Underground inspection path planning method for inspection robot

Abstract

The application provides an underground inspection path planning method for an inspection robot, and relates to the technical field of robot path planning.The method comprises the following steps: acquiring basic map data, robot basic data and an inspection plan; acquiring real-time map data and robot real-time data; determining an inspection node; determining a selectable inspection path; determining an inspection consumption coefficient; determining a preset inspection path according to the robot basic data, the real-time map data, the inspection consumption coefficient and the basic map data; determining whether the preset inspection path needs to be changed according to the basic map data, the robot basic data and the robot real-time data; in the case that it is determined that the preset inspection path needs to be changed, determining a changed inspection path according to the robot basic data, the basic map data and the robot real-time data, and performing inspection according to the changed inspection path. According to the application, the rationality of underground inspection path planning can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot path planning, and particularly relates to an underground inspection path planning method for an inspection robot. BACKGROUND

[0002] In the related art, the underground inspection path planning for an inspection robot mainly relies on an artificial planning manner, that is, mainly depends on human factors, and excessively relying on human factors may cause low real-time decision efficiency, so that the inspection robot cannot improve the inspection efficiency and the service life is consumed too quickly.

[0003] The information disclosed in the background section of this application is only intended to deepen the understanding of the general background of the application and should not be regarded as acknowledging or implying in any form that this information constitutes prior art known to those skilled in the art. SUMMARY

[0004] The present application provides an underground inspection path planning method for an inspection robot, which can solve the technical problems that the related art cannot improve the inspection efficiency of the inspection robot and the service life is consumed too quickly.

[0005] According to a first aspect of the present application, an underground inspection path planning method for an inspection robot is provided, comprising:

[0006] obtaining basic map data, robot basic data and an inspection plan;

[0007] In a plurality of inspection cycles, real-time map data and robot real-time data are obtained;

[0008] At the start time of the e-th inspection cycle, an inspection node of the e-th inspection cycle is determined according to the basic map data, the inspection plan and the robot real-time data at the end time of the e-1-th inspection cycle;

[0009] At the start time of the e-th inspection cycle, a selectable inspection path is determined according to the robot basic data and the basic map data;

[0010] At the start time of the e-th inspection cycle, an inspection consumption coefficient of the selectable inspection path is determined according to the basic map data and the real-time map data;

[0011] At the start time of the e-th inspection cycle, a preset inspection path is determined according to the robot basic data, the real-time map data, the inspection consumption coefficient and the basic map data, and in the e-th inspection cycle, the inspection is performed according to the preset inspection path;

[0012] At multiple time points in the e-th inspection cycle, whether the preset inspection path needs to be changed is determined according to the basic map data, the robot basic data and the robot real-time data;

[0013] In a case where it is determined that the preset inspection path needs to be changed, a changed inspection path is determined according to the robot basic data, the basic map data and the robot real-time data, and inspection is performed according to the changed inspection path.

[0014] According to the application, at the start time of the e-th inspection cycle, the inspection node of the e-th inspection cycle is determined according to the basic map data, the inspection plan and the robot real-time data at the end time of the e-1-th inspection cycle, including:

[0015] The to-be-inspected node is determined according to the inspection plan;

[0016] The inspection priority of the to-be-inspected node is determined according to the inspection plan;

[0017] The to-be-inspected node position information is determined according to the basic map data and the to-be-inspected node;

[0018] The robot real-time position information at the end time of the e-1-th inspection cycle is determined according to the robot real-time data at the end time of the e-1-th inspection cycle;

[0019] The inspection node of the e-th inspection cycle is determined according to the inspection priority, the robot real-time position information at the end time of the e-1-th inspection cycle and the to-be-inspected node position information.

[0020] According to the application, at the start time of the e-th inspection cycle, the selectable inspection path is determined according to the robot basic data and the basic map data, including:

[0021] The permanent water accumulation area position information, the corrosive gas source position information and the strong electromagnetic field source position information are determined according to the basic map data;

[0022] The inspection position information of the inspection node of the e-th inspection cycle is determined;

[0023] All the inspection paths are determined according to the permanent water accumulation area position information, the corrosive gas source position information, the strong electromagnetic field source position information, the robot real-time position information and the inspection position information;

[0024] The inspection path width of all the inspection paths is determined according to the basic map data;

[0025] The robot size is determined according to the robot basic data;

[0026] determine a selectable inspection path according to the inspection path width and the robot size.

[0027] According to the application, the inspection consumption coefficient of the selectable inspection path is determined according to the basic map data and the real-time map data, comprising:

[0028] determine the slope gradient and the slope length of the slope in the selectable inspection path according to the basic map data;

[0029] determine the path temperature data and the harmful gas concentration at the preset position according to the real-time map data;

[0030] determine the real-time path image according to the real-time map data;

[0031] identify whether there is a water pool in the path in the real-time path image through an image detection model, and determine the water pool length and the water pool depth of the water pool;

[0032] determine the inspection consumption coefficient of the selectable inspection path according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the water pool length and the water pool depth.

[0033] According to the application, the inspection consumption coefficient of the selectable inspection path is determined according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the water pool length and the water pool depth, comprising:

[0034] according to the formula

[0035]

[0036] determine the inspection consumption coefficient of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle , wherein if is a conditional function, is the slope gradient of the j-th slope of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle, is a preset slope gradient threshold, is the slope length of the j-th slope of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle, is a preset slope length threshold, is the harmful gas concentration of the r-th harmful gas at the a-th preset position of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle, is a preset harmful gas concentration threshold, is the path temperature data at the a-th preset position of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle, a preset first temperature threshold value, a preset second temperature threshold value, a puddle length of a bth puddle of an ith selectable inspection path at a kth moment of an e th inspection cycle, a puddle depth of the bth puddle of the ith selectable inspection path at the kth moment of the e th inspection cycle, a preset puddle length threshold value, a preset puddle depth threshold value, m is a number of slopes of the selectable path, j≤m, A is a number of preset positions of the selectable path, a≤A, B is a number of puddles of the selectable path, b≤B, R is a kind of harmful gas, r≤R, and m, j, a, A, b, B, r and R are all greater than or equal to 0.

[0037] According to the present application, at a starting moment of an e th inspection cycle, a preset inspection path is determined according to the robot basic data, the real-time map data, the inspection consumption coefficient and the base map data, and in the e th inspection cycle, inspection is performed according to the preset inspection path, including:

[0038] determining a path length of the selectable inspection path according to the base map data;

[0039] determining a robot used time and a robot expected life according to the robot basic data;

[0040] determining a priority inspection coefficient according to the robot used time, the robot expected life, the inspection priority, the path length and the inspection consumption coefficient;

[0041] determining a preset inspection path according to the priority inspection coefficient.

[0042] According to the present application, the priority inspection coefficient is determined according to the robot used time, the robot expected life, the inspection priority, the path length and the inspection consumption coefficient, including:

[0043] according to the formula

[0044]

[0045] determining a priority inspection coefficient of an ith selectable inspection path of an e th inspection cycle wherein, an inspection priority of an inspection node of the e th inspection cycle, a path length of the ith selectable inspection path of the e th inspection cycle, a preset inspection priority threshold value, a robot expected life, Time used by the robot, The inspection consumption coefficient of the i-th selectable inspection path at the start time of the e-th inspection cycle, n is the number of selectable inspection paths, i≤n, i and n are positive integers.

[0046] According to the application, at multiple time points in the e-th inspection cycle, it is determined whether the preset inspection path needs to be changed according to the basic map data, the robot basic data and the robot real-time data, including:

[0047] According to the robot real-time data, it is determined whether there is a sudden obstacle;

[0048] In the case of no sudden obstacle, the preset inspection path does not need to be changed;

[0049] In the case of a sudden obstacle, it is determined whether the preset inspection path needs to be changed according to the basic map data, the robot basic data and the robot real-time data.

[0050] According to the application, in the case of a sudden obstacle, it is determined whether the preset inspection path needs to be changed according to the basic map data, the robot basic data and the robot real-time data, including:

[0051] According to the robot real-time data, a sudden obstacle path image is determined;

[0052] In the sudden obstacle path image, a path passable width is determined by an image detection model;

[0053] According to the path passable width and the robot size, a first determination result is determined;

[0054] In the sudden obstacle path image, an obstacle height is determined by an image detection model;

[0055] According to the robot basic data, a robot crossable height, a robot wheelbase and a robot center of gravity height are determined;

[0056] According to the obstacle height and the robot crossable height, a second determination result is determined;

[0057] According to the robot real-time data and the robot real-time position information, obstacle position information is determined;

[0058] According to the obstacle position information and the basic map data, an obstacle terrain slope angle is determined;

[0059] According to the robot wheelbase, the robot center of gravity height and the obstacle terrain slope angle, a third determination result is determined;

[0060] Determine whether the preset inspection path needs to be changed according to the first judgment result, the second judgment result, and the third judgment result.

[0061] According to a second aspect of the present invention, there is provided an underground inspection path planning system for an inspection robot, comprising:

[0062] Basic data module, used to obtain basic map data, robot basic data and inspection plan;

[0063] Real-time data module, used to obtain real-time map data and robot real-time data during multiple inspection cycles;

[0064] An inspection node module is used to determine, at the start time of the e-th inspection cycle, the inspection node of the e-th inspection cycle based on the basic map data, the inspection plan and the real-time data of the robot at the end time of the e-1-th inspection cycle;

[0065] A path selection module is used to determine a selectable inspection path based on the robot basic data and the basic map data at the beginning of the e-th inspection cycle;

[0066] a consumption coefficient module, configured to determine, at the start of the e-th inspection cycle, an inspection consumption coefficient of an optional inspection path based on the basic map data and the real-time map data;

[0067] a preset path module, configured to determine, at the start of the e-th inspection cycle, a preset inspection path based on the robot basic data, the real-time map data, the inspection consumption coefficient, and the basic map data, and perform inspections along the preset inspection path during the e-th inspection cycle;

[0068] a judgment and modification module, configured to determine whether a preset inspection path needs to be modified based on the basic map data, the basic data of the robot, and the real-time data of the robot at multiple moments in the e-th inspection cycle;

[0069] The path change module is used to determine the changed inspection path based on the basic data of the robot, the basic map data and the real-time data of the robot when it is determined that the preset inspection path needs to be changed, and to perform inspection according to the changed inspection path.

[0070] Technical effects: According to the application, the inspection nodes of each inspection cycle can be determined according to the robot data, map data and inspection plan, the selectable inspection paths can be screened out, and the consumption condition of the service life of the robot through each selectable inspection path can be accurately analyzed to determine the inspection consumption coefficient. Further, according to the inspection consumption coefficient and the map data, the preset inspection path is determined, and in the inspection process, it is determined whether there is a sudden obstacle in the path and whether the sudden obstacle has an impact on the passage of the inspection robot, whether the inspection path needs to be changed, which improves the rationality of the underground inspection path planning of the robot, improves the inspection efficiency, and reduces the consumption of the service life of the inspection robot. When determining the inspection consumption coefficient, the inspection consumption coefficient of the selectable inspection path can be determined according to the slope gradient, slope length, path temperature data, harmful gas concentration, water hole length and water hole depth. In the calculation process, the consumption condition of the service life of the inspection robot in the water hole, slope, harmful gas and path temperature in the selectable path through each selectable inspection path can be fully analyzed, which improves the comprehensiveness and accuracy of the inspection consumption coefficient. When determining the priority inspection coefficient, the priority inspection coefficient can be determined according to the robot usage time, robot expected life, inspection priority, path length and inspection consumption coefficient. In the calculation process, the demand condition for the inspection speed can be fully analyzed through the inspection priority, the demand condition for the inspection consumption can be fully analyzed through the robot usage time, further, based on the demand conditions for the inspection speed and the inspection consumption, and the path length and the inspection consumption coefficient, the priority inspection coefficient is determined, which improves the accuracy and comprehensiveness of the priority inspection coefficient.

[0071] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the present application. Other features and aspects of the present application will be more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other embodiments from these drawings without creative labor;

[0073] Figure 1 Exemplarily, a flowchart of an underground inspection path planning method of an inspection robot according to an embodiment of the present application is shown;

[0074] Figure 2 Exemplarily, a schematic diagram of determining an inspection node according to an embodiment of the present application is shown;

[0075] Figure 3 A schematic diagram exemplarily illustrates a method for determining a selectable inspection path according to an embodiment of the present invention;

[0076] Figure 4 A schematic diagram exemplarily illustrates determining an inspection consumption coefficient of an optional inspection path according to an embodiment of the present invention;

[0077] Figure 5 A schematic diagram exemplarily illustrates determining an inspection consumption coefficient of a preset inspection path according to an embodiment of the present invention;

[0078] Figure 6 A schematic diagram exemplarily illustrates determining whether a preset inspection path needs to be changed according to an embodiment of the present invention;

[0079] Figure 7 A block diagram of an underground inspection path planning system for an inspection robot according to an embodiment of the present invention is exemplarily shown. DETAILED DESCRIPTION

[0080] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0081] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0082] Figure 1 A flow chart of a method for underground inspection path planning of an inspection robot according to an embodiment of the present invention is exemplarily shown. The method includes:

[0083] Step S1, obtaining basic map data, robot basic data and inspection plan;

[0084] Step S2, acquiring real-time map data and robot real-time data during multiple inspection cycles;

[0085] Step S3, at the start time of the e-th inspection cycle, determining the inspection node of the e-th inspection cycle according to the basic map data, the inspection plan and the real-time data of the robot at the end time of the e-1-th inspection cycle;

[0086] Step S4, at the start time of the e th inspection cycle, determining a selectable inspection path according to the robot basic data and the base map data;

[0087] Step S5, at the start time of the e th inspection cycle, determining an inspection consumption coefficient of the selectable inspection path according to the base map data and the real-time map data;

[0088] Step S6, at the start time of the e th inspection cycle, determining a preset inspection path according to the robot basic data, the real-time map data, the inspection consumption coefficient and the base map data, and performing inspection according to the preset inspection path in the e th inspection cycle;

[0089] Step S7, at multiple time points in the e th inspection cycle, determining whether the preset inspection path needs to be changed according to the base map data, the robot basic data and the robot real-time data;

[0090] Step S8, in the case of determining that the preset inspection path needs to be changed, determining a changed inspection path according to the robot basic data, the base map data and the robot real-time data, and performing inspection according to the changed inspection path.

[0091] The underground inspection path planning method of the inspection robot according to the embodiment of the present application can determine the inspection nodes of each inspection cycle according to the robot data, the map data and the inspection plan, screen out the selectable inspection paths, accurately analyze the consumption status of the service life of the robot through each selectable inspection path, determine the inspection consumption coefficient, further determine the preset inspection path according to the inspection consumption coefficient and the map data, and determine whether there is a sudden obstacle in the path and whether the sudden obstacle has an impact on the passage of the inspection robot in the inspection process, and whether the inspection path needs to be changed, thereby improving the rationality of the underground inspection path planning, improving the inspection efficiency, and reducing the consumption of the service life of the inspection robot.

[0092] According to one embodiment of the present application, in step S1, the base map data, the robot basic data and the inspection plan are obtained.

[0093] For example, the design drawing of the inspection site is obtained, the base map data is obtained according to the design drawing, the base map data includes path length, path width and key area (such as aeration system) position information, the robot basic data is determined according to the factory information and design information of the robot, such as robot size, robot expected service life and robot performance data, and the inspection plan includes the inspection nodes that need to be inspected and the inspection priority of each inspection node.

[0094] According to an embodiment of the present application, in step S2, the real-time map data and the robot real-time data are acquired in a plurality of inspection cycles.

[0095] For example, the real-time map data is acquired by sensors (e.g., gas sensors, temperature sensors, and cameras) installed at preset positions (positions prone to water accumulation and harmful gas, and frequently traveled positions, such as between gratings, underground low-lying areas, key corridors, passages, underground pipe galleries, power distribution rooms, and stairwells), and the robot real-time data is acquired by cameras and sensors installed on the robot.

[0096] According to an embodiment of the present application, in step S3, at the start time of the e-th inspection cycle, the inspection node of the e-th inspection cycle is determined according to the base map data, the inspection plan, and the robot real-time data at the end time of the e-1-th inspection cycle.

[0097] Figure 2 An exemplary schematic diagram of determining an inspection node according to an embodiment of the present application is shown.

[0098] According to an embodiment of the present application, step S3 comprises:

[0099] In step S31, the node to be inspected is determined according to the inspection plan.

[0100] In step S32, the inspection priority of the node to be inspected is determined according to the inspection plan.

[0101] In step S33, the position information of the node to be inspected is determined according to the base map data and the node to be inspected.

[0102] In step S34, the robot real-time position information at the end time of the e-1-th inspection cycle is determined according to the robot real-time data at the end time of the e-1-th inspection cycle.

[0103] In step S35, the inspection node of the e-th inspection cycle is determined according to the inspection priority, the robot real-time position information at the end time of the e-1-th inspection cycle, and the position information of the node to be inspected.

[0104] For example, the inspection cycle is the time period of the inspection robot from the previous inspection node to the next inspection node, the starting time of the current inspection cycle is the same as the ending time of the previous inspection cycle, at the ending time of the previous inspection cycle, the inspection robot completes the inspection of the previous inspection node; according to the inspection plan, the to-be-inspected nodes that have not been inspected are determined; in the process of formulating the inspection plan, according to the importance of each inspection node, the inspection priority of each inspection node is determined, the inspection priority is divided into 1-10 levels, for example, in the process of inspecting the underground sewage treatment plant, the inspection node at the position of the influent and pretreatment area belongs to the medium priority (the inspection priority is in the range of 4-7), the inspection node at the position of the aeration system belongs to the high priority (the inspection priority is in the range of 8-10), and the inspection node at the position of the well-ventilated corridor and passage is in the low priority (the inspection priority is in the range of 1-3); according to the basic map data, the map of the underground sewage treatment plant is determined, taking the preset origin in the map as the coordinate origin, taking the ground as the x0y plane, and taking the vertically upward direction as the z-axis of the coordinate system, a coordinate system is established, and the to-be-inspected node position information of the to-be-inspected nodes in the coordinate system is determined; the robot real-time position information of the inspection robot at the ending time of the previous inspection cycle is obtained; according to the robot real-time position information at the ending time of the e-1th inspection cycle and the to-be-inspected node position information, the inspection distances between the robot and all the to-be-inspected nodes are determined, and the average value of the inspection distances between the robot and all the to-be-inspected nodes is determined, according to the average value of the inspection distances and the ratio of the inspection distances between the robot and each to-be-inspected node, the first ratio of each to-be-inspected node is determined, according to the inspection priority of each to-be-inspected node, the average value of the inspection priorities of all the to-be-inspected nodes is determined, according to the ratio of the inspection priority of each to-be-inspected node and the average value of the inspection priorities of all the to-be-inspected nodes, the second ratio of each to-be-inspected node is determined, according to the sum of the first ratio and the second ratio, the corresponding weight of each to-be-inspected node is determined, the to-be-inspected node with the maximum corresponding weight is determined as the inspection node of the e th inspection cycle, and according to the inspection node determined according to the scheme, the to-be-inspected nodes with low distances are preferentially inspected, the work efficiency is improved, and the inspection priority of the to-be-inspected nodes is considered, and the relatively important to-be-inspected nodes are preferentially inspected.

[0105] According to an embodiment of the present application, in step S4, at the starting time of the e th inspection cycle, the selectable inspection path is determined according to the robot basic data and the basic map data.

[0106] Figure 3 An exemplary schematic diagram of determining a selectable inspection path according to an embodiment of the present application is shown.

[0107] According to an embodiment of the present application, step S4 comprises:

[0108] Step S41, determining permanent water area position information, corrosive gas source position information and strong electromagnetic field source position information according to the basic map data;

[0109] Step S42, determining the inspection position information of the inspection node in the e-th inspection period.

[0110] Step S43, determining all inspection paths according to the permanent water area position information, the corrosive gas source position information, the strong electromagnetic field source position information, the real-time position information of the robot and the inspection position information.

[0111] Step S44, determining the inspection path width of all inspection paths according to the basic map data.

[0112] Step S45, determining the robot size according to the basic data of the robot.

[0113] Step S46, determining the selectable inspection path according to the inspection path width and the robot size.

[0114] For example, according to the design drawings of the underground sewage treatment plant, the permanent water area (such as sewage inlet and outlet channels) position information, the corrosive gas source (such as digestion tank, sludge concentration tank) position information and the strong electromagnetic field source (such as large motor and variable frequency drive equipment) position information in the underground sewage treatment plant are determined; the inspection position information of the inspection node in the e-th inspection period in the preset coordinate system is determined; according to the real-time position information of the robot, the inspection position information and the design drawings of the underground sewage treatment plant, the inspection path from the position of the inspection robot to the inspection node is determined, and in the inspection path, the path avoiding the permanent water area position, the corrosive gas source position and the strong electromagnetic field source position is screened out to determine all inspection paths; according to the design drawings of the underground sewage treatment plant, the inspection path width of all inspection paths is determined; according to the factory information of the robot, the width of the robot, i.e. the robot size, is determined; according to the inspection path width and the robot size, the path that can be passed by the robot in all inspection paths, i.e. the selectable inspection path, is screened out.

[0115] According to an embodiment of the present application, in step S5, at the starting moment of the e-th inspection period, the inspection consumption coefficient of the selectable inspection path is determined according to the basic map data and the real-time map data.

[0116] Figure 4 An exemplary schematic diagram of determining the inspection consumption coefficient of the selectable inspection path according to an embodiment of the present application is shown.

[0117] According to an embodiment of the present application, step S5 comprises:

[0118] Step S51, determining the slope gradient and slope length of the slope in the selectable inspection path according to the basic map data;

[0119] Step S52, determining path temperature data and harmful gas concentration at a preset location based on the real-time map data;

[0120] Step S53, determining a real-time route image based on the real-time map data;

[0121] Step S54: in the real-time path image, identifying whether there is a puddle in the path through an image detection model, and determining the length and depth of the puddle;

[0122] Step S55 , determining the inspection consumption coefficient of the selectable inspection path according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the puddle length, and the puddle depth.

[0123] For example, based on the design drawings of the underground sewage treatment plant, the slope gradient and slope length in the optional inspection path are determined, where the slope is an uphill slope in the direction of the robot's movement toward the inspection node; temperature sensors and gas sensors are set at preset underground positions to obtain path temperature data and harmful gas (e.g., hydrogen sulfide) concentrations at the preset positions; real-time path images are captured by cameras set at preset positions; the image detection model is a type of deep learning model, which is trained through historical data (e.g., underground puddle images collected in historical time periods and the actual detected puddle length and puddle depth) to enable the image detection model to identify whether there are puddles in the image and determine the puddle length and puddle depth in the path direction. The image detection model is used to determine whether there are puddles on the path corresponding to each preset position, as well as the depth and length of the puddle; based on the slope gradient, slope length, path temperature data, harmful gas concentration, puddle length, and puddle depth, the consumption of the robot's service life through the path is evaluated, and the inspection consumption coefficient of the optional inspection path is determined.

[0124] According to one embodiment of the present invention, step S55 includes: determining the inspection consumption coefficient of the i-th selectable inspection path at the k-th moment of the e-th inspection cycle according to formula (1): ,

[0125] (1)

[0126] Among them, if is a conditional function, is the slope gradient of the jth slope of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is the preset slope threshold, a slope length of a jth slope of an ith selectable inspection path at a kth time of an e th inspection cycle, a preset slope length threshold value, a harmful gas concentration of an rth harmful gas at an a th preset position of an ith selectable inspection path at a kth time of an e th inspection cycle, a preset harmful gas concentration threshold value, path temperature data of an a th preset position of an ith selectable inspection path at a kth time of an e th inspection cycle, a preset first temperature threshold value, a preset second temperature threshold value, a puddle length of a b th puddle of an ith selectable inspection path at a kth time of an e th inspection cycle, a puddle depth of a b th puddle of an ith selectable inspection path at a kth time of an e th inspection cycle, a preset puddle length threshold value, a preset puddle depth threshold value, m is a number of slopes of the selectable path, j≤m, A is a number of preset positions of the selectable path, a≤A, B is a number of puddles of the selectable path, b≤B, R is a kind of harmful gas, r≤R, and m, j, a, A, b, B, r, and R are all greater than or equal to 0.

[0127] According to one embodiment of the present application, a ratio of a slope gradient of a jth slope of an ith selectable inspection path at a kth time of an e th inspection cycle to a preset gradient threshold value, the greater the ratio, the greater the slope gradient of the jth slope, when the gradient is greater, the motor current peak value rises when climbing, causing the winding to overheat, the controller to overload, and exacerbating the risk of winding burnout, wherein the preset gradient threshold value can be set to 10 degrees, a ratio of a slope length of a jth slope of an ith selectable inspection path at a kth time of an e th inspection cycle to a preset slope length threshold value, the greater the ratio, the greater the slope length, the longer the climbing length, and the greater the risk of winding burnout, wherein the preset slope length threshold value can be set to 1 m, a consumption condition of a jth slope for the service life of the inspection robot determined according to the gradient and the slope length, a consumption condition of the slopes in the selectable path for the service life of the inspection robot summed according to the number of slopes, a preset harmful gas concentration threshold value and a harmful gas concentration of the rth harmful gas at the ath preset position of the ith selectable inspection path at the kth moment of the e th inspection cycle, the greater the ratio, the higher the harmful gas concentration, the more serious the consumption of the harmful gas (such as hydrogen sulfide) at the ath preset position of the inspection robot, and the harmful gas (such as hydrogen sulfide) will corrode the inspection robot circuit board solder joints and sensor optical windows, the preset harmful gas concentration threshold value is set according to the type of harmful gas, for example, the preset harmful gas concentration threshold value corresponding to hydrogen sulfide can be set to 10 mg per cubic meter, summed according to the number of preset positions and the number of types of harmful gases, indicating the consumption of harmful gases in the selectable path on the service life of the inspection robot, the ratio of the water hole length of the bth water hole of the ith selectable inspection path at the kth moment of the e th inspection cycle to the preset water hole length threshold value, the greater the ratio, the longer the water hole length of the bth water hole, and the preset water hole depth threshold value can be set to 1 m, the ratio of the water hole depth of the bth water hole of the ith selectable inspection path at the kth moment of the e th inspection cycle to the preset water hole depth threshold value, the greater the ratio, the deeper the water hole depth of the bth water hole, and the preset water hole depth threshold value can be set to 10 cm, the consumption of the inspection robot service life through the water hole determined according to the water hole depth and the water hole length, the longer the length and the deeper the depth of the water hole will cause the inspection robot chassis electronic interface (such as motor encoder, IMU joint) to be immersed in water, resulting in short circuit corrosion phenomenon, reducing the service life of the inspection robot, summed according to the number of water holes in the selectable path, indicating the consumption of the water hole in the selectable path on the service life of the inspection robot.

[0128] According to one embodiment of the present application, in formula (1), the condition function includes the following two cases, when the condition is met, it means that the path temperature data at the ath preset position of the ith selectable inspection path at the kth moment of the e th inspection cycle is within the normal range, where is set to 5 degrees Celsius, can be set to 40 degrees Celsius, and the value of the condition function is 0, when the condition is not met, it means that the path temperature data is too high or too low, and the value of the condition function is , The relative difference of the path temperature data and the average of the preset first temperature threshold and the preset second temperature threshold, the larger the ratio, the higher or lower the path temperature data is relative, when the path temperature data is relatively high, it will exacerbate the risk of mechanical structure deformation and sensor distortion of the inspection robot, when the path temperature data is relatively low, it will exacerbate the risk of material embrittlement and structural damage of the inspection robot, The consumption condition of the temperature condition in the selectable path on the service life of the inspection robot is summed up according to the number of preset positions.

[0129] According to one embodiment of the present application, The inspection consumption coefficient is determined according to four aspects of the consumption condition of the slope, harmful gas, water hole and temperature in the selectable path on the service life of the inspection robot.

[0130] In this way, the inspection consumption coefficient of the selectable inspection path can be determined according to the slope gradient, slope length, path temperature data, harmful gas concentration, water hole length and water hole depth, and in the calculation process, the consumption condition of the water hole, slope, harmful gas and path temperature in the selectable path on the service life of the inspection robot can be fully analyzed when the inspection robot passes through each selectable inspection path, thereby improving the comprehensiveness and accuracy of the inspection consumption coefficient.

[0131] According to one embodiment of the present application, in step S6, at the start time of the e-th inspection cycle, the preset inspection path is determined according to the robot basic data, the real-time map data, the inspection consumption coefficient and the basic map data, and in the e-th inspection cycle, the inspection is performed according to the preset inspection path.

[0132] Figure 5 An exemplary schematic diagram of determining the inspection consumption coefficient of the preset inspection path according to an embodiment of the present application is shown.

[0133] According to one embodiment of the present application, step S6 includes:

[0134] Step S61, determining the path length of the selectable inspection path according to the basic map data;

[0135] Step S62, determining the robot used time and the robot expected life according to the robot basic data;

[0136] Step S63, determining the priority inspection coefficient according to the robot used time, the robot expected life, the inspection priority, the path length and the inspection consumption coefficient;

[0137] Step S64, determining the preset inspection path according to the priority inspection coefficient.

[0138] For example, according to the design drawings and maps of the underground sewage treatment plant, the path lengths of the selectable inspection paths are determined; according to the factory information of the robot, the expected service life of the robot (for example, the robot is expected to be used for 10000 hours) is determined, according to the basic data of the robot, the use record of the robot is determined, and according to the use record of the robot, the used time of the robot is determined; according to the used time of the robot, the expected service life of the robot, the inspection priority, the path length and the inspection consumption coefficient, the selection appropriateness of each selectable inspection path is evaluated, and the priority inspection coefficient is determined; the selectable inspection path corresponding to the maximum priority inspection coefficient is determined as the preset inspection path.

[0139] According to one embodiment of the present application, step S63 comprises: determining the priority inspection coefficient of the i-th selectable inspection path of the e-th inspection cycle according to formula (2) ,

[0140] (2)

[0141] wherein, is the inspection priority of the inspection node of the e-th inspection cycle, is the path length of the i-th selectable inspection path of the e-th inspection cycle, is a preset inspection priority threshold value, is the expected service life of the robot, is the used time of the robot, is the inspection consumption coefficient of the i-th selectable inspection path at the start time of the e-th inspection cycle, n is the number of selectable inspection paths, i≤n, i and n are positive integers.

[0142] According to one embodiment of the present application, is the ratio of the average path length of all selectable inspection paths to the path length of the i-th selectable path, the larger the ratio, the shorter the path length of the i-th selectable path, and the relatively faster the inspection speed, is the ratio of the inspection priority of the inspection node of the e-th inspection cycle to the preset inspection priority threshold value, the preset inspection priority threshold value can be set to 5, indicating the priority weight of the inspection speed, the larger the ratio, the higher the priority degree of the inspection node that needs to be inspected, and the higher the requirement for the inspection speed, and the selectable inspection path with faster inspection speed is preferentially selected, is the inspection speed after the inspection speed priority weight is weighted, the larger the ratio, the more the selection of the i-th selectable inspection path as the preset inspection path can meet the requirement for the inspection speed, a ratio of an average inspection consumption coefficient of all selectable inspection paths to an inspection consumption coefficient of the ith selectable inspection path at the beginning of the e th inspection cycle, the greater the ratio, the more relatively small the service life consumption condition of the robot from the selectable inspection path, represents the expected remaining life of the robot, a ratio of the expected life of the robot to the expected remaining life of the robot, representing an inspection consumption priority weight, the greater the ratio, the less the expected remaining life of the robot, the more attention needs to be paid to the service life consumption of the robot, and the smaller the selectable inspection path is preferentially selected, represents the service life consumption condition of the robot after being weighted by the inspection consumption priority weight, the greater the ratio, the more the selection of the ith selectable inspection path as the preset inspection path can meet the requirements for inspection consumption.

[0143] According to one embodiment of the present application, represents the determination of the priority inspection coefficient according to the satisfaction condition of the ith selectable inspection path for both the inspection speed and the inspection consumption.

[0144] In this way, the priority inspection coefficient can be determined according to the robot usage time, the expected life of the robot, the inspection priority, the path length and the inspection consumption coefficient. In the calculation process, the demand condition for the inspection speed can be fully analyzed through the inspection priority, the demand condition for the inspection consumption can be fully analyzed through the robot usage time, further, the priority inspection coefficient is determined based on the demand conditions for the inspection speed and the inspection consumption and the path length and the inspection consumption coefficient, which improves the accuracy and comprehensiveness of the priority inspection coefficient.

[0145] According to one embodiment of the present application, in step S7, at multiple time points in the e th inspection cycle, whether the preset inspection path needs to be changed is determined according to the basic map data, the robot basic data and the robot real-time data.

[0146] Figure 6 An exemplary schematic diagram of determining whether the preset inspection path needs to be changed according to an embodiment of the present application is shown.

[0147] According to one embodiment of the present application, step S7 comprises:

[0148] Step S71, whether there is a sudden obstacle is determined according to the robot real-time data;

[0149] Step S72, in the case of no sudden obstacle, the preset inspection path does not need to be changed;

[0150] Step S73, in the presence of a sudden obstacle, determining whether the preset inspection path needs to be changed according to the basic map data, the robot basic data and the robot real-time data.

[0151] For example, according to the camera installed in the inspection robot, the real-time path image on the path of the inspection robot is obtained, and it is determined whether there is a sudden obstacle (such as a broken stone or a moving pipeline vehicle) according to the real-time path image; if there is no sudden obstacle, the preset inspection path does not need to be changed; if there is a sudden obstacle, further judgment is made according to the basic map data, the robot basic data and the robot real-time data to determine whether the preset inspection path needs to be changed.

[0152] According to an embodiment of the present application, step S73 comprises:

[0153] Step S731, determining a sudden obstacle path image according to the robot real-time data;

[0154] Step S732, determining a path passable width in the sudden obstacle path image by an image detection model;

[0155] Step S733, determining a first judgment result according to the path passable width and the robot size;

[0156] Step S734, determining an obstacle height in the sudden obstacle path image by an image detection model;

[0157] Step S735, determining a robot crossable height, a robot wheelbase and a robot center of gravity height according to the robot basic data;

[0158] Step S736, determining a second judgment result according to the obstacle height and the robot crossable height;

[0159] Step S737, determining obstacle position information according to the robot real-time data and the robot real-time position information;

[0160] Step S738, determining an obstacle terrain slope angle according to the obstacle position information and the basic map data;

[0161] Step S739, determining a third judgment result according to the robot wheelbase, the robot center of gravity height and the obstacle terrain slope angle;

[0162] Step S7310, determining whether the preset inspection path needs to be changed according to the first judgment result, the second judgment result and the third judgment result.

[0163] For example, according to a camera installed in the robot, a sudden obstacle path image is collected; an image detection model is trained through obstacle height data and path passable width data collected in a historical time period, so that the image detection model can identify the obstacle height of the sudden obstacle and the path passable width after passing through the sudden obstacle in the image; the path passable width and the obstacle height are obtained by identifying the sudden obstacle path image through the image detection model; if the path passable width is greater than the robot size (robot width), the first determination result is 1, indicating that it can be bypassed, otherwise, the first determination result is 0, indicating that it cannot be bypassed; according to the design information and the factory information of the robot, the robot crossable height, the robot wheelbase and the robot gravity center height (the height of the robot gravity center) are determined; if the robot crossable height is greater than the obstacle height, the second determination result is 1, indicating that it can be crossed, otherwise, the second determination result is 0, indicating that it cannot be crossed; according to the radar carried by the robot, the distance between the sudden obstacle and the robot is obtained, and according to the distance between the obstacle and the robot, the motion direction of the robot and the real-time position information of the robot, the obstacle position information of the sudden obstacle in the preset coordinate system is determined; according to the obstacle position information, the design drawing is queried to determine whether there is a slope at this position, and the obstacle terrain slope angle is determined; if the ratio of the robot wheelbase and 2 times the robot gravity center height is greater than the tangent value of the obstacle terrain slope angle, it indicates that the risk of overturning when passing through the obstacle is smaller, and the third determination result is 1, otherwise, it indicates that the risk of overturning when passing through the obstacle is larger, and the third determination result is 0; if the first determination result is 1, it indicates that it can be bypassed, and there is no need to change the preset inspection path, when the first determination result is 0, and the second determination result or the third determination result is 0, it indicates that it cannot bypass the obstacle, and it cannot cross the obstacle or there is a risk of overturning when crossing the obstacle, it is determined that the preset inspection path needs to be changed.

[0164] According to one embodiment of the present application, in step S8, in the case of determining that the preset inspection path needs to be changed, the changed inspection path is determined according to the robot basic data, the basic map data and the real-time data of the robot, and the inspection is performed according to the changed inspection path.

[0165] For example, in the case of determining that the preset inspection path needs to be changed, the inspection consumption coefficients of each selectable inspection path at the current time are calculated, and the priority inspection coefficients of each selectable inspection path at the current time are recalculated according to the inspection consumption coefficients of each selectable inspection path at the current time, the robot used time, the robot expected life, the inspection priority and the path length, and the calculation method is similar to formula (2), which is not described here, and the selectable inspection path corresponding to the maximum value of the priority inspection coefficients of each selectable inspection path is selected as the changed inspection path.

[0166] The underground inspection path planning method of the inspection robot according to the embodiment of the present application can determine the inspection nodes of each inspection cycle according to the robot data, the map data and the inspection plan, screen out the selectable inspection paths, accurately analyze the consumption condition of the service life of the robot through each selectable inspection path, determine the inspection consumption coefficient, further determine the preset inspection path according to the inspection consumption coefficient and the map data, and determine whether there is a sudden obstacle in the path during the inspection process and whether the sudden obstacle has an impact on the passage of the inspection robot and whether the inspection path needs to be changed, thereby improving the rationality of the underground inspection path planning, reducing the consumption of the service life of the inspection robot while improving the inspection efficiency. When determining the inspection consumption coefficient, the inspection consumption coefficient of the selectable inspection path can be determined according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the water pit length and the water pit depth. In the calculation process, the consumption condition of the service life of the inspection robot in the water pit, the slope, the harmful gas and the path temperature in the selectable path through each selectable inspection path can be fully analyzed, thereby improving the comprehensiveness and accuracy of the inspection consumption coefficient. When determining the priority inspection coefficient, the priority inspection coefficient can be determined according to the robot used time, the robot expected life, the inspection priority, the path length and the inspection consumption coefficient. In the calculation process, the demand condition for the inspection speed can be fully analyzed through the inspection priority, the demand condition for the inspection consumption can be fully analyzed through the robot used time, further, the priority inspection coefficient can be determined based on the demand conditions for the inspection speed and the inspection consumption and the path length and the inspection consumption coefficient, thereby improving the accuracy and comprehensiveness of the priority inspection coefficient.

[0167] Figure 7 An example of the block diagram of the underground inspection path planning system of the inspection robot according to the embodiment of the present application is shown, which comprises:

[0168] The basic data module is used to acquire the basic map data, the robot basic data and the inspection plan.

[0169] The real-time data module is used to acquire the real-time map data and the robot real-time data in multiple inspection cycles.

[0170] The inspection node module is used to determine the inspection nodes of the e-th inspection cycle at the starting moment of the e-th inspection cycle according to the basic map data, the inspection plan and the robot real-time data at the ending moment of the e-1-th inspection cycle.

[0171] The selection path module is used to determine the selectable inspection paths at the starting moment of the e-th inspection cycle according to the robot basic data and the basic map data.

[0172] a consumption coefficient module, configured to determine a patrol consumption coefficient of the selectable patrol path according to the basic map data and the real-time map data at a starting moment of the e-th patrol cycle;

[0173] a preset path module, configured to determine a preset patrol path according to the robot basic data, the real-time map data, the patrol consumption coefficient and the basic map data at the starting moment of the e-th patrol cycle, and to perform patrol according to the preset patrol path in the e-th patrol cycle;

[0174] a judgment changing module, configured to determine whether the preset patrol path needs to be changed according to the basic map data, the robot basic data and the robot real-time data at multiple moments in the e-th patrol cycle;

[0175] a changed path module, configured to determine a changed patrol path according to the robot basic data, the basic map data and the robot real-time data in the case that it is determined that the preset patrol path needs to be changed, and to perform patrol according to the changed patrol path.

[0176] The present application can be a method, apparatus, system and / or computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions thereon, the computer readable program instructions being directed to an execution of the various aspects of the present application.

[0177] Those skilled in the art should understand that the embodiments of the present application shown in the above description and the accompanying drawings are only examples and do not limit the present application. The purpose of the present application has been fully and effectively achieved. The functional and structural principles of the present application have been shown and described in the embodiments, and the embodiments of the present application can be modified or changed in any way without departing from the principles.

Claims

1. A method for underground inspection path planning of an inspection robot, characterized in that: include: Obtain basic map data, robot basic data and inspection plan; Obtain real-time map data and robot real-time data during multiple inspection cycles; At the beginning of the e-th inspection cycle, determining the inspection node of the e-th inspection cycle according to the basic map data, the inspection plan, and the real-time data of the robot at the end of the e-1-th inspection cycle; At the beginning of the e-th inspection cycle, determining a selectable inspection path based on the robot basic data and the basic map data; At the start of the e-th inspection cycle, determining an inspection consumption coefficient of an optional inspection path based on the basic map data and the real-time map data; At the beginning of the e-th inspection cycle, a preset inspection path is determined based on the robot basic data, the real-time map data, the inspection consumption coefficient, and the basic map data, and an inspection is performed along the preset inspection path during the e-th inspection cycle; At multiple moments in the e-th inspection cycle, determining whether a preset inspection path needs to be changed based on the basic map data, the robot basic data, and the robot real-time data; When it is determined that the preset inspection path needs to be changed, the changed inspection path is determined according to the basic data of the robot, the basic map data and the real-time data of the robot, and the inspection is performed according to the changed inspection path; Determining, based on the basic map data and the real-time map data, an inspection consumption coefficient of an optional inspection path, including: determining the slope gradient and slope length of the slope in the selectable inspection path according to the basic map data; Determining path temperature data and harmful gas concentrations at preset locations based on the real-time map data; determining a real-time route image based on the real-time map data; In the real-time path image, identifying whether there is a puddle in the path through an image detection model, and determining the puddle length and puddle depth of the puddle; An inspection consumption coefficient of an optional inspection path is determined according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the puddle length, and the puddle depth.

2. The underground inspection path planning method of the inspection robot according to claim 1, characterized in that: At the beginning of the e-th inspection cycle, determining the inspection node of the e-th inspection cycle according to the basic map data, the inspection plan, and the real-time data of the robot at the end of the e-1-th inspection cycle includes: Determine the nodes to be inspected according to the inspection plan; Determine the inspection priority of the nodes to be inspected according to the inspection plan; Determine the location information of the node to be inspected based on the basic map data and the node to be inspected; Determine the real-time position information of the robot at the end of the e-1th inspection cycle according to the real-time data of the robot at the end of the e-1th inspection cycle; The inspection node of the e-th inspection cycle is determined according to the inspection priority, the real-time position information of the robot at the end time of the e-1-th inspection cycle, and the position information of the node to be inspected.

3. The underground inspection path planning method of the inspection robot according to claim 2, characterized in that: At the beginning of the e-th inspection cycle, determining a selectable inspection path based on the robot basic data and the basic map data includes: Determining the location information of the permanent waterlogging area, the location information of the corrosive gas source, and the location information of the strong electromagnetic field source based on the basic map data; Determine the inspection location information of the inspection node in the e-th inspection cycle; Determine the entire inspection route based on the permanent water accumulation area location information, the corrosive gas source location information, the strong electromagnetic field source location information, the robot's real-time location information, and the inspection location information; determining the inspection path widths of all inspection paths based on the basic map data; Determine the size of the robot according to the basic data of the robot; The selectable inspection paths are determined according to the inspection path width and the robot size.

4. The underground inspection path planning method of the inspection robot according to claim 1, characterized in that: Determining an inspection consumption coefficient of a selectable inspection path according to the slope gradient, the slope length, the path temperature data, the harmful gas concentration, the puddle length, and the puddle depth includes: According to the formula Determine the inspection consumption coefficient of the i-th optional inspection path at the k-th moment in the e-th inspection cycle , where if is a conditional function, is the slope gradient of the jth slope of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is the preset slope threshold, is the slope length of the jth slope of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is the preset slope length threshold, is the harmful gas concentration of the rth harmful gas at the ath preset position of the ith optional inspection path at the kth moment of the eth inspection cycle, To preset the harmful gas concentration threshold, is the path temperature data at the a-th preset position of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is a preset first temperature threshold, To preset the second temperature threshold, is the length of the bth puddle of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is the depth of the bth puddle of the i-th optional inspection path at the k-th moment of the e-th inspection cycle, is the preset puddle length threshold, is the preset puddle depth threshold, m is the number of slopes on the selectable path, j≤m, A is the number of preset positions on the selectable path, a≤A, B is the number of puddles on the selectable path, b≤B, R is the type of harmful gas, r≤R, and m, j, a, A, b, B, r and R are all greater than or equal to 0.

5. The underground inspection path planning method of the inspection robot according to claim 2, characterized in that: At the beginning of the e-th inspection cycle, a preset inspection path is determined based on the robot basic data, the real-time map data, the inspection consumption coefficient, and the basic map data, and an inspection is performed along the preset inspection path during the e-th inspection cycle, including: Determining the length of an optional inspection route based on the basic map data; Determine the robot's usage time and expected lifespan based on the robot's basic data; Determining a priority inspection coefficient according to the robot's usage time, the robot's expected lifespan, the inspection priority, the path length, and the inspection consumption coefficient; A preset inspection path is determined according to the priority inspection coefficient.

6. The underground inspection path planning method of the inspection robot according to claim 5, characterized in that: Determining a priority inspection coefficient according to the robot's usage time, the robot's expected lifespan, the inspection priority, the path length, and the inspection consumption coefficient includes: According to the formula Determine the priority inspection coefficient of the i-th optional inspection path in the e-th inspection cycle ,in, is the inspection priority of the inspection node in the e-th inspection cycle, is the length of the i-th optional inspection path in the e-th inspection cycle, To preset inspection priority threshold, For the robot's life expectancy, The robot has been used for a long time, is the inspection consumption coefficient of the i-th selectable inspection path at the start time of the e-th inspection cycle, n is the number of selectable inspection paths, i≤n, and both i and n are positive integers.

7. The underground inspection path planning method of the inspection robot according to claim 1, characterized in that: At multiple moments in the e-th inspection cycle, determining whether a preset inspection path needs to be changed based on the basic map data, the robot basic data, and the robot real-time data includes: Determining whether there is an unexpected obstacle based on the real-time data of the robot; In the absence of sudden obstacles, there is no need to change the preset inspection path; In the event of a sudden obstacle, it is determined whether the preset inspection path needs to be changed based on the basic map data, the robot basic data and the robot real-time data.

8. The underground inspection path planning method of the inspection robot according to claim 3, characterized in that: In the event of an unexpected obstacle, determining whether a preset inspection path needs to be changed based on the basic map data, the robot basic data, and the robot real-time data includes: Determining a sudden obstacle path image based on the real-time data of the robot; In the sudden obstacle path image, determining the passable width of the path through an image detection model; Determining a first judgment result according to the passable width of the path and the size of the robot; In the sudden obstacle path image, determining the obstacle height by using an image detection model; Determine the robot's crossable height, the robot's wheelbase, and the robot's center of gravity height based on the robot's basic data; Determining a second judgment result according to the obstacle height and the traversable height of the robot; Determining obstacle location information based on the robot real-time data and the robot real-time location information; determining the slope angle of the obstacle terrain according to the obstacle position information and the basic map data; Determining a third judgment result according to the wheelbase of the robot, the height of the center of gravity of the robot, and the slope angle of the obstacle terrain; Determine whether the preset inspection path needs to be changed according to the first judgment result, the second judgment result, and the third judgment result.

9. An underground inspection path planning system for an inspection robot for executing the method according to any one of claims 1 to 8, characterized in that: include: Basic data module, used to obtain basic map data, robot basic data and inspection plan; Real-time data module, used to obtain real-time map data and robot real-time data during multiple inspection cycles; An inspection node module is used to determine, at the start time of the e-th inspection cycle, the inspection node of the e-th inspection cycle based on the basic map data, the inspection plan and the real-time data of the robot at the end time of the e-1-th inspection cycle; A path selection module is used to determine a selectable inspection path based on the robot basic data and the basic map data at the beginning of the e-th inspection cycle; a consumption coefficient module, configured to determine, at the start of the e-th inspection cycle, an inspection consumption coefficient of an optional inspection path based on the basic map data and the real-time map data; a preset path module, configured to determine, at the start of the e-th inspection cycle, a preset inspection path based on the robot basic data, the real-time map data, the inspection consumption coefficient, and the basic map data, and perform inspections along the preset inspection path during the e-th inspection cycle; a judgment and modification module, configured to determine whether a preset inspection path needs to be modified based on the basic map data, the basic data of the robot, and the real-time data of the robot at multiple moments in the e-th inspection cycle; The path change module is used to determine the changed inspection path based on the basic data of the robot, the basic map data and the real-time data of the robot when it is determined that the preset inspection path needs to be changed, and to perform inspection according to the changed inspection path.

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