Method and system for drawing patrol track of substation robot

Abstract

The invention belongs to the field of patrol track drawing, and particularly relates to a substation robot patrol track drawing method and system. Comprising the following steps: taking a picture corresponding to a patrol map of a substation patrol task of a to-be-drawn patrol track as a base picture; acquiring coordinates of all inspection points in an inspection map and an inspection equipment course angle in a complete route of the robot executing the inspection task; according to the size of the patrol map and the scaling corresponding to the size of the base map, coordinates in the complete route are converted, and then the complete patrol route is marked on the base map; acquiring coordinates and course angles of completed inspection points in an inspection map in a current completed route of the robot executing the inspection task in real time; after coordinates in the completed route are converted according to the scaling, the completed patrol route is marked on the base map; the current orientation of the robot is obtained according to the course angle of the newest patrol point in the current completed route, and the position corresponding to the newest patrol point in the base map is correspondingly marked.

Description

Technical Field

[0001] The present invention belongs to the field of patrol track drawing, and in particular relates to a method and system for drawing a patrol track of a substation robot. Background Art

[0002] In recent years, the scale of power grid equipment has been increasing year by year, and monitoring information has continued to increase. The traditional inspection method of substations has problems such as high cost, low efficiency, prone to errors, insecurity, incompleteness, and lack of intelligence, and can no longer meet the needs of modern power grids.

[0003] Replacing manual inspections with robotic (or drone) patrols can improve safety and prevent personnel from being put in danger. They can also enhance inspection efficiency, allowing for quick and accurate inspections along pre-set routes. This allows for comprehensive inspections of a large number of substation devices in a short period of time, shortening inspection time. Data collection accuracy can also be enhanced. Equipped with a variety of high-precision sensors and detection equipment, they can accurately collect various data such as equipment temperature and images, avoiding observation errors and omissions that can occur during manual inspections. In a substation monitoring system, if a 3D model is not configured and you want to view robot inspection information in real time, you need to display the patrol trajectory and the robot's real-time position on a 2D map.

[0004] However, the current method of using robots (or drones) for automatic inspections in substation scenarios has a large number of risks and hidden dangers, including: due to the complex substation environment, there are dangerous sources such as high-voltage equipment and live areas, the robot may mistakenly enter the dangerous area; the robot may also deviate from the preset route due to its own faults (such as navigation failure, wheel slippage, etc.), affecting the inspection results.

[0005] In summary, since the actual patrol trajectory of the robot is unknown, the above risks and hidden dangers may affect the normal progress of the patrol work, or the patrol results obtained may be incorrect or omitted due to the above risks and hidden dangers. Summary of the Invention

[0006] The purpose of the present invention is to provide a method and system for drawing the patrol trajectory of a substation robot, which is used to solve the problems in the prior art that the patrol trajectory of the robot is unknown, which may cause risks and hidden dangers that affect the normal progress of the patrol work, or errors or omissions in the patrol results.

[0007] In order to achieve the above object, the present invention provides a method for drawing a patrol trajectory of a substation robot, the method comprising: The picture corresponding to the inspection map of the substation inspection task for which the inspection track is to be drawn is used as the base map; Obtain the coordinates of all patrol points in the patrol map and the heading angle of the patrol device in the complete route of the robot performing the patrol mission; convert the coordinates in the complete route according to the scaling ratio of the patrol map size to the base map size, and mark the complete patrol route on the base map; Acquire in real time the coordinates of completed patrol points on the patrol map and the heading angle of the patrol device in the current completed route of the robot performing the patrol task; after converting the coordinates in the completed route according to the scaling ratio, mark the completed patrol route on the base map; The current orientation of the robot is obtained based on the patrol device heading angle of the latest patrol point in the current completed route, and the position corresponding to the latest patrol point is marked accordingly in the base map.

[0008] Beneficial Effects: The present invention provides a novel method for plotting patrol trajectories for substation robots. This method uses an image obtained from a patrol map as a base map, and then plots the patrol route of the patrol robot (i.e., the robot currently performing a patrol mission) on this base map. The patrol route plotting methods are categorized into two types, depending on the patrol route type. For a complete patrol route (i.e., a patrol route of the complete route type), since the complete route is pre-planned, scaling requires only converting the coordinates of all patrol points on the route within the patrol map to obtain the scaled patrol route on the base map and identify the patrol route. For a completed route (i.e., a patrol route of the completed route type, which represents a patrol route already traversed by the robot), since the route needs to be updated in real time, scaling requires converting the coordinates of all patrol points on the patrol map within the patrol map to obtain the scaled patrol route on the base map and identify the patrol route. Furthermore, while obtaining the completed route, the robot's current heading is determined based on the heading angle of the patrol device (i.e., the patrol robot) at the latest patrol point in the patrol route, and the latest patrol point is identified accordingly. Finally, by overlaying images of the complete and completed routes, the robot's current position and orientation are updated in real time, enabling real-time monitoring of the patrol robot and improving the visualization of the patrol process. Because this method can update the current patrol trajectory and patrol position on the base map in real time, it helps operators control the robot in real time, such as pausing and terminating it, improving the visualization of the patrol process and enhancing intelligent operation and maintenance.

[0009] Furthermore, the marking used for the complete tour route marked on the base map is different from the marking used for the completed tour route marked on the base map.

[0010] Furthermore, the image corresponding to the inspection map of the substation inspection task for which the inspection trajectory is to be drawn may be used as a base map in the following ways: Obtain the map file corresponding to the substation inspection task for which the inspection track is to be drawn; convert the map file into an image and place it as a base map in the container corresponding to the inspection track; set the base map size to the container size and set the base map to be scalable and draggable.

[0011] Furthermore, after converting the coordinates in the completed route according to the scaling ratio, the method of marking the completed patrol route on the base map includes: According to the scaling ratio, the coordinates of the newly added completed patrol points in the current completed route are converted compared to the completed patrol points in the completed route obtained last time, and the newly added completed patrol points are marked on the base map according to the converted coordinates to update the marked completed patrol route.

[0012] Furthermore, the current orientation of the robot is obtained based on the heading angle of the patrol device at the latest patrol point in the current completed route, and the position corresponding to the latest patrol point is marked in the base map accordingly. The method includes: The current orientation of the robot is obtained based on the heading angle of the patrol device at the latest patrol point in the current completed route. An icon representing the robot is superimposed at the coordinate position corresponding to the latest patrol point in the base map. The orientation of the icon is consistent with the obtained current orientation of the robot.

[0013] Furthermore, the scaling ratio of the patrol map size to the base map size is determined according to the ratio between the size of the patrol map and the size of the container corresponding to the patrol track.

[0014] Furthermore, marking the complete patrol route on the base map and marking the completed patrol route on the base map are both marked based on the drawing of the canvas.

[0015] The present invention also provides a system for drawing a patrol trajectory of a substation robot. The system includes a processor for executing a computer program. The computer program is executed to implement the steps of the above-mentioned method for drawing a patrol trajectory of a substation robot.

[0016] The substation robot patrol trajectory drawing system can achieve the same beneficial effects as the above-mentioned substation robot patrol trajectory drawing method. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a flow chart of a method for drawing a patrol trajectory of a substation robot in an embodiment of the method for drawing a patrol trajectory of a substation robot according to the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and implementation methods.

[0019] Implementation method for drawing patrol trajectory of substation robot This embodiment provides a technical solution for a substation robot's patrol trajectory drawing method. The main concept of this method is to convert a patrol map (i.e., a map of the substation area to be patrolled) into a basemap on which the patrol trajectory can be drawn. Based on the scale ratio of the map and the basemap, the corresponding coordinate points on the basemap are determined for each coordinate point on the designated patrol route. Once the coordinate points are obtained, the complete patrol route is drawn on the basemap, and the completed patrol route is updated in real time. Finally, by overlaying these two routes, the robot's current position and orientation are updated in real time, allowing for real-time monitoring of the robot.

[0020] In this embodiment, it includes: The picture corresponding to the inspection map of the substation inspection task for which the inspection track is to be drawn is used as the base map; Obtain the coordinates of all patrol points in the patrol map and the heading angle of the patrol device in the complete route of the robot performing the patrol mission; convert the coordinates in the complete route according to the scaling ratio of the patrol map size to the base map size, and mark the complete patrol route on the base map; Obtain in real time the coordinates of the completed patrol points on the patrol map and the heading angle of the patrol device in the current completed route of the robot performing the patrol mission; after converting the coordinates in the completed route according to the scaling ratio, mark the completed patrol route on the base map; The current orientation of the robot is obtained based on the patrol device heading angle of the latest patrol point in the current completed route, and the position corresponding to the latest patrol point is marked accordingly in the base map.

[0021] refer to Figure 1 In one embodiment of this embodiment, the patrol map obtained by the substation (ie, the patrol map of the substation patrol task for which the patrol track is to be drawn) is first converted (ie Figure 1 The operation represented by "Robot Patrol Map Conversion" in the figure includes: 1) In the real-time monitoring interface for monitoring a patrol robot (hereinafter referred to as the robot), select a patrol mission being executed and obtain the patrol map file and the size of the patrol map based on the patrol mission's mission ID. It should be noted that the size of the patrol map is not necessarily obtained in this operation. In other embodiments, the size can also be obtained in subsequent operations. It is sufficient to ensure that the size is obtained before calculating the scaling ratio.

[0022] 2) Convert the map file into an image and use the converted image as the base map (i.e., the base map for drawing the patrol track).

[0023] 3) Based on the ID of the patrol robot used to perform the patrol mission and the patrol mission ID, obtain the patrol robot's complete patrol route (this route is the route corresponding to the pre-set patrol mission) and completed patrol route (this route is the patrol route the patrol robot has already traveled). Both patrol routes are represented as an array of patrol coordinate points in the format of "x, y, z, a", where x, y, and z are the coordinates of the patrol route as presented in the map file, i.e., the coordinates of the patrol points on the patrol map, and a is the heading angle of the patrol device (i.e., the patrol robot).

[0024] In this embodiment, the image corresponding to the inspection map of the substation inspection task for which the inspection trajectory is to be drawn is used as the base map in the following ways: Obtain a map file corresponding to the substation inspection task for which the inspection track is to be drawn; convert the map file into an image and place it as a base map in a container corresponding to the inspection track; set the base map size to the size of the container and set the base map to be scalable and draggable. In this embodiment, the image corresponding to the inspection map of the substation inspection task for which the inspection track is to be drawn may be used as the base map in the following ways: Obtain the map file corresponding to the substation inspection task for which the inspection track is to be drawn; convert the map file into an image and place it as a base map in the container corresponding to the inspection track; set the base map size to the container size and set the base map to be scalable and draggable.

[0025] In one embodiment of this implementation, the map file is converted into an image, and the resulting image is used as a base map (i.e., the base map used to draw the patrol track). This image is placed in a path drawing container (i.e., the container corresponding to the patrol track), and the size of the base map is set equal to the size of the container. (A container is a rectangular area that displays the map on the interface and is used to draw the robot's path. This area is pre-set according to the aspect ratio of the actual map, i.e., it is an area reduced in size according to the actual map. Therefore, setting the base map size equal to the container size is equivalent to reducing the base map.) Setting the base map to a scalable and draggable state can achieve the effect of converting the actual patrol map where the robot is located into a scalable and draggable vector graphic.

[0026] In this embodiment, the scaling ratio of the patrol map size to the base map size is determined according to the ratio between the size of the patrol map and the size of the container corresponding to the patrol track.

[0027] In one embodiment of this embodiment, after obtaining the arrays corresponding to the complete patrol route and the completed patrol route according to 3), the coordinate points contained in the arrays are converted (ie Figure 1 To obtain the complete tour route coordinates and the completed tour route coordinates, the specific method is as follows: A) Calculating the zoom ratio of the patrol map based on the size of the container and the size of the patrol map; B) converting each coordinate point corresponding to the previously obtained complete patrol route according to the scaling ratio calculated in A) to obtain each coordinate point corresponding to the complete patrol route; C) converting the coordinate points corresponding to the previously obtained completed patrol route according to the scaling ratio calculated in A) to obtain the coordinate points corresponding to the completed patrol route; It should be noted that A) is the step for calculating the scaling ratio, which is the basic condition for implementing B) and C). Its order must be before B) and C). However, there is no fixed order relationship between B) and C), and their corresponding operations can be flexibly set.

[0028] Once the conversion is complete, the two coordinate points obtained from the conversion (i.e., each coordinate point corresponding to the complete patrol route and the coordinate point corresponding to the completed patrol route) are used as known quantities to participate in the drawing of the patrol trajectory. In this embodiment, both the complete patrol route and the completed patrol route on the base map are marked based on canvas drawing; canvas is a 2D drawing technology based on HTML5. It can dynamically draw various graphics, including complex trajectory paths, using JavaScript, and is suitable for this solution.

[0029] In this embodiment, the identifier used to mark the complete patrol route on the base map is different from the identifier used to mark the completed patrol route on the base map.

[0030] In this embodiment, the current orientation of the robot is obtained based on the patrol device heading angle of the latest patrol point in the current completed route, and the corresponding position of the latest patrol point in the base map is marked in the following manner: The current orientation of the robot is obtained based on the heading angle of the patrol device at the latest patrol point in the current completed route. Correspondingly, an icon representing the robot (also referred to as the robot icon) is superimposed at the coordinate position corresponding to the latest patrol point in the base map. The orientation of the icon is consistent with the obtained current orientation of the robot. In one embodiment of this embodiment, the patrol trajectory (i.e. Figure 1 The specific method of the operation represented by "route drawing" in the figure is as follows: a) Since the coordinate points converted according to the scaling ratio are already the same size as the base map, at this time, with the upper left corner of the base map as the origin, a scaled complete patrol route (i.e., complete patrol track) is drawn on the base map based on the canvas according to each coordinate point corresponding to the complete patrol route after the coordinate conversion, and then the route is marked in red; the drawn complete patrol route is also the same size as the base map.

[0031] b) is similar to a), with the upper left corner of the base map as the origin. The completed patrol route (i.e., the completed patrol track) is drawn in real time on the base map based on the coordinate points corresponding to the converted completed patrol route based on canvas, and the route is then marked in green. The drawn completed patrol route is also the same size as the base map.

[0032] In this embodiment, the current coordinates of the completed patrol route (i.e., Figure 1 ), so that the patrol track is also updated in real time on the base map, and the current direction of the patrol robot is updated in real time, and the robot icon is superimposed in real time to display the robot's current position on the base map in real time.

[0033] c) The completed patrol route obtained in b) is overlaid with the complete patrol route obtained in a) in real time. Based on the difference between the two routes on the base map, the current patrol progress can be intuitively displayed (the patrol progress is equivalent to the overlap between the completed patrol route and the complete patrol route).

[0034] Note that there is no fixed order between b) and a). Depending on your needs, you can prioritize drawing either patrol route or both patrol routes simultaneously.

[0035] d) Determine the current orientation of the patrol robot based on the heading angle a0 in the current coordinates of the completed patrol route.

[0036] e) Based on the patrol robot's current coordinates (i.e., the coordinates corresponding to the most recent patrol point in the base map) "x0, y0, z0, a0," the robot's current position on the base map is determined and the robot icon is superimposed there. The patrol robot's current orientation is the angle corresponding to a0. The orientation of the robot icon matches the patrol robot's current orientation and also corresponds to a0. Setting the robot icon and orientation helps confirm that the robot is still moving in the direction specified by the pre-set patrol route (i.e., the complete patrol route).

[0037] As can be seen from a) and b), the different markings used in this embodiment are markings of different colors, that is, the two can be distinguished at the color level. In other embodiments of this embodiment, different line types or other marking methods that can distinguish the two can also be selected.

[0038] In this embodiment, the current orientation of the robot is obtained based on the patrol device heading angle of the latest patrol point in the current completed route, and the corresponding position of the latest patrol point in the base map is marked in the following manner: The current orientation of the robot is obtained based on the heading angle of the patrol device at the latest patrol point in the current completed route. An icon representing the robot is superimposed at the coordinate position corresponding to the latest patrol point in the base map. The orientation of the icon is consistent with the obtained current orientation of the robot.

[0039] In this embodiment, after converting the coordinates of the completed route according to the scaling ratio, the method of marking the completed patrol route on the base map includes: Based on the scaling ratio, the coordinates of newly added completed patrol points in the current completed route are converted compared to the previously acquired completed patrol points. The newly added completed patrol points are marked on the base map according to the converted coordinates, thereby updating the marked completed patrol route. In a preferred embodiment of this embodiment, the method for converting coordinates in the completed route is optimized as follows to reduce computational complexity in C): Based on the scaling ratio calculated in step A), the coordinates of the newly added completed patrol points are converted. These newly added completed patrol points are marked on the base map according to the converted coordinates, thereby updating the marked completed patrol route. These newly added completed patrol points are the patrol points added compared to the previously acquired patrol points. Because the previously acquired patrol points have already been converted at the time of each patrol point acquisition, re-conversion is unnecessary. Therefore, calculations can be performed solely on the newly added patrol points, avoiding unnecessary redundant computations and improving computational efficiency.

[0040] In summary, according to the solution provided in this embodiment, the patrol trajectory and patrol position can be updated in real time on the base map, thereby ensuring that the trajectory monitoring of the patrol robot always has a high degree of timeliness, which helps the operator to control the robot in real time, such as pausing, terminating and other operations, improving the visualization effect of the patrol process and improving the level of intelligent operation and maintenance.

[0041] Implementation method of substation robot patrol trajectory drawing system This embodiment provides a technical solution for a system for drawing a patrol trajectory of a substation robot. The system includes a processor having executable program instructions stored therein. The executable program instructions are used to implement the method for drawing a patrol trajectory of a substation robot as described in the above-mentioned embodiment of the method for drawing a patrol trajectory of a substation robot.

[0042] Since the specific working mode and working principle of the substation robot patrol trajectory drawing system of this embodiment have been described in detail in the above-mentioned substation robot patrol trajectory drawing method embodiment, they will not be repeated here.

[0043] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention.

Claims

1. A method for drawing a patrol trajectory of a substation robot, characterized in that: include: The picture corresponding to the inspection map of the substation inspection task for which the inspection track is to be drawn is used as the base map; Obtain the coordinates of all patrol points in the patrol map and the heading angle of the patrol device in the complete route of the robot performing the patrol mission; convert the coordinates in the complete route according to the scaling ratio of the patrol map size to the base map size, and mark the complete patrol route on the base map; Acquire in real time the coordinates of completed patrol points on the patrol map and the heading angle of the patrol device in the current completed route of the robot performing the patrol task; after converting the coordinates in the completed route according to the scaling ratio, mark the completed patrol route on the base map; The current orientation of the robot is obtained based on the patrol device heading angle of the latest patrol point in the current completed route, and the position corresponding to the latest patrol point is marked accordingly in the base map.

2. The method for drawing a substation robot patrol trajectory according to claim 1, characterized in that: The complete tour route is marked on the base map using different markings than the completed tour route is marked on the base map.

3. The method for drawing a substation robot patrol trajectory according to claim 1 or 2, characterized in that: The image corresponding to the inspection map of the substation inspection task for which the inspection trajectory is to be drawn can be used as the base map in the following ways: Obtain the map file corresponding to the substation inspection task for which the inspection track is to be drawn; convert the map file into an image and place it as a base map in the container corresponding to the inspection track; set the base map size to the container size and set the base map to be scalable and draggable.

4. The method for drawing a substation robot patrol trajectory according to claim 1 or 2, characterized in that: After converting the coordinates of the completed route according to the scaling ratio, the method of marking the completed patrol route on the base map includes: According to the scaling ratio, the coordinates of the newly added completed patrol points in the current completed route are converted compared to the completed patrol points in the completed route obtained last time, and the newly added completed patrol points are marked on the base map according to the converted coordinates to update the marked completed patrol route.

5. The method for drawing a patrol trajectory of a substation robot according to claim 1 or 2, characterized in that: Methods for obtaining the current orientation of the robot based on the heading angle of the patrol device at the latest patrol point in the current completed route and marking the position corresponding to the latest patrol point in the base map include: The current orientation of the robot is obtained based on the heading angle of the patrol device at the latest patrol point in the current completed route. An icon representing the robot is superimposed at the coordinate position corresponding to the latest patrol point in the base map. The orientation of the icon is consistent with the obtained current orientation of the robot.

6. The method for drawing a patrol trajectory of a substation robot according to claim 3, characterized in that: The scaling ratio of the patrol map size to the base map size is determined according to the ratio between the size of the patrol map and the size of the container corresponding to the patrol track.

7. The method for drawing a substation robot patrol trajectory according to claim 1 or 2, characterized in that: Marking a complete patrol route on the base map and marking a completed patrol route on the base map are both based on the drawing of the canvas.

8. A system for drawing patrol trajectories of a substation robot, comprising a processor configured to execute a computer program, wherein: The computer program is used to be executed to implement the steps of the method for drawing the patrol trajectory of a substation robot according to any one of claims 1 to 7.

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