failure probability; P2 is the second original failure probability; P3 is the third original failure probability; N1 is the foggy environment failure factor; N2 is the surrounding environment change failure factor; N3 is the strong light environment failure factor.

[0025] According to another aspect of the present invention, there is provided a verification device for the failure of the navigation and positioning function of a substation inspection robot, including:

[0026] A layout module for laying out a square test plane for the inspection robot to walk in a closed space, where the square test plane includes a plurality of test points;

[0027] A simulation module for simulating various environmental conditions in the square test plane and counting the original failure probabilities of the navigation and positioning function failure of the robot at each test point under various environmental conditions;

[0028] A first calculation module for calculating the corrected failure probabilities under various environmental conditions according to the failure factors and the original failure probabilities under various pre-determined environmental conditions;

[0029] A second calculation module for calculating the reliability of the robot according to the corrected failure probabilities under various environmental conditions.

[0030] According to still another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program for executing the method described in any of the above aspects of the present invention.

[0031] According to still another aspect of the present invention, there is provided an electronic device, including: a processor; a memory for storing executable instructions of the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the method described in any of the above aspects of the present invention.

[0032] Accordingly, the present invention provides a verification method for the failure of the navigation and positioning function of a substation inspection robot, which is used for comprehensively verifying the failure of the navigation and positioning function of the substation inspection robot under working conditions such as fog, changing surrounding environment, strong light, etc., facilitating the subsequent optimization of product reliability by the production unit of the inspection robot, and also being beneficial to the regular maintenance and use of the existing robots by the user unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] By referring to the following drawings, the exemplary embodiments of the present invention can be more completely understood:

[0034] Figure 1 is a schematic flow chart of a verification method for the failure of the navigation and positioning function of a substation inspection robot provided by an exemplary embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a square test plane provided by an exemplary embodiment of the present invention;

[0036] Figure 3 is a schematic structural diagram of a verification device for the failure of the navigation and positioning function of a substation inspection robot provided by an exemplary embodiment of the present invention;

[0037] Figure 4 is the structure of an electronic device provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited by the exemplary embodiments described herein.

[0039] It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0040] Those skilled in the art can understand that the terms "first", "second", etc. in the embodiments of the present invention are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate an inevitable logical order between them.

[0041] It should also be understood that in the embodiments of the present invention, "a plurality" may refer to two or more, and "at least one" may refer to one, two or more.

[0042] It should also be understood that for any component, data or structure mentioned in the embodiments of the present invention, without clear limitation or contrary indication in the context, it can generally be understood as one or more.

[0043] In addition, the term "and / or" in the present invention is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the present invention generally represents an "or" relationship between the associated objects before and after.

[0044] It should also be understood that the present invention emphasizes the differences between various embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, they will not be described one by one.

[0045] Meanwhile, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0046] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way a limitation on the present invention and its application or use.

[0047] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be regarded as part of the specification.

[0048] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] Embodiments of the present invention can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general-purpose or special-purpose computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, and so on.

[0050] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system-executable instructions (such as program modules) executed by a computer system. Generally, program modules can include routines, programs, object programs, components, logics, data structures, etc., which perform specific tasks or implement specific abstract data types. The computer system / server can be implemented in a distributed cloud computing environment, where tasks are executed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0051] Exemplary method

[0052] Figure 1 It is a schematic flowchart of a method for verifying the failure of the navigation and positioning function of a substation inspection robot provided by an exemplary embodiment of the present invention. This embodiment can be applied to electronic devices, such as Figure 1 As shown, the method 100 for verifying the failure of the navigation and positioning function of a substation inspection robot includes the following steps:

[0053] Step 101, arrange a square test plane for the inspection robot to walk in a closed space, where the square test plane includes multiple test points;

[0054] Step 102, simulate various environmental conditions in the square test plane, and count the original failure probability of the navigation and positioning function failure of the robot at each test point under various environmental conditions;

[0055] Step 103, calculate the corrected failure probability under various environmental conditions according to the failure factors and the original failure probability under various pre-determined environmental conditions;

[0056] Step 104, calculate the reliability of the robot according to the corrected failure probability under various environmental conditions.

[0057] Specifically, aiming at the deficiencies or defects of the existing technology, the present invention provides a method for verifying the failure of the navigation and positioning function of a substation inspection robot, which is used for comprehensively verifying the failure of the navigation and positioning function of the substation inspection robot under conditions such as rain, fog, strong light, and changes in the surrounding environment, facilitating the subsequent product reliability optimization of the inspection robot manufacturing unit, and also being beneficial to the regular maintenance and use of the existing robots by the user unit. The specific implementation steps are as follows:

[0058] S100. Arrange a square test plane for the robot to walk in a closed room, where the square test plane is divided into a nine-square grid, and the geometric center of each grid is marked as a test point, totaling 9 test points, as Figure 2 shown.

[0059] S200. Place 9 solid carbon dioxide devices on the ground of the enclosed room. Each solid carbon dioxide device is located at a distance of h1 directly below each test point. When the 9 solid carbon dioxide devices are activated to release gaseous carbon dioxide to simulate a foggy environment, test the navigation and positioning function of the robot at 9 test points in the simulated foggy environment in the enclosed room.

[0060] S300. Arrange a plurality of movable baffles along the four side lengths of the square test plane in the east, west, south, and north directions. When the plurality of baffles are activated to simulate a change in the robot's surrounding environment, test the navigation and positioning function of the robot at 9 test points in the simulated changed surrounding environment in the enclosed room. The change in the surrounding environment includes the growth of grass, shrubs, or occlusion caused by construction scenarios.

[0061] S400. Arrange a plurality of strong light devices at a distance of h2 above the square test plane. When the plurality of strong light devices are activated to simulate a strong light environment, test the navigation and positioning function of the robot at 9 test points in the simulated strong light environment in the enclosed room. The strong light environment includes strong sunlight irradiation and strong artificial light irradiation.

[0062] Preferably, according to the actual working location of the robot, count the number of times of foggy environment occurrences at this actual working location every year.

[0063] Preferably, according to the actual working location of the robot, count the number of times of changes in the surrounding environment occurrences at this actual working location every year.

[0064] Preferably, according to the actual working location of the robot, count the number of times of strong light environment occurrences at this actual working location every year. The weight of strong sunlight irradiation is higher than the weight of strong artificial light irradiation, and the weight ratio of the two is determined according to the actual statistical results.

[0065] Preferably, according to the number of times of foggy environment occurrences, the number of times of changes in the surrounding environment occurrences, and the number of times of strong light environment occurrences every year, determine the foggy environment failure factor N1, the surrounding environment change failure factor N2, and the strong light environment failure factor N3 corresponding to the three different working conditions of foggy environment, surrounding environment change, and strong light environment, and N1 + N2 + N3 = 1.

[0066] Preferably, according to step S200, count the first original failure probability P1 of the navigation and positioning function of the robot failing in the test at 9 test points in the simulated foggy environment, and the first corrected failure probability P1' corrected by the failure influence factor.

[0067] Preferably, according to step S300, the second original failure probability P2 of the navigation and positioning function of the robot failing in the simulated surrounding environment change at 9 test points, and the second corrected failure probability P2' corrected by the failure impact factor are counted.

[0068] Preferably, according to step S400, the third original failure probability P3 of the navigation and positioning function of the robot failing in the simulated strong light environment at 9 test points, and the third corrected failure probability P3' corrected by the failure impact factor are counted.

[0069] Based on the first corrected failure probability P1' corrected by the failure impact factor, the second corrected failure probability P2' corrected by the failure impact factor, and the third corrected failure probability P3' corrected by the failure impact factor, the overall reliability K of the robot is calculated: K = (1 - P1') × (1 - P2') × (1 - P3').

[0070] In an embodiment of the present invention, the method proposed by the present invention is specifically practiced as follows:

[0071] (1) Test site

[0072] 1) The test site is a square nine-grid indoor closed room with dimensions of 9m × 9m × 3m. The center point of each nine-grid is the inspection point, numbered 1-9 respectively.

[0073] 2) The preset route is to walk from point 1 to point 9 in sequence. The robot makes a U-turn in place at point 9 and walks from point 9 to point 1 in reverse order, which means completing 1 test cycle. As Figure 2 shown.

[0074] To timely capture whether the robot's navigation and positioning deviates, a walking deviation test system with a sensor alarm device is set according to the width of the robot's moving direction. For example, if the width of the robot's moving direction itself is 40 cm, the walking deviation test system allows a walking channel of 44 cm, that is, 2 cm is extended on each side of the moving direction. As Figure 2 shown by the red dotted line part in.

[0075] Once the robot deviates more than or equal to ±2 cm left or right during walking, the robot body will touch the physical isolation belt of the walking deviation test system, and the walking deviation test system will trigger an alarm and record that the test result at this moment is a failure once.

[0076] (1) Foggy weather environment condition test

[0077] 1) Before each test, 1 kg of solid carbon dioxide is placed in each small grid in the indoor site, and the placement position is 1 m directly below each inspection point.

[0078] 2) During the process of the sublimation of solid carbon dioxide into gaseous carbon dioxide, the robot completes 100 cycles of the autonomous inspection task as Figure 2 shown, records the fault conditions such as deviation, and obtains the first original failure probability P1 of the robot's navigation and positioning function under this working condition.

[0079] 3) During the test, observe the atomization concentration in the indoor air in real time. If the fog completely disperses, suspend the test and retest according to step 1).

[0080] (2) Test under the condition of changing the surrounding environment

[0081] Before the test, arrange 9 baffles with a height of 2m and a width of 0.5m on the ground on each of the east, west, south, and north sides of the test site, distributed at intervals of 0.5m on the edge of the test field, ensuring that the changed proportional length of each side is 50%. The purpose of this test method is to simulate the working conditions of the substation environment change (such as the growth of grass and shrubs and the construction scene, etc.) by setting baffles with a 50% ratio. The robot completes 100 cycles of the autonomous inspection task as Figure 2 shown, records the fault conditions such as deviation, and obtains the second original failure probability P2 of the robot's navigation and positioning function under this working condition.

[0082] (3) Test under the condition of strong light environment

[0083] Before the test, arrange 3 searchlights with a height of 2m at equal distances on the ground on each of the east, west, south, and north sides of the test site, that is, the 9 inspection points are directly opposite. 12 searchlights, each with a light intensity of not less than 1000 lumens, are turned on downward to irradiate the nearest ground inspection points 1-9. The robot completes 100 cycles of the autonomous inspection task as Figure 2 shown, records the fault conditions such as deviation, and obtains the third original failure probability P3 of the robot's navigation and positioning function under this working condition.

[0084] In one embodiment, combined with the following Table 1 of the failure test data of a certain substation inspection robot, the failure model of the navigation and positioning function of the substation inspection robot is described as follows:

[0085] Table 1 Failure test data of a certain substation inspection robot under various working conditions

[0086]

[0087] Considering the average actual occurrence times of different working conditions such as foggy environment, surrounding environment change, and strong light environment in a year, take their failure influence factors N1, N2, and N3 as 0.1, 0.5, and 0.4 respectively, with a total of 1. The actual test results of various working conditions are shown in the above table.

[0088] The failure probability corrected by the failure impact factor = the failure impact factor * the original failure probability.

[0089] Referring to Table 1 above, it can be seen that under different working conditions such as foggy environment, changing surrounding environment, and strong light environment, the corrected failure probabilities P1’, P2’, and P3’ of the substation inspection robot are 0.003, 0.004, and 0.008 respectively.

[0090] The foggy environment, changing surrounding environment, and strong light environment are considered as mutually independent influencing factors. Therefore, the overall reliability K of the robot is:

[0091] K = (1 - P1’) × (1 - P2’) × (1 - P3’) = 0.997 × 0.996 × 0.992 = 0.9851, that is, 98.51%.

[0092] In summary, through the technical solution disclosed in the present disclosure, the navigation and positioning failure problems of the inspection robot under different working conditions can be systematically analyzed and addressed, which helps to improve its reliability and inspection efficiency.

[0093] Therefore, the present invention provides a method for verifying the failure of the navigation and positioning function of a substation inspection robot, which is used for comprehensively verifying the failure of the navigation and positioning function of the substation inspection robot under working conditions such as fog, changing surrounding environment, and strong light. It is convenient for the production unit of the inspection robot to carry out subsequent product reliability optimization, and is also beneficial for the user unit to regularly maintain and use the existing robots.

[0094] In addition, the inventive concept disclosed in the present invention can also be easily extended to more working conditions such as rain and snow.

[0095] Exemplary device

[0096] Figure 3 It is a schematic structural diagram of a verification device for the failure of the navigation and positioning function of a substation inspection robot provided by an exemplary embodiment of the present invention. As Figure 3 shown, the device 300 includes:

[0097] An arrangement module 310 for arranging a square test plane for the inspection robot to walk in a closed space, where the square test plane includes a plurality of test points;

[0098] A simulation module 320 for simulating various environmental working conditions in the square test plane and statistically calculating the original failure probability of the navigation and positioning function failure of the robot at each test point under various environmental working conditions;

[0099] A first calculation module 330 for calculating the corrected failure probability under various environmental working conditions according to the failure factors and the original failure probability under various environmental working conditions determined in advance;

[0100] A second calculation module 340, configured to calculate the reliability of the robot according to the corrected failure probabilities under various environmental conditions.

[0101] Optionally, the positive direction test plane is divided into a nine-square grid, and the geometric center of each grid is marked as a test point.

[0102] Optionally, the original failure probabilities include a first original failure probability, a second original failure probability, and a third original failure probability, and

[0103] The simulation module 320 includes:

[0104] A first statistics sub-module, configured to set a gaseous carbon dioxide device at a preset position directly below each test point on the square test plane to simulate a foggy environment, and to count the first original failure probability of the navigation and positioning function of the robot failing at each test point in the simulated foggy environment;

[0105] A second statistics sub-module, configured to arrange a plurality of movable baffles at the four side lengths of the square test plane to simulate a change in the surrounding environment, and to count the second original failure probability of the navigation and positioning function of the robot failing at each test point in the simulated change in the surrounding environment;

[0106] A third statistics sub-module, configured to arrange a plurality of strong light devices at a preset position directly above each test point on the square test plane to simulate a strong light environment, and to count the third original failure probability of the navigation and positioning function of the robot failing at each test point in the simulated strong light environment.

[0107] Optionally, the first calculation module 330 includes:

[0108] A fourth statistics sub-module, configured to count the actual occurrence times of various environmental conditions in the actual working environment of the robot;

[0109] A determination sub-module, configured to determine the failure factors under various environmental conditions according to the actual occurrence times under various environmental disclosures;

[0110] A calculation sub-module, configured to calculate the corrected failure probabilities under various environmental conditions according to the failure factors and the original failure probabilities under various environmental conditions.

[0111] Optionally, the failure factors include a foggy environment failure factor, a surrounding environment change failure factor, and a strong light environment failure factor, the corrected failure probabilities include a first corrected failure probability, a second corrected failure probability, and a third corrected failure probability, and,

[0112] The calculation sub-module includes:

[0113] A determination unit is configured to determine a first corrected failure probability, a second corrected failure probability, and a third corrected failure probability according to a foggy weather environment failure factor, a surrounding environment change failure factor, a strong light environment failure factor, a first original failure probability, a second original failure probability, and a third original failure probability.

[0114] Optionally, the calculation expression of the reliability K is:

[0115] K = (1 - P1') × (1 - P2') × (1 - P3')

[0116] In the formula, P1' is the first corrected failure probability; P2' is the second corrected failure probability; P3' is the third corrected failure probability, where P1' = N1 × P1; P2' = N2 × P2; P3' = N3 × P3; P1 is the first original failure probability; P2 is the second original failure probability; P3 is the third original failure probability; N1 is the foggy weather environment failure factor; N2 is the surrounding environment change failure factor; N3 is the strong light environment failure factor.

[0117] Exemplary electronic device

[0118] Figure 4 is the structure of an electronic device provided by an exemplary embodiment of the present invention. As Figure 4 shown, the electronic device 40 includes one or more processors 41 and a memory 42.

[0119] The processor 41 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0120] The memory 42 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 41 may run the program instructions to implement the methods of the software programs of the various embodiments of the present invention described above and / or other desired functions. In one example, the electronic device may further include: an input device 43 and an output device 44, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0121] In addition, the input device 43 may further include, for example, a keyboard, a mouse, etc.

[0122] The output device 44 can output various information to the outside. The output device 44 can include, for example, a display, a speaker, a printer, a communication network, and remote output devices connected thereto, etc.

[0123] Of course, for simplicity, Figure 4 only some of the components related to the present invention in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application scenarios, the electronic device can also include any other appropriate components.

[0124] Exemplary computer program product and computer-readable storage medium

[0125] In addition to the above methods and devices, an embodiment of the present invention can also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0126] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present invention. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0127] Furthermore, an embodiment of the present invention can also be a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0128] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0129] The basic principles of the present invention have been described above in connection with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are merely examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present invention. Additionally, the specific details disclosed above are only for illustrative and facilitating understanding purposes, rather than limitations. These details do not limit the present invention to necessarily implementing with the above specific details.

[0130] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For system embodiments, since they basically correspond to method embodiments, the description is relatively simple. For relevant parts, reference can be made to the corresponding descriptions in the method embodiments.

[0131] The block diagrams of the devices, systems, equipment, and systems involved in the present invention are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, systems, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0132] The methods and systems of the present invention can be implemented in many ways. For example, the methods and systems of the present invention can be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of the steps for the methods is only for illustration, and the steps of the methods of the present invention are not limited to the specific order described above, unless otherwise specifically stated in other ways. Additionally, in some embodiments, the present invention can also be implemented as a program recorded in a recording medium, and these programs include machine-readable instructions for implementing the methods according to the present invention. Therefore, the present invention also covers a recording medium storing a program for executing the methods according to the present invention.

[0133] It should also be noted that in the systems, devices, and methods of the present invention, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present invention. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0134] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A verification method for the failure of the navigation and positioning function of a substation inspection robot, characterized in that, Including: A square test plane for a patrol robot to walk is arranged in a closed space, where the square test plane includes multiple test points; Simulate various environmental conditions in the square test plane, and count the original failure probabilities of the navigation and positioning functions of the robot failing at each test point under various environmental conditions; Calculate the corrected failure probabilities under various environmental conditions according to the failure factors and original failure probabilities under various pre-determined environmental conditions; Calculate the reliability of the robot according to the corrected failure probabilities under various environmental conditions.

2. The method according to claim 1, wherein The positive direction test plane is divided into a nine-square grid, and the geometric center of each grid is marked as a test point.

3. The method according to claim 1, wherein The original failure probabilities include a first original failure probability, a second original failure probability, and a third original failure probability, and Simulate various environmental conditions in the square test plane, and count the original failure probabilities of the navigation and positioning functions of the robot failing at each test point under various environmental conditions, including: Set a gaseous carbon dioxide device at a preset position directly below each test point on the square test plane to simulate a foggy environment, and count the first original failure probability of the navigation and positioning functions of the robot failing at each test point in the simulated foggy environment; Arrange a plurality of movable baffles at the four side lengths of the square test plane to simulate a change in the surrounding environment, and count the second original failure probability of the navigation and positioning functions of the robot failing at each test point in the simulated change in the surrounding environment; Arrange a plurality of strong light devices at a preset position directly above each test point on the square test plane to simulate a strong light environment, and count the third original failure probability of the navigation and positioning functions of the robot failing at each test point in the simulated strong light environment.

4. The method according to claim 3, wherein Calculate the corrected failure probabilities under various environmental conditions according to the failure factors and original failure probabilities under various pre-determined environmental conditions, including: Count the actual occurrence times of various environmental conditions in the actual working environment of the robot; Determine the failure factors under various environmental conditions according to the actual occurrence times under various environmental conditions; Calculate the corrected failure probabilities under various environmental conditions according to the failure factors and original failure probabilities under various environmental conditions.

5. The method according to claim 4, wherein The failure factors include a foggy environment failure factor, a surrounding environment change failure factor, and a strong light environment failure factor, and the corrected failure probabilities include a first corrected failure probability, a second corrected failure probability, and a third corrected failure probability, and, Calculate the corrected failure probabilities under various environmental conditions according to the failure factors and original failure probabilities under various pre-determined environmental conditions, including: Determine the first corrected failure probability, the second corrected failure probability, and the third corrected failure probability according to the foggy environment failure factor, the surrounding environment change failure factor, the strong light environment failure factor, the first original failure probability, the second original failure probability, and the third original failure probability.

6. The method according to claim 1, wherein The calculation expression of the reliability K is: K = (1 - P1') × (1 - P2') × (1 - P3') Wherein, P1’ is the first corrected failure probability; P2’ is the second corrected failure probability; P3’ is the third corrected failure probability, where P1’ = N1 × P1; P2’ = N2 × P2; P3’ = N3 × P3; P1 is the first original failure probability; P2 is the second original failure probability; P3 is the third original failure probability; N1 is the failure factor in foggy environment; N2 is the failure factor due to the change of the surrounding environment; N3 is the failure factor in strong light environment.

7. A verification device for the failure of the navigation and positioning function of a substation inspection robot, characterized in that, Including: An arrangement module, configured to arrange a square test plane for the inspection robot to walk in a closed space, wherein the square test plane includes a plurality of test points; A simulation module, configured to simulate various environmental conditions in the square test plane and count the original failure probabilities of the navigation and positioning function failure of the robot at each test point under various environmental conditions; A first calculation module, configured to calculate the corrected failure probabilities under various environmental conditions according to the failure factors and the original failure probabilities under the predetermined various environmental conditions; A second calculation module, configured to calculate the reliability of the robot according to the corrected failure probabilities under various environmental conditions.

8. The device according to claim 7, characterized in that, The positive direction test plane is divided into a nine-square grid, and the geometric center of each grid is marked as a test point.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1-6 above.

10. An electronic device, characterized in that, The electronic device includes: A processor; A memory for storing executable instructions of the processor; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method according to any one of claims 1-6 above.

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