A motion control method and system for a patrol device

Abstract

The application discloses a kind of motion control method and system of inspection equipment, applied to equipment motion control field, method includes: when inspection path changes, the changed path environment information is obtained, and motion control information is determined based on path environment information;Control parameter search space corresponding to motion control information is constructed, and the initial search path of each control parameter search factor is obtained;Based on the first control parameter searched by control parameter search factor, the control state evaluation result corresponding to the motion control data of inspection equipment is obtained by prediction;Based on initial search path and control state evaluation result, the search constraint condition of control parameter search factor for adjusting initial search path is determined;Optimization is carried out to control state evaluation result based on adjustment path, and then the second optimized control parameter is obtained;The motion of inspection equipment on change path is controlled by optimization parameter.The application realizes the adaptive adjustment of inspection equipment motion control under change path.

Description

Technical Field

[0001] This invention relates to the field of equipment motion control, and in particular to a motion control method and system for inspection equipment. Background Technology

[0002] With the intelligent development of power grids, the inspection of power facilities using automated inspection equipment has become an important means of power grid maintenance. In power facility inspection scenarios, existing methods involve pre-constructing inspection paths within the inspection area and then controlling the movement of the inspection equipment based on the road condition information of these pre-constructed paths. However, the inspection environment for power facilities is complex and variable. In practical applications, existing motion control methods for inspection equipment often fail to adapt to changing inspection paths. Summary of the Invention

[0003] This invention provides a motion control method and system for inspection equipment to solve the technical problem that existing motion control methods for inspection equipment cannot adaptively adjust the motion control of inspection equipment.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a motion control method for inspection equipment, comprising: When a change in the inspection path of the inspection equipment is detected, the path environment information of the changed inspection path is obtained, and the motion control information of the inspection equipment is determined based on the path environment information. Construct a control parameter search space corresponding to the motion control information, and obtain the initial search path for each control parameter search factor in the control parameter search space; Based on the first control parameter found in the control parameter search space by all the control parameter search factors, the motion control data of the inspection equipment is predicted, and the control state evaluation result corresponding to the motion control data is obtained. Based on the initial search path and control state evaluation results of each control parameter search factor, the search constraints of each control parameter search factor in the control parameter search space are determined, and the initial search path is adjusted according to the search constraints. Based on the adjusted search path, the control state evaluation results obtained from all the control parameter search factors are optimized to obtain the second control parameter corresponding to the optimized result. The inspection equipment is controlled to execute the motion control signal generated by the second control parameter, so that the inspection equipment can achieve motion control on the changed inspection path.

[0005] When the inspection path of the inspection equipment changes, the adjustable motion control information is determined by the changed path environment information, and then a corresponding control parameter search space is constructed. Motion control parameters are searched in this space and evaluated. Based on the evaluation results, the motion parameters for controlling the inspection equipment are determined, thus realizing the adaptive adjustment of the motion control of the inspection equipment under the changed path.

[0006] As one preferred embodiment, the step of obtaining the initial search path for each control parameter search factor within the control parameter search space includes: When a change in the inspection path of the inspection equipment is detected, the current inspection segment of the inspection equipment is determined based on the current location information of the inspection equipment, the current control cycle, and the changed inspection path. Based on the path environment information of the current inspection section, the motion control information of the inspection equipment is constrained, and a control parameter search space is constructed based on the constrained motion control information.

[0007] By using the path environment information of the current inspection section of the inspection equipment, the motion control information of the inspection equipment is constrained, thereby reducing the size of the control parameter search space and reducing the computational load of parameter search.

[0008] As one preferred embodiment, the initial search path for obtaining the search factor for each control parameter within the control parameter search space includes: Based on the total number of parameters in the control parameter search space, the single search range of the control parameter search factor is determined, and the initial search coordinates of each control parameter search factor in the control parameter search space are determined. The search trends of all the control parameter search factors are analyzed, and based on the analysis results, the single search range, and the initial search coordinates, the initial search path of each control parameter search factor in the control parameter search space is determined.

[0009] By determining the initial search coordinates of each control parameter search factor in the control parameter search space and the analysis results of the search trend, the initial search path of each control parameter search factor in the control parameter search space is further obtained, so as to clarify the preliminary search strategy of each control parameter search factor.

[0010] As one preferred embodiment, the step of predicting the motion control data of the inspection equipment based on the first control parameter found in the control parameter search space using all the control parameter search factors, and obtaining the control state evaluation result corresponding to the motion control data, includes: Determine the first control parameter found at the current search coordinates for each of the control parameter search factors, and simulate the motion state of the inspection equipment based on the first control parameter; Motion control data for the inspection equipment is generated based on the motion state simulation results. The motion control data is evaluated based on the path environment information to obtain the control state evaluation result corresponding to the motion control data.

[0011] The motion state of the inspection equipment is simulated by searching for motion control parameters, and then the adaptability of the motion state of the inspection equipment on the current inspection section is determined based on the motion state simulation results under the control of motion control data.

[0012] As one preferred embodiment, determining the search constraints for each control parameter search factor in the control parameter search space based on the initial search path and control state evaluation result of each control parameter search factor includes: When all the control parameter search factors have completed the search for the first coordinate based on the initial search path, the first control state evaluation result of each control parameter search factor and the second control state evaluation result of all the control parameter search factors are obtained based on the first coordinate. Based on the initial search path and first control state evaluation result of each control parameter search factor, and the second control state evaluation result of all control parameter search factors, the search constraints of each control parameter search factor in the control parameter search space are determined.

[0013] By imposing multi-angle constraints on each parameter search factor of each control parameter, the search for motion control parameters tends to the direction of global optimum.

[0014] As a preferred embodiment, determining the search constraints for each control parameter search factor in the control parameter search space based on the initial search path and the first control state evaluation result of each control parameter search factor, and the second control state evaluation results of all control parameter search factors, includes: Based on the first control state evaluation result of each control parameter search factor, determine the first parameter among the control parameters searched by each control parameter search factor; Based on the second control state evaluation results of all the control parameter search factors, determine the second parameter among the control parameters searched by all the control parameter search factors; On the initial search path of each of the control parameter search factors, determine the second coordinate to be searched after the first coordinate; Based on the first parameter, the second parameter, and the second coordinate, the search constraints for each control parameter search factor in the control parameter search space are constructed.

[0015] By constructing search constraints for each control parameter search factor in the control parameter search space through multi-directional constraints, the accuracy of control parameter search is improved.

[0016] As one preferred embodiment, adjusting the initial search path according to the search constraints includes: Based on the first parameter and the second parameter, the second coordinate of each control parameter search factor is adjusted to adjust the initial search path of each control parameter search factor.

[0017] By adjusting the initial search path for each control parameter search factor, the flexibility of control parameter search is improved.

[0018] As one preferred embodiment, the step of adjusting the initial search path according to the search constraints includes: Based on the first control state evaluation result of each of the control parameter search factors and the second control state evaluation result of all the control parameter search factors, the first factor and the second factor among all the control parameter search factors are determined. The second factor is adjusted based on the first factor to update the factor set consisting of all the control parameter search factors according to the adjustment result of the second factor.

[0019] The second factor that needs to be adjusted is determined by the quality of the control state evaluation results, as well as the first factor that serves as the basis for adjustment, so as to achieve the flexibility of adjusting the control parameter search factors.

[0020] As one preferred embodiment, the step of adjusting the second factor based on the first factor to update the factor set consisting of all the control parameter search factors according to the adjustment result of the second factor includes: Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, the second factor is screened out, so as to update the factor set composed of all the control parameter search factors according to the screening results of the second factor. Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, the search position of the second factor is adjusted to update the factor set composed of all the control parameter search factors according to the screening results of the second factor.

[0021] Secondary factors with poor control state assessment results are screened out or their search positions are adjusted to improve the accuracy of control parameter search.

[0022] Another embodiment of the present invention provides a motion control system for an inspection device, comprising: The motion control information determination module is used to acquire path environment information of the changed inspection path when a change in the inspection path of the inspection equipment is detected, and to determine the motion control information of the inspection equipment based on the path environment information. The initial search path acquisition module is used to construct the control parameter search space corresponding to the motion control information, and to acquire the initial search path of each control parameter search factor in the control parameter search space. The control status assessment result determination module is used to predict the motion control data of the inspection equipment based on the first control parameter found in the control parameter search space by all the control parameter search factors, and to obtain the control status assessment result corresponding to the motion control data. The initial search path adjustment module is used to determine the search constraints of each control parameter search factor in the control parameter search space based on the initial search path and control state evaluation result of each control parameter search factor, and adjust the initial search path according to the search constraints. The second control parameter determination module is used to optimize the control state evaluation results obtained from all the control parameter search factors based on the adjusted search path, and obtain the second control parameter corresponding to the optimization result. The motion control module is used to control the inspection equipment to execute the motion control signal generated by the second control parameter, so that the inspection equipment can realize motion control on the changed inspection path. Attached Figure Description

[0023] Figure 1 This is one of the flowcharts illustrating the motion control method for the inspection equipment provided by the present invention; Figure 2 This is the second flowchart illustrating the motion control method for the inspection equipment provided by the present invention; Figure 3 This is a schematic diagram of the motion control system of the inspection equipment provided by the present invention.

[0024] Figure label: Among them, 301 is the motion control information determination module; 302 is the initial search path acquisition module; 303 is the control state evaluation result determination module; 304 is the initial search path adjustment module; 305 is the second control parameter determination module; and 306 is the motion control module. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the invention. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] See Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the motion control method for inspection equipment provided by the present invention, as shown below. Figure 1 As shown, this embodiment includes steps 100 to 600, and the specific steps are as follows: Step 100: When a change in the inspection path of the inspection equipment is detected, the path environment information of the changed inspection path is obtained, and the motion control information of the inspection equipment is determined based on the path environment information. When a change in the inspection path of the inspection equipment is detected, the path environment information of the changed inspection path is acquired. The path environment information of the current inspection segment is used to constrain and control the movement of the inspection equipment, i.e., the movement control information of the inspection equipment in this embodiment. The path environment information includes the smoothness and flatness of the current inspection segment, and reflects the passage status of the inspection equipment in the current inspection segment.

[0030] Step 200: Construct the control parameter search space corresponding to the motion control information, and obtain the initial search path of each control parameter search factor in the control parameter search space; A control parameter search space is constructed based on the motion control information of the inspection equipment. The control parameter search space consists of all control parameters involved in the motion control information of the inspection equipment; each coordinate point in the control parameter search space represents a motion control parameter or a set of motion control parameters. The control parameters involved in the motion control information of the inspection equipment include the rotational speed of the motor and the steering angle of the inspection equipment. By acquiring the search trends of all control parameter search factors, determining the single search range and initial search coordinates of each control parameter search factor, the initial search path for each control parameter search factor within the control parameter search space can be further determined. The starting point of the initial search path is the initial search coordinates, and the search direction of the initial search path is determined based on the search trend.

[0031] Step 300: Based on the first control parameter found in the control parameter search space by all the control parameter search factors, predict the motion control data of the inspection equipment and obtain the control state evaluation result corresponding to the motion control data; As the control parameter search factors iteratively search within the control parameter search space, the first control parameter found for each factor is determined. Then, using this first control parameter, the motion state of the inspection equipment on the current inspection segment is simulated. The simulation results are used to predict the motion control data of the inspection equipment on the current inspection segment. The predicted motion control data is then evaluated. The corresponding control state evaluation result characterizes the motion state of the inspection equipment under the control of this motion control data. The better the control state evaluation result, the more suitable the motion state of the inspection equipment under the control of this motion control data is for the current inspection segment.

[0032] Step 400: Based on the initial search path and control state evaluation results of each control parameter search factor, determine the search constraints of each control parameter search factor in the control parameter search space, and adjust the initial search path according to the search constraints. The control state evaluation results of the control parameter search factors include the control state evaluation results corresponding to all searched motion control parameters for each control parameter search factor, as well as the control state evaluation results for all control parameter search factors. Based on the initial search path and control state evaluation results of each control parameter search factor, constraints are constructed for each control parameter search factor when performing parameter searches in the control parameter search space. These constraints include the search direction of each control parameter search factor within the control parameter search space. If the search direction of a control parameter search factor changes within the control parameter search space, it is determined that the initial search path of the control parameter search factor has been adjusted.

[0033] Step 500: Optimize the control state evaluation results obtained from all the control parameter search factors based on the adjusted search path to obtain the second control parameter corresponding to the optimization result; With the initial search path of the control parameter search factors adjusted in the control parameter search space, the control state evaluation results obtained from all control parameter search factors are selected as the best, that is, the control state evaluation results obtained from all control parameter search factors are optimized to obtain the motion control parameter with the best control state evaluation result, which is the second control parameter in this embodiment.

[0034] Step 600: Control the inspection equipment to execute the motion control signal generated by the second control parameter, so that the inspection equipment can realize motion control on the changed inspection path.

[0035] Based on the second control parameters, a motion control signal is generated to control the movement of the inspection equipment along the changed inspection path. This motion control signal is sent to the inspection equipment to control its movement along the changed inspection path.

[0036] The advantage of the motion control method for inspection equipment provided by this invention is that it eliminates the need to integrate a computationally intensive motion control parameter determination algorithm into the inspection equipment, thereby reducing the cost of the inspection equipment.

[0037] In another embodiment of the motion control method for inspection equipment provided by the present invention, step 200 above, before "obtaining the initial search path of each control parameter search factor in the control parameter search space", specifically includes: Step 10: When a change in the inspection path of the inspection equipment is detected, the current inspection segment of the inspection equipment is determined based on the current location information of the inspection equipment, the current control cycle, and the changed inspection path. Step 20: Based on the path environment information of the current inspection section, constrain the motion control information of the inspection equipment, and construct a control parameter search space based on the constrained motion control information.

[0038] When a change in the inspection path of an inspection device is detected, this invention provides a motion control method for the inspection device to adapt to the changed path. At the moment the change in the inspection path is detected, the current position of the inspection device, the changed path, and the current control cycle are obtained. The current position of the inspection device is used to determine the starting point of the new path; the changed path of the inspection device is the changed inspection path; and the current control cycle of the inspection device is used to determine the cycle for motion control of the inspection device, performing adaptive control of the inspection device's motion within different cycles. Based on the current position information, the current control cycle, and the changed path of the inspection device, the current inspection segment of the inspection device is determined, that is, within the current control cycle, the motion of the inspection device on the current inspection segment is controlled.

[0039] After determining the current inspection segment, the path environment information of the current inspection segment is obtained through detection. An example of constraining the motion control information of the inspection equipment based on the path environment information is as follows: In sections with high smoothness, the movement speed of the inspection equipment is V1; in sections with low smoothness, the movement speed of the inspection equipment is V2, where V2 is less than V1. A control parameter search space is constructed based on the constrained motion control information. The control parameter search space consists of all control parameters involved in the constrained motion control information; each coordinate point in the control parameter search space represents a motion control parameter or a set of motion control parameters. The control parameters involved in the constrained motion control information include the rotational speed of the motion motor and the steering angle of the inspection equipment.

[0040] In another embodiment of the motion control method for inspection equipment provided by the present invention, the step 200 above, "obtaining the initial search path for each control parameter search factor in the control parameter search space", specifically includes: Step 210: Based on the total number of parameters in the control parameter search space, determine the single search range of the control parameter search factor, and determine the initial search coordinates of each control parameter search factor in the control parameter search space; Step 220: Analyze the search trends of all the control parameter search factors, and based on the analysis results, the single search range, and the initial search coordinates, determine the initial search path for each of the control parameter search factors in the control parameter search space.

[0041] When constrained motion control information, the size of the control parameter search space is compressed. In this case, the total number of parameters in the control parameter search space is determined. Based on the total number of parameters in the search space, the single search range of the control parameter search factors is further determined. When the total number of parameters in the search space is below a certain threshold, the single search range of the control parameter search factors is determined to be a single control parameter; when the total number of parameters in the search space is above a certain threshold, the single search range of the control parameter search factors is determined to be a group of several control parameters. Both the single search range of the control parameter search factors and the total number of control parameter search factors are proportional to the total number of parameters in the control parameter search space. The purpose is to reduce search time costs.

[0042] The initial search coordinates of each control parameter search factor in the control parameter search space are randomly determined. Each control parameter search factor has a corresponding search trend, which is represented by data such as the search direction and search speed of the control parameter search factor. By analyzing the search trends of all control parameter search factors, the single search range and initial search coordinates of each control parameter search factor can be determined, and the initial search path of each control parameter search factor in the control parameter search space can be further determined.

[0043] See Figure 2 , Figure 2 This is a flowchart illustrating another embodiment of the motion control method for inspection equipment provided by the present invention, as shown below. Figure 2 As shown, this embodiment includes steps 310 to 330, and the specific steps are as follows: Step 310: Determine the first control parameter found by each control parameter search factor at the current search coordinates, and simulate the motion state of the inspection equipment based on the first control parameter; Step 320: Generate motion control data for the inspection equipment based on the motion state simulation results; Step 330: Evaluate the motion control data based on the path environment information to obtain the control state evaluation result corresponding to the motion control data.

[0044] As the control parameter search factors iteratively search in the control parameter search space, the motion control parameter (i.e., the first control parameter in this embodiment) found by each control parameter search factor at its current search coordinates is determined. When each control parameter search factor finds a motion control parameter, the motion state of the inspection equipment on the current inspection section is simulated using the found motion control parameter. The motion state simulation results are used to generate data that can be used to control the motion of the inspection equipment, i.e., the motion control data of the inspection equipment in this embodiment.

[0045] Based on the path environment information of the current inspection section, the motion control data generated based on the motion state simulation results is evaluated. The control state evaluation result corresponding to the motion control data is used to characterize the motion state of the inspection equipment based on the generated motion control data. The better the control state evaluation result, the more suitable the motion state of the inspection equipment is to the current inspection section based on the generated motion control data.

[0046] In another embodiment of the motion control method for the inspection equipment provided by the present invention, step 400 specifically includes: Step 410: When all the control parameter search factors have completed the search for the first coordinate based on the initial search path, based on the first coordinate, obtain the first control state evaluation result of each control parameter search factor and the second control state evaluation result of all the control parameter search factors. Step 420: Based on the initial search path and first control state evaluation result of each control parameter search factor, and the second control state evaluation result of all control parameter search factors, determine the search constraints of each control parameter search factor in the control parameter search space.

[0047] Taking a single search of control parameter search factors within the control parameter search space as an example, and assuming that the initial search paths of all control parameter search factors remain unchanged before this search, the search coordinates corresponding to all control parameter search factors in this search are the first coordinates in this embodiment. When all control parameter search factors have completed their search for the first coordinates, the motion control parameters obtained from the first coordinate search are used to simulate the motion state of the inspection equipment on the current inspection segment, obtaining the motion state simulation results. This leads to the motion control data of the inspection equipment. After evaluating this motion control data, the first control state evaluation result for each control parameter search factor is obtained, and subsequently, the second control state evaluation result for all control parameter search factors is obtained. It can be seen that the first control state evaluation result falls within the range of the second control state evaluation result.

[0048] The search constraints for each control parameter search factor in the control parameter search space are constructed based on the initial search path of each control parameter search factor, the first control state evaluation result of each control parameter search factor, and the second control state evaluation result of all control parameter search factors. The search constraints for each control parameter search factor include its own search direction, the direction of its own best search result, and the direction of the best search result for all factors, which are jointly determined by these three directions.

[0049] In another embodiment of the motion control method for the inspection equipment provided by the present invention, step 420 specifically includes: Step 421: Based on the first control state evaluation result of each control parameter search factor, determine the first parameter among the control parameters searched by each control parameter search factor; Step 422: Based on the second control state evaluation results of all the control parameter search factors, determine the second parameter among the control parameters searched by all the control parameter search factors; Step 423: Determine the second coordinate to be searched after the first coordinate on the initial search path of each of the control parameter search factors; Step 424: Based on the first parameter, the second parameter, and the second coordinate, construct the search constraints for each of the control parameter search factors in the control parameter search space.

[0050] The first control state evaluation result for each control parameter search factor includes the control state evaluation results corresponding to all search coordinates from the initial search coordinates to the first coordinate; the second control state evaluation result for all control parameter search factors is the control state evaluation result corresponding to all search coordinates from the initial search coordinates to the first coordinate. The parameter with the best corresponding control state evaluation result is determined from the control parameters searched for by each control parameter search factor, which is the first parameter in this embodiment; the parameter with the best corresponding control state evaluation result is determined from the control parameters searched for by all control parameter search factors, which is the second parameter in this embodiment. It can be seen that the first parameter may be the same as the second parameter.

[0051] The search constraint direction of each control parameter search factor includes its own search direction, the direction of the first parameter, and the direction of the second parameter. The search constraint conditions of each control parameter search factor in the control parameter search space are constructed by the joint decision of these two or three directions.

[0052] In another embodiment of the motion control method for inspection equipment provided by the present invention, step 400 further includes: Step 430: Based on the first parameter and the second parameter, adjust the second coordinate of each control parameter search factor to adjust the initial search path of each control parameter search factor.

[0053] On the initial search path of each control parameter search factor, the second coordinate follows the first coordinate after the search is completed. Under the search constraints of each control parameter search factor, after searching the first coordinate, it can either continue searching for the second coordinate along the initial search path, or it can adjust the second coordinate, i.e., adjust the initial search path. This is determined by the combined search constraint directions mentioned above. When the combined determined search constraint direction is the search direction of the control parameter search factor itself, the second coordinate is not adjusted; otherwise, the second coordinate is adjusted.

[0054] In another embodiment of the motion control method for the inspection equipment provided by the present invention, the step 400 above specifically includes: Step 700: Based on the first control state evaluation result of each of the control parameter search factors and the second control state evaluation result of all the control parameter search factors, determine the first factor and the second factor among all the control parameter search factors; Step 800: Adjust the second factor based on the first factor to update the factor set consisting of all the control parameter search factors according to the adjustment result of the second factor.

[0055] As described in the above embodiments, the first factor in this embodiment refers to the control parameter search factor with a better control state evaluation result, while the second factor refers to the control parameter search factor with a worse control state evaluation result. The quality of the control state evaluation result can be quantified by the simulated motion state (of the inspection equipment on the current inspection segment). For example, if the inspection equipment moves smoothly on the current inspection segment, the control state evaluation result is better. Therefore, the second factor with a worse control state evaluation result can be adjusted to improve the accuracy of global optimization of all control parameter search factors in the control parameter search space. After adjusting the second factor, the factor set composed of all control parameter search factors is updated according to the adjustment result of the second factor.

[0056] In another embodiment of the motion control method for the inspection equipment provided by the present invention, step 800 specifically includes: Step 810: Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, the second factor is screened out, so as to update the factor set composed of all the control parameter search factors according to the screening results of the second factor. Step 820: Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, adjust the search position of the second factor to update the factor set composed of all the control parameter search factors according to the screening results of the second factor.

[0057] This invention provides two methods for adjusting the second factor. The first method involves partially or completely eliminating the second factor based on the control state evaluation results of the first and second factors to update the factor set composed of all control parameter search factors. The second method involves adjusting the search position of the second factor based on the control state evaluation results of the first and second factors. For example, the search positions of some or all of the second factors can be adjusted to be near the first factor so that the second factor can also search for control parameters with better control state evaluation results, just like the first factor.

[0058] The motion control system of the inspection equipment provided by the present invention is described below. The motion control system of the inspection equipment described below can be referred to in correspondence with the motion control method of the inspection equipment described above.

[0059] Please refer to Figure 3 The present invention also provides a motion control system for an inspection device, comprising: The motion control information determination module 301 is used to acquire path environment information of the changed inspection path when a change in the inspection path of the inspection equipment is detected, and to determine the motion control information of the inspection equipment based on the path environment information. The initial search path acquisition module 302 is used to construct the control parameter search space corresponding to the motion control information, and to acquire the initial search path of each control parameter search factor in the control parameter search space. The control status assessment result determination module 303 is used to predict the motion control data of the inspection equipment based on the first control parameter found in the control parameter search space by all the control parameter search factors, and to obtain the control status assessment result corresponding to the motion control data. The initial search path adjustment module 304 is used to determine the search constraints of each control parameter search factor in the control parameter search space based on the initial search path and control state evaluation result of each control parameter search factor, and adjust the initial search path according to the search constraints. The second control parameter determination module 305 is used to optimize the control state evaluation results obtained from all the control parameter search factors based on the adjusted search path, and obtain the second control parameter corresponding to the optimization result. The motion control module 306 is used to control the inspection equipment to execute the motion control signal generated by the second control parameter, so that the inspection equipment can realize motion control on the changed inspection path.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A motion control method for inspection equipment, characterized in that, include: When a change in the inspection path of the inspection equipment is detected, the path environment information of the changed inspection path is obtained, and the motion control information of the inspection equipment is determined based on the path environment information. Construct a control parameter search space corresponding to the motion control information, and obtain the initial search path for each control parameter search factor in the control parameter search space; Based on the first control parameter found in the control parameter search space by all the control parameter search factors, the motion control data of the inspection equipment is predicted, and the control state evaluation result corresponding to the motion control data is obtained. When all the control parameter search factors have completed the search for the first coordinate based on the initial search path, the first control state evaluation result of each control parameter search factor and the second control state evaluation result of all the control parameter search factors are obtained based on the first coordinate. Based on the first control state evaluation result of each control parameter search factor, determine the first parameter among the control parameters searched by each control parameter search factor; Based on the second control state evaluation results of all the control parameter search factors, determine the second parameter among the control parameters searched by all the control parameter search factors; On the initial search path of each of the control parameter search factors, determine the second coordinate to be searched after the first coordinate; Based on the first parameter, the second parameter, and the second coordinate, a search constraint condition for each of the control parameter search factors is constructed in the control parameter search space, and the initial search path is adjusted according to the search constraint condition. Based on the adjusted search path, the control state evaluation results obtained from all the control parameter search factors are optimized to obtain the second control parameter corresponding to the optimized result. The inspection equipment is controlled to execute the motion control signal generated by the second control parameter, so that the inspection equipment can achieve motion control on the changed inspection path.

2. The motion control method for inspection equipment as described in claim 1, characterized in that, Before obtaining the initial search path for each control parameter search factor within the control parameter search space, the following steps are included: When a change in the inspection path of the inspection equipment is detected, the current inspection segment of the inspection equipment is determined based on the current location information of the inspection equipment, the current control cycle, and the changed inspection path. Based on the path environment information of the current inspection section, the motion control information of the inspection equipment is constrained, and a control parameter search space is constructed based on the constrained motion control information.

3. The motion control method for inspection equipment as described in claim 1, characterized in that, The initial search path for obtaining the search factor for each control parameter within the control parameter search space includes: Based on the total number of parameters in the control parameter search space, the single search range of the control parameter search factor is determined, and the initial search coordinates of each control parameter search factor in the control parameter search space are determined. The search trends of all the control parameter search factors are analyzed, and based on the analysis results, the single search range, and the initial search coordinates, the initial search path of each control parameter search factor in the control parameter search space is determined.

4. The motion control method for inspection equipment as described in claim 1, characterized in that, The process of predicting the motion control data of the inspection equipment based on the first control parameter found in the control parameter search space using all the control parameter search factors, and obtaining the control state evaluation result corresponding to the motion control data, includes: Determine the first control parameter found at the current search coordinates for each of the control parameter search factors, and simulate the motion state of the inspection equipment based on the first control parameter; Motion control data for the inspection equipment is generated based on the motion state simulation results. The motion control data is evaluated based on the path environment information to obtain the control state evaluation result corresponding to the motion control data.

5. The motion control method for inspection equipment as described in claim 1, characterized in that, The step of adjusting the initial search path according to the search constraints includes: Based on the first parameter and the second parameter, the second coordinate of each control parameter search factor is adjusted to adjust the initial search path of each control parameter search factor.

6. The motion control method for inspection equipment as described in claim 1, characterized in that, After adjusting the initial search path according to the search constraints, the following is included: Based on the first control state evaluation result of each of the control parameter search factors and the second control state evaluation result of all the control parameter search factors, the first factor and the second factor among all the control parameter search factors are determined. The second factor is adjusted based on the first factor to update the factor set consisting of all the control parameter search factors according to the adjustment result of the second factor.

7. The motion control method for inspection equipment as described in claim 6, characterized in that, The step of adjusting the second factor based on the first factor to update the factor set consisting of all the control parameter search factors according to the adjustment result of the second factor includes: Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, the second factor is screened out, so as to update the factor set composed of all the control parameter search factors according to the screening results of the second factor. Based on the control state evaluation results of the first factor and the control state evaluation results of the second factor, the search position of the second factor is adjusted to update the factor set composed of all the control parameter search factors according to the screening results of the second factor.

8. A motion control system for inspection equipment, characterized in that, include: The motion control information determination module is used to acquire path environment information of the changed inspection path when a change in the inspection path of the inspection equipment is detected, and to determine the motion control information of the inspection equipment based on the path environment information. The initial search path acquisition module is used to construct the control parameter search space corresponding to the motion control information, and to acquire the initial search path of each control parameter search factor in the control parameter search space. The control status assessment result determination module is used to predict the motion control data of the inspection equipment based on the first control parameter found in the control parameter search space by all the control parameter search factors, and to obtain the control status assessment result corresponding to the motion control data. An initial search path adjustment module is configured to: upon completion of the search for the first coordinate by all control parameter search factors based on the initial search path; acquire a first control state evaluation result for each control parameter search factor and a second control state evaluation result for all control parameter search factors based on the first control state evaluation result; determine a first parameter among the control parameters searched by each control parameter search factor based on the first control state evaluation result; determine a second parameter among the control parameters searched by all control parameter search factors based on the second control state evaluation results of all control parameter search factors; determine a second coordinate to be searched after the first coordinate on the initial search path of each control parameter search factor; construct search constraints for each control parameter search factor in the control parameter search space based on the first parameter, the second parameter, and the second coordinate; and adjust the initial search path according to the search constraints. The second control parameter determination module is used to optimize the control state evaluation results obtained from all the control parameter search factors based on the adjusted search path, and obtain the second control parameter corresponding to the optimization result. The motion control module is used to control the inspection equipment to execute the motion control signal generated by the second control parameter, so that the inspection equipment can realize motion control on the changed inspection path.

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