A port dangerous chemical storage area inspection robot autonomous navigation method and system

Abstract

The application discloses a kind of port dangerous chemical storage area inspection robot autonomous navigation method and system, it is related to robot autonomous navigation technical field.The energy state data of collection inspection robot, position information and dangerous chemical environment detection data are determined remaining available energy and forecast dangerous area;Based on position information and forecast dangerous area determine candidate navigation target, carry out path planning to each candidate navigation target, obtain first stage navigation path information, and carry out energy consumption analysis to obtain first forecast energy consumption;Further carry out evacuation path analysis to determine corresponding backup safety target and backup evacuation path, and determine emergency reserve energy;Based on remaining available energy, first forecast energy consumption and emergency reserve energy carry out energy security accessibility evaluation, determine energy security accessible target and control inspection robot to carry out autonomous navigation.The application can improve the navigation safety and energy executability of inspection robot in dynamic dangerous chemical risk environment.

Description

Technical Field

[0001] This invention relates to the field of autonomous navigation technology for robots, specifically to an autonomous navigation method and system for a port hazardous chemical storage area inspection robot. Background Technology

[0002] Port hazardous chemical storage areas typically include hazardous chemical storage tanks, pipelines, pump stations, valve assemblies, and loading / unloading facilities. Due to the flammable, explosive, toxic, or volatile nature of the stored or transported media, inspection robots are increasingly being used to perform tasks such as equipment inspection, gas detection, image acquisition, and anomaly alarms to reduce the safety risks associated with long-term personnel entering high-risk areas for inspection work. Inspection robots typically move autonomously based on a map of the inspection area and determine whether to continue inspection, return to a charging position, or move to a safe stopping point based on remaining battery power.

[0003] However, when hazardous media leak from storage tanks, valves, or pipelines, the hazardous gases may continue to spread with wind direction and speed, gradually affecting previously safe inspection routes, charging locations, or safe stopping points. Determining the navigation target solely based on the current hazardous area and remaining battery power may not guarantee the inspection robot's safety after reaching the target. For example, the inspection robot might be able to reach a safe stopping point initially, but if the hazardous area continues to expand after arrival, the robot may need to evacuate again, at which point the remaining battery power may be insufficient to support the evacuation.

[0004] In the above situations, existing autonomous navigation or automatic recharging methods typically focus on the single-stage energy accessibility of the inspection robot from its current location to the target location, and replan the path or select other targets when the target location or navigation path is affected by dangerous areas. However, the inspection robot may have consumed a significant amount of remaining energy during its initial navigation process. Even if a safe location and passable path remain, it may be unable to retreat due to insufficient remaining energy, thus interrupting the inspection mission. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an autonomous navigation method and system for inspection robots in port hazardous chemical storage areas, which can effectively solve the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an autonomous navigation method for a port hazardous chemical storage area inspection robot, comprising collecting energy status data and location information of the inspection robot, analyzing the energy status data to obtain the remaining available energy of the inspection robot, and simultaneously acquiring hazardous chemical environmental monitoring data and performing risk analysis to obtain predicted hazardous areas;

[0007] Based on the location information of the inspection robot and the predicted dangerous areas, candidate navigation targets are determined, and path planning is performed on each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target.

[0008] Based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target, energy consumption analysis is performed to obtain the first predicted energy consumption corresponding to each candidate navigation target.

[0009] Based on the analysis of evacuation routes of each candidate navigation target and the predicted danger zone, the backup safety target corresponding to each candidate navigation target is determined. The energy consumption of the backup evacuation route from each candidate navigation target to the corresponding backup safety target is analyzed to obtain the emergency reserve energy corresponding to each candidate navigation target.

[0010] Based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, the energy security accessibility of each candidate navigation target is assessed to obtain the energy security accessible target. The inspection robot is then controlled to navigate autonomously according to the energy security accessible target.

[0011] Furthermore, the method for obtaining the remaining available energy of the inspection robot is as follows:

[0012] The energy status data of the inspection robot includes the remaining battery charge percentage, current battery output voltage, and current battery output current.

[0013] The location information of the inspection robot includes its current location coordinates on the inspection area map and its current speed.

[0014] The remaining usable energy of the inspection robot is recorded as the product of the remaining battery power percentage and the preset rated energy capacity.

[0015] Furthermore, the method for obtaining the predicted danger zone is as follows:

[0016] Hazardous chemical environmental monitoring data includes gas concentration, wind direction, and wind speed at each monitoring location;

[0017] The dangerous monitoring locations are determined based on the gas concentration at each monitoring location; based on the location of each dangerous monitoring location on the inspection area map and the preset dangerous influence radius, the dangerous sub-regions corresponding to each dangerous monitoring location are determined, and dangerous sub-regions with connections are merged to obtain the current dangerous area;

[0018] The current danger zone is expanded based on the wind direction and speed at each monitoring location to obtain the predicted danger zone.

[0019] Furthermore, the method for determining candidate navigation targets is as follows:

[0020] Pre-mark charging locations and safe stopping locations on the inspection area map, and identify these locations as potential navigation locations;

[0021] Based on the predicted danger zone, each candidate navigation location is filtered out, and those located within the predicted danger zone are eliminated. The remaining candidate navigation locations are then marked as candidate navigation targets.

[0022] Furthermore, the method for path planning for each candidate navigation target is as follows:

[0023] Using the current coordinates of the inspection robot as the starting point of the path and the position of each candidate navigation target in the inspection area map as the ending point of the path, the predicted dangerous area is set as a no-passage area. In the inspection area map, the passable paths from the starting point of the path to each ending point without passing through the no-passage area are determined respectively, and the passable paths are determined as the first stage navigation paths of the corresponding candidate navigation targets.

[0024] Discrete accumulation processing is performed on each first-stage navigation path to obtain the first-stage path length of the corresponding first-stage navigation path. The first-stage navigation path and first-stage path length corresponding to each candidate navigation target are determined as the first-stage navigation path information.

[0025] Furthermore, the method for obtaining the first predicted energy consumption corresponding to each candidate navigation target through energy consumption analysis is as follows:

[0026] The energy consumption per unit distance of the inspection robot is determined based on the current output voltage, current output current and current travel speed of the battery.

[0027] Obtain the first-stage path length corresponding to each candidate navigation target. Based on the first-stage path length and energy consumption per unit distance, determine the first predicted energy consumption required for the inspection robot to move along the corresponding first-stage navigation path to the corresponding candidate navigation target, and denot it as the first predicted energy consumption corresponding to each candidate navigation target.

[0028] Furthermore, the method for determining the backup safety target corresponding to each candidate navigation target is as follows:

[0029] When the predicted danger zone is updated, the evacuation path analysis is re-performed. The current position coordinates of the inspection robot and each candidate navigation target are judged based on the predicted danger zone. If the current position coordinates are within the predicted danger zone, the first stage navigation path is re-determined. If the candidate navigation target is within the predicted danger zone, the corresponding candidate navigation target is eliminated.

[0030] The locations of the remaining candidate navigation targets in the inspection area map after elimination are determined as the evacuation starting points. The charging locations and safe stopping locations located in the predicted danger zone are eliminated from the pre-marked safe stopping locations in the inspection area map, and the remaining charging locations and safe stopping locations are determined as backup candidate targets.

[0031] For each evacuation starting point, selectable evacuation routes from the evacuation starting point to each backup target that do not pass through the predicted danger zone are determined, and the length of each selectable evacuation route is determined.

[0032] For each candidate evacuation path corresponding to the same evacuation starting point, the path is filtered according to its length. The candidate evacuation path with the shortest evacuation path is determined as the backup evacuation path, and the backup candidate target corresponding to the backup evacuation path is determined as the backup safety target of the corresponding candidate navigation target.

[0033] Furthermore, the method for obtaining the emergency reserve energy corresponding to each candidate navigation target is as follows:

[0034] Based on the evacuation path length and energy consumption per unit distance of each backup evacuation path, the predicted evacuation energy consumption required for the inspection robot to move from the corresponding candidate navigation target to the corresponding backup safety target along the backup evacuation path is determined, and the predicted evacuation energy consumption is determined as the emergency reserve energy corresponding to the candidate navigation target.

[0035] Furthermore, the method for assessing the energy security reachability of each candidate navigation target is as follows:

[0036] For each candidate navigation target, the energy requirement of the corresponding candidate navigation target is determined based on the first predicted energy consumption and emergency reserve energy of the corresponding candidate navigation target;

[0037] The energy requirement corresponding to each candidate navigation target is compared with the remaining available energy of the inspection robot. Candidate navigation targets whose energy requirement is less than or equal to the remaining available energy are retained, and candidate navigation targets whose energy requirement is greater than the remaining available energy are eliminated.

[0038] The energy requirements of each of the remaining candidate navigation targets are compared, and the candidate navigation target with the lowest energy requirement is determined as the energy-safe reachable target. The first-stage navigation path corresponding to the energy-safe reachable target is then determined as the target navigation path.

[0039] A second aspect of the present invention provides an autonomous navigation system for a port hazardous chemical storage area inspection robot, comprising:

[0040] The status risk analysis module is used to collect energy status data and location information of the inspection robot, analyze the energy status data to obtain the remaining available energy of the inspection robot, and simultaneously acquire environmental monitoring data of hazardous chemicals and perform risk analysis to obtain predicted hazardous areas.

[0041] The path planning module is used to determine candidate navigation targets based on the location information of the inspection robot and the predicted dangerous areas, and to perform path planning for each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target.

[0042] The first-stage energy consumption analysis module is used to perform energy consumption analysis based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target to obtain the first predicted energy consumption for each candidate navigation target.

[0043] The backup evacuation path analysis module is used to analyze evacuation paths based on each candidate navigation target and predicted danger zone, determine the backup safety target corresponding to each candidate navigation target, perform energy consumption analysis on the backup evacuation path from each candidate navigation target to the corresponding backup safety target, and obtain the emergency reserve energy corresponding to each candidate navigation target.

[0044] The accessibility assessment navigation module is used to assess the energy security accessibility of each candidate navigation target based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, to obtain the energy security accessible target, and to control the inspection robot to navigate autonomously according to the energy security accessible target.

[0045] The present invention has the following beneficial effects:

[0046] This invention can improve the autonomous navigation safety of inspection robots in the dynamic hazardous environment of port hazardous chemical storage areas, enabling inspection robots to have a stronger ability to avoid changes in hazardous areas in advance, reducing the risk of the original navigation target becoming invalid and the original navigation path becoming less safe due to the expansion of the hazardous area, and enhancing the environmental adaptability and risk response capability of inspection robots when facing sudden hazardous chemical leaks, dangerous area spread and other working conditions, thereby improving the safety, stability and continuity of the inspection task execution process.

[0047] This invention can improve the rationality of navigation decisions and the safety of energy utilization for inspection robots in low-energy conditions, avoid the problem of lacking subsequent evacuation capability after arrival due to judging the target reachability solely based on the current remaining energy, reduce the probability of inspection robots being stranded in potentially dangerous areas or unable to continue evacuation due to insufficient energy, enhance the feasibility and safety redundancy of navigation decisions, improve the mission support capability and emergency evacuation capability under limited remaining energy conditions, thereby improving the operational reliability of inspection robots in hazardous chemical storage scenarios.

[0048] This invention also improves the dynamic adaptability of the autonomous navigation decision-making of inspection robots, enabling navigation decisions to be adjusted in a timely manner according to changes in hazardous environments and energy conditions. This reduces the situation where unsuitable navigation strategies continue to be executed due to changes in environmental or energy information, improves the real-time performance and fault tolerance of the navigation process, enhances the ability of inspection robots to operate autonomously continuously under complex, dynamic, and sudden risk conditions, further reduces human intervention and human requirements, and improves the level of intelligence and overall safety assurance of inspection operations in port hazardous chemical storage areas. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the method flow of the present invention.

[0050] Figure 2 This is a schematic diagram of the system module connections of the present invention. Detailed Implementation

[0051] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Please see Figure 1 As shown, the first aspect of this invention provides a technical solution: an autonomous navigation method for a port hazardous chemical storage area inspection robot, comprising:

[0053] Collect energy status data and location information of the inspection robot, analyze the energy status data to obtain the remaining available energy of the inspection robot; simultaneously acquire environmental monitoring data of hazardous chemicals and conduct risk analysis to obtain predicted hazardous areas.

[0054] Specifically, the energy status data of the inspection robot includes the remaining battery charge percentage, the current battery output voltage, and the current battery output current. The remaining battery charge percentage, representing the current remaining battery power level, is collected by the inspection robot's battery management system. The current battery output voltage and current battery output current represent the current energy output status. The current battery output voltage reflects the current supply voltage level of the inspection robot's battery and is collected by a voltage detection device, recorded as the current battery output voltage. The current battery output current reflects the current supply current level of the inspection robot's battery and is collected by a current detection device, recorded as the current battery output current.

[0055] The location information of the inspection robot includes its current coordinates on the inspection area map and its current speed. The current coordinates are represented using horizontal and vertical coordinates in the map coordinate system. The current coordinates reflect the robot's current location, which can be obtained through its positioning device and converted to the map coordinate system corresponding to the inspection area map. The current speed reflects the robot's real-time movement speed, which can be collected by its wheel speed detection device. The inspection area map is a map information used to characterize the spatial distribution of roads, obstacles, charging locations, safe stopping locations, and various monitoring locations within the port's hazardous chemical storage inspection area.

[0056] The method for analyzing energy status data to obtain the remaining available energy of the inspection robot is as follows:

[0057] The remaining usable energy of the inspection robot is calculated by multiplying the remaining battery charge percentage by the preset rated energy capacity. The preset rated energy capacity represents the total energy the inspection robot's battery can provide under rated conditions, measured in watt-hours. The preset rated energy capacity can be obtained from the battery management system.

[0058] In this embodiment, the remaining available energy of the inspection robot can be obtained through the following analysis method, with the specific analysis conditions as follows:

[0059] ;

[0060] in, This indicates the remaining available energy of the inspection robot. This indicates the remaining battery power percentage of the inspection robot. This indicates the preset rated energy capacity.

[0061] Specifically, the method for simultaneously acquiring environmental monitoring data of hazardous chemicals and conducting risk analysis to predict hazardous areas is as follows:

[0062] The environmental monitoring data for hazardous chemicals includes the gas concentration, wind direction, and wind speed at each monitoring location within the port's hazardous chemical storage and inspection area.

[0063] It should be noted that the gas concentration at each monitoring location within the port hazardous chemical storage inspection area reflects the content of hazardous gases at each monitoring location and can be obtained by gas detection equipment installed at each monitoring location; the wind direction at each monitoring location within the port hazardous chemical storage inspection area reflects the direction of airflow at each monitoring location and can be measured by wind direction detection equipment installed at each monitoring location; the wind speed at each monitoring location within the port hazardous chemical storage inspection area reflects the speed of airflow at each monitoring location and can be measured by wind speed detection equipment installed at each monitoring location.

[0064] The gas concentration at each monitoring location is compared with a preset hazardous concentration threshold. Monitoring locations with gas concentrations greater than or equal to the preset hazardous concentration threshold are identified as hazardous monitoring locations. Using the location of each hazardous monitoring location on the inspection area map as the center, the hazardous sub-regions corresponding to each hazardous monitoring location are determined according to the preset hazardous influence radius. Overlapping, tangent, or continuously connected hazardous sub-regions are merged to obtain the current hazardous area.

[0065] It should be added that the preset hazardous concentration threshold is used to distinguish whether a monitoring location has reached a hazardous state. The preset hazardous concentration threshold can be determined by those skilled in the art based on the safety control requirements of the hazardous gases detected by the corresponding gas detection equipment and historical monitoring data. The preset hazardous influence radius is used to characterize the spatial range around the hazardous monitoring location that needs to be included in the current hazardous area. Those skilled in the art can analyze historical hazardous gas anomaly records within the port hazardous chemical storage inspection area, calculate the distances extending outwards from the hazardous monitoring location to locations where the gas concentration is below the preset hazardous concentration threshold during each hazardous gas anomaly, and calculate the average of multiple location distances, using the average of the location distances as the preset hazardous influence radius.

[0066] The expansion direction of the current hazardous area is determined based on the wind direction in the hazardous chemical environmental monitoring data. The predicted expansion distance is determined based on the wind speed and the preset buffer time in the hazardous chemical environmental monitoring data. The predicted expansion distance is the product of the wind speed and the preset buffer time. Based on the current hazardous area, the current hazardous area is continuously extended along the expansion direction by the predicted expansion distance, and the current hazardous area and the extended area are merged to obtain the predicted hazardous area.

[0067] It should be explained that the preset buffer time is used to determine the time range for expanding the predicted hazardous area that needs to be covered in advance. Those skilled in the art can conduct multiple pre-tests under normal operating conditions of the inspection robot. Each test records the total time required for the inspection robot to complete one navigation movement from its current position to the candidate navigation position and one evacuation movement from the candidate navigation position to the safe stopping position. The total times obtained from multiple pre-tests are compared, and the maximum value among the total times is set as the preset buffer time. When the inspection robot's driving performance, the inspection area map, or traffic conditions change, the pre-test can be repeated, and the preset buffer time can be adaptively modified.

[0068] Based on the location information of the inspection robot and the predicted dangerous areas, candidate navigation targets are identified, and path planning is performed on each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target.

[0069] Specifically, the method for determining candidate navigation targets based on the location information of the inspection robot and the predicted danger zone is as follows:

[0070] Pre-mark charging locations and safe stopping locations on the inspection area map, and use these locations as candidate navigation locations. Determine whether each candidate navigation location is located within a predicted danger zone. Eliminate candidate navigation locations located within the predicted danger zone, and determine the remaining candidate navigation locations as candidate navigation targets.

[0071] By first screening the predicted danger zone at the target location level, we can avoid using charging locations or safe stopping locations that are expected to be affected by the expansion of the danger zone within the preset buffer time as navigation targets, thereby reducing the situation where the target location has already entered the danger zone after the inspection robot arrives at the target location.

[0072] Specifically, the method for performing path planning for each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target is as follows:

[0073] Using the current coordinates of the inspection robot as the starting point of the path and the positions of each candidate navigation target in the inspection area map as the ending point of the path, when the current coordinates of the inspection robot are not located within the predicted danger zone, the predicted danger zone is set as a prohibited area. Passable paths from the starting point to each ending point without passing through the predicted danger zone are determined in the inspection area map. When the current coordinates of the inspection robot are located within the predicted danger zone, the starting part of the passable path is allowed to be within the predicted danger zone, and the passable path is prevented from re-entering the predicted danger zone after first leaving it. For candidate navigation targets for which a passable path cannot be determined, the corresponding candidate navigation targets are eliminated. Passable paths can be determined using a path planning method based on path search using the inspection area map.

[0074] According to the travel order of the inspection robot along the passable path, the passable path is discretized to obtain multiple path nodes arranged sequentially. Each path node corresponds to a position coordinate on the inspection area map, and two path nodes in consecutive positions in the arrangement are called adjacent path nodes. The multiple path nodes arranged sequentially constitute the first-stage navigation path corresponding to the candidate navigation target. The discretization process involves selecting position coordinates as path nodes sequentially along the passable path according to a preset path sampling interval.

[0075] It should be added that the preset path sampling interval is used to control the spatial spacing between adjacent path nodes after the first-stage navigation path is discretized. Those skilled in the art can discretize the same passable path using different path sampling intervals and calculate the corresponding first-stage path length for each. The path sampling interval can be gradually reduced until the calculated first-stage path length remains relatively stable. The path sampling interval corresponding to the first stable state is then set as the preset path sampling interval. For example, if, after pre-testing, the first-stage path length changes little after further reducing the path sampling interval to 0.2 meters, the preset path sampling interval can be set to 0.2 meters. This setting can reduce the number of unnecessary path nodes while ensuring the accuracy of the first-stage path length calculation. When the spatial accuracy of the inspection area map or the complexity of the inspection channel changes, the discretization test can be repeated, and the preset path sampling interval can be adaptively modified.

[0076] The distance between each adjacent path node is calculated based on the position coordinates of each adjacent path node, and the distances between each adjacent path node are accumulated according to the order of the path nodes to obtain the first-stage path length of the corresponding first-stage navigation path; the first-stage navigation path and the first-stage path length corresponding to each candidate navigation target are recorded as the first-stage navigation path information.

[0077] In this embodiment, the distance between adjacent path nodes can be obtained through the following analysis method, with the specific analysis conditions as follows:

[0078] ;

[0079] in, This represents the distance between the i-th path node and the (i+1)-th path node. and Let x and y represent the horizontal and vertical coordinates of the i-th path node in the inspection area map, respectively. and These represent the horizontal and vertical coordinates of the (i+1)th path node in the inspection area map, respectively.

[0080] The length of the first-stage navigation path can be obtained using the following analysis method, with the specific analysis conditions as follows:

[0081] ;

[0082] in, The first-stage path length represents the first-stage navigation path length, n represents the total number of path nodes included in the first-stage navigation path, and i represents the path node number.

[0083] In this embodiment, based on determining whether the candidate navigation target itself is safe, it is further determined whether the first-stage navigation path traversed by the inspection robot to reach the candidate navigation target can avoid the predicted danger area, thereby achieving a joint constraint on the safety of the target location and the path safety to the target location.

[0084] Based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target, energy consumption analysis is performed to obtain the first predicted energy consumption corresponding to each candidate navigation target.

[0085] Specifically, the method for obtaining the first predicted energy consumption for each candidate navigation target through energy consumption analysis is as follows:

[0086] Within a preset sampling period, the current battery output voltage, current battery output current, and current travel speed of the inspection robot are continuously acquired at preset sampling intervals. The product of the current battery output voltage and current battery output current at each sampling moment is determined as the output power at that sampling moment. The output power at each sampling moment is multiplied by the preset sampling interval to obtain the sampling energy consumption at that sampling moment. The sampling energy consumption at each sampling moment within the preset sampling period is accumulated to obtain the cumulative sampling energy consumption. The current travel speed greater than zero at each sampling moment is multiplied by the preset sampling interval to obtain the sampling distance at that sampling moment. The sampling distances are accumulated to obtain the cumulative sampling distance. The ratio of the cumulative sampling energy consumption to the cumulative sampling distance is determined as the energy consumption per unit distance of the inspection robot. When the cumulative sampling distance within the preset sampling period is zero, it indicates that the inspection robot has not made any effective movement within the preset sampling period. In this case, the energy consumption per unit distance is not recalculated using the current preset sampling period, but is instead calculated using the energy consumption per unit distance obtained when the most recent cumulative sampling distance was greater than zero.

[0087] It should be noted that the preset sampling period is used to limit the time range for continuously collecting the current battery output voltage, current battery output current, and current driving speed of the inspection robot, and the preset sampling interval is used to limit the time interval between two adjacent data collections within the preset sampling period. Those skilled in the art can extract the duration of multiple continuous driving periods during the inspection robot's historical normal inspection process, calculate the average of multiple continuous driving periods, and set the average duration that covers the stable driving process of the inspection robot and does not include long periods of stopping as the preset sampling period; simultaneously, the data update cycles of the detection devices corresponding to the current battery output voltage, current battery output current, and current driving speed are obtained, and the time interval that allows the three types of data to obtain valid data at the same sampling time is determined based on the data update cycles of each detection device, and this time interval is set as the preset sampling interval.

[0088] Obtain the first-stage path length from the first-stage navigation path information corresponding to each candidate navigation target. Multiply each first-stage path length by the energy consumption per unit distance of the inspection robot. Determine the product as the first predicted energy consumption required for the inspection robot to move along the corresponding first-stage navigation path to the corresponding candidate navigation target. This product is denoted as the first predicted energy consumption corresponding to each candidate navigation target.

[0089] Based on the analysis of evacuation routes for each candidate navigation target and the predicted danger zone, the backup safety targets corresponding to each candidate navigation target are determined. Energy consumption analysis is then performed on the backup evacuation routes from each candidate navigation target to the corresponding backup safety targets to obtain the emergency reserve energy corresponding to each candidate navigation target.

[0090] Specifically, the method for determining the backup safety target corresponding to each candidate navigation target is as follows:

[0091] When candidate navigation targets are initially identified, an evacuation path analysis is performed. When the predicted danger zone is updated, the evacuation path analysis is performed again to determine whether the current position coordinates of the inspection robot and each candidate navigation target are located within the predicted danger zone. When the current position coordinates of the inspection robot are located within the predicted danger zone, a new first-stage navigation path that does not pass through the predicted danger zone is determined. When a candidate navigation target is located within the predicted danger zone, the corresponding candidate navigation target is eliminated.

[0092] For each candidate navigation target remaining after elimination, the location of each candidate navigation target on the inspection area map is marked as the evacuation starting point.

[0093] From the pre-marked safe stopping locations on the inspection area map, remove charging locations and safe stopping locations located within the predicted danger zone, and determine the remaining charging locations and safe stopping locations as backup candidate targets; for each evacuation starting point, determine the passable path from the evacuation starting point to each backup candidate target without passing through the predicted danger zone on the inspection area map, and determine the corresponding passable path as the candidate evacuation path.

[0094] Following the movement sequence of the inspection robot along each candidate evacuation path, each candidate evacuation path is discretized, resulting in multiple sequentially arranged evacuation path nodes. Each evacuation path node corresponds to a location coordinate on the inspection area map. Two consecutive evacuation path nodes in the sequence are identified as adjacent evacuation path nodes. The distance between adjacent evacuation path nodes is calculated based on their location coordinates, and the distances between adjacent evacuation path nodes are summed to obtain the evacuation path length of the corresponding candidate evacuation path. The candidate evacuation paths employ the same discretization processing and distance calculation method as the navigation path in the first stage.

[0095] For each candidate evacuation path corresponding to the same evacuation starting point, the evacuation path lengths of each candidate evacuation path are compared. The candidate evacuation path with the shortest evacuation path is determined as the backup evacuation path, and the backup candidate target corresponding to the backup evacuation path is determined as the backup safety target of the corresponding candidate navigation target.

[0096] By using the above method, each candidate navigation target is assumed to be the actual location of the inspection robot after completing the first stage of navigation. The candidate navigation target is used as the starting point for evacuation and the backup evacuation path for the second stage is planned in advance. Thus, before the inspection robot moves to the candidate navigation target, it can be determined whether there is still a subsequent evacuation path that can avoid the predicted danger area after the candidate navigation target is reached.

[0097] Specifically, the method for obtaining the emergency reserve energy corresponding to each candidate navigation target is as follows:

[0098] Extract the evacuation path length of the backup evacuation path corresponding to each candidate navigation target; obtain the energy consumption per unit distance of the inspection robot; multiply the evacuation path length of each backup evacuation path by the energy consumption per unit distance to obtain the predicted evacuation energy consumption required for the inspection robot to move from the corresponding candidate navigation target to the corresponding backup safety target along the backup evacuation path; and determine the predicted evacuation energy consumption as the emergency reserve energy of the corresponding candidate navigation target.

[0099] In this embodiment, the subsequent evacuation requirement from the candidate navigation target to the backup safety target is quantified as emergency reserve energy, so that when the robot evaluates the current candidate navigation target, it not only considers the first predicted energy consumption required to reach the candidate navigation target, but also reserves the energy required to evacuate from the candidate navigation target again in advance.

[0100] Based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, the energy security accessibility of each candidate navigation target is assessed to obtain the energy security accessible target. The inspection robot is then controlled to navigate autonomously according to the energy security accessible target.

[0101] Specifically, the method for achieving the goal of energy security is as follows:

[0102] For each candidate navigation target, the first predicted energy consumption of the corresponding candidate navigation target is added to the emergency reserve energy to obtain the required energy of the corresponding candidate navigation target. The required energy of each candidate navigation target is compared with the remaining available energy of the inspection robot. When the required energy of the candidate navigation target is less than or equal to the remaining available energy of the inspection robot, the corresponding candidate navigation target is retained. When the required energy of the candidate navigation target is greater than the remaining available energy of the inspection robot, the corresponding candidate navigation target is eliminated.

[0103] In this embodiment, the energy requirement of each candidate navigation target can be obtained through the following analysis method, with the specific analysis conditions as follows:

[0104] ;

[0105] in, This represents the required energy for the i-th candidate navigation target. This represents the first predicted energy consumption corresponding to the i-th candidate navigation target. This represents the emergency reserve energy corresponding to the i-th candidate navigation target.

[0106] The energy requirements of each of the remaining candidate navigation targets are compared, and the candidate navigation target with the lowest energy requirement is determined as the energy-safe reachable target. The first-stage navigation path corresponding to the energy-safe reachable target is then determined as the target navigation path.

[0107] In this embodiment, the first predicted energy consumption required for the robot to reach the candidate navigation target and the emergency reserve energy required for evacuation after arrival are combined into a joint energy constraint. Only candidate navigation targets whose remaining available energy can simultaneously cover the energy needs of both stages are eligible to become energy-safe reachable targets. This avoids the situation where there is a lack of energy for evacuation after arrival due to the selection of candidate navigation targets based solely on current reachability.

[0108] Specifically, the method for controlling the inspection robot to navigate autonomously based on the goal of achieving energy security attainability is as follows:

[0109] The inspection robot is controlled to move along the target navigation path towards the energy-safe reachable target. During the movement of the inspection robot, the energy status data and location information of the inspection robot are continuously acquired, and the environmental monitoring data of hazardous chemicals are acquired simultaneously. The remaining available energy is re-determined based on the updated energy status data, and the predicted hazardous area is re-determined based on the updated environmental monitoring data of hazardous chemicals.

[0110] When the predicted danger zone is updated, the updated current coordinates of the inspection robot are used as the starting point of the path. Candidate navigation targets and their corresponding first-stage navigation path information are redefined using the aforementioned method. The first predicted energy consumption, backup safety targets, and emergency reserve energy for each candidate navigation target are also redefined. Based on the updated remaining available energy, first predicted energy consumption, and emergency reserve energy, an energy safety reachability assessment is performed to obtain updated energy safety reachable targets. The inspection robot is then controlled to move towards these updated targets. If no energy safety reachable targets are found after the reassessment, the current autonomous navigation is stopped, and a manual takeover request is issued.

[0111] In this embodiment, the initial navigation decision is changed from a one-time static judgment to a rolling navigation decision that is updated as the remaining available energy and the predicted danger zone change. When the expansion of the danger zone causes changes in the original energy-safe reach target, target navigation path or backup evacuation conditions, the two-stage energy demand can be recalculated and the energy-safe reach target can be updated, thereby reducing the risk of continuing to execute the original navigation decision using outdated danger zone information and energy information.

[0112] like Figure 2 The second aspect of the present invention provides an autonomous navigation system for a port hazardous chemical storage area inspection robot, comprising:

[0113] The status risk analysis module is used to collect energy status data and location information of the inspection robot, analyze the energy status data to obtain the remaining available energy of the inspection robot, and simultaneously acquire environmental monitoring data of hazardous chemicals and perform risk analysis to obtain predicted hazardous areas.

[0114] The path planning module is used to determine candidate navigation targets based on the location information of the inspection robot and the predicted dangerous areas, and to perform path planning for each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target.

[0115] The first-stage energy consumption analysis module is used to perform energy consumption analysis based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target to obtain the first predicted energy consumption for each candidate navigation target.

[0116] The backup evacuation path analysis module is used to analyze evacuation paths based on each candidate navigation target and predicted danger zone, determine the backup safety target corresponding to each candidate navigation target, perform energy consumption analysis on the backup evacuation path from each candidate navigation target to the corresponding backup safety target, and obtain the emergency reserve energy corresponding to each candidate navigation target.

[0117] The accessibility assessment navigation module is used to assess the energy security accessibility of each candidate navigation target based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, to obtain the energy security accessible target, and to control the inspection robot to navigate autonomously according to the energy security accessible target.

[0118] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0119] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. An autonomous navigation method for an inspection robot in a port hazardous chemical storage area, characterized in that, include: Collect energy status data and location information of the inspection robot, analyze the energy status data, and obtain the remaining available energy of the inspection robot; Simultaneously acquire environmental monitoring data of hazardous chemicals and conduct risk analysis to obtain predicted hazardous areas; Based on the location information of the inspection robot and the predicted dangerous areas, candidate navigation targets are determined, and path planning is performed on each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target. Based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target, energy consumption analysis is performed to obtain the first predicted energy consumption corresponding to each candidate navigation target. Based on the analysis of evacuation routes of each candidate navigation target and the predicted danger zone, the backup safety target corresponding to each candidate navigation target is determined. The energy consumption of the backup evacuation route from each candidate navigation target to the corresponding backup safety target is analyzed to obtain the emergency reserve energy corresponding to each candidate navigation target. Based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, the energy security accessibility of each candidate navigation target is assessed to obtain the energy security accessible target. The inspection robot is then controlled to navigate autonomously according to the energy security accessible target.

2. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 1, characterized in that, The method for obtaining the remaining available energy of the inspection robot is as follows: The energy status data of the inspection robot includes the remaining battery charge percentage, current battery output voltage, and current battery output current. The location information of the inspection robot includes its current location coordinates on the inspection area map and its current speed. The remaining usable energy of the inspection robot is recorded as the product of the remaining battery power percentage and the preset rated energy capacity.

3. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 1, characterized in that, The method for obtaining the predicted hazardous area is as follows: Hazardous chemical environmental monitoring data includes gas concentration, wind direction, and wind speed at each monitoring location; The dangerous monitoring locations are determined based on the gas concentration at each monitoring location; based on the location of each dangerous monitoring location on the inspection area map and the preset dangerous influence radius, the dangerous sub-regions corresponding to each dangerous monitoring location are determined, and dangerous sub-regions with connections are merged to obtain the current dangerous area; The current danger zone is expanded based on the wind direction and speed at each monitoring location to obtain the predicted danger zone.

4. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 3, characterized in that, The method for determining candidate navigation targets is as follows: Pre-mark charging locations and safe stopping locations on the inspection area map, and identify these locations as potential navigation locations; Based on the predicted danger zone, each candidate navigation location is filtered out, and those located within the predicted danger zone are eliminated. The remaining candidate navigation locations are then marked as candidate navigation targets.

5. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 4, characterized in that, The method for path planning for each candidate navigation target is as follows: Using the current coordinates of the inspection robot as the starting point of the path and the position of each candidate navigation target in the inspection area map as the ending point of the path, the predicted dangerous area is set as a no-passage area. In the inspection area map, the passable paths from the starting point of the path to each ending point without passing through the no-passage area are determined respectively, and the passable paths are determined as the first stage navigation paths of the corresponding candidate navigation targets. Discrete accumulation processing is performed on each first-stage navigation path to obtain the first-stage path length of the corresponding first-stage navigation path. The first-stage navigation path and first-stage path length corresponding to each candidate navigation target are determined as the first-stage navigation path information.

6. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 2, characterized in that, The method for performing energy consumption analysis to obtain the first predicted energy consumption corresponding to each candidate navigation target is as follows: The energy consumption per unit distance of the inspection robot is determined based on the current output voltage, current output current and current travel speed of the battery. Obtain the first-stage path length corresponding to each candidate navigation target. Based on the first-stage path length and energy consumption per unit distance, determine the first predicted energy consumption required for the inspection robot to move along the corresponding first-stage navigation path to the corresponding candidate navigation target, and denot it as the first predicted energy consumption corresponding to each candidate navigation target.

7. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 4, characterized in that, The method for determining the backup safety target corresponding to each candidate navigation target is as follows: When the predicted danger zone is updated, the evacuation path analysis is re-performed. The current position coordinates of the inspection robot and each candidate navigation target are judged based on the predicted danger zone. If the current position coordinates are within the predicted danger zone, the first stage navigation path is re-determined. If the candidate navigation target is within the predicted danger zone, the corresponding candidate navigation target is eliminated. The locations of the remaining candidate navigation targets in the inspection area map after elimination are determined as the evacuation starting points. The charging locations and safe stopping locations located in the predicted danger zone are eliminated from the pre-marked safe stopping locations in the inspection area map, and the remaining charging locations and safe stopping locations are determined as backup candidate targets. For each evacuation starting point, selectable evacuation routes from the evacuation starting point to each backup target that do not pass through the predicted danger zone are determined, and the length of each selectable evacuation route is determined. For each candidate evacuation path corresponding to the same evacuation starting point, the path is filtered according to its length. The candidate evacuation path with the shortest evacuation path is determined as the backup evacuation path, and the backup candidate target corresponding to the backup evacuation path is determined as the backup safety target of the corresponding candidate navigation target.

8. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 7, characterized in that, The method for obtaining the emergency reserve energy corresponding to each candidate navigation target is as follows: Based on the evacuation path length and energy consumption per unit distance of each backup evacuation path, the predicted evacuation energy consumption required for the inspection robot to move from the corresponding candidate navigation target to the corresponding backup safety target along the backup evacuation path is determined, and the predicted evacuation energy consumption is determined as the emergency reserve energy corresponding to the candidate navigation target.

9. The autonomous navigation method for a port hazardous chemical storage area inspection robot according to claim 8, characterized in that, The method for assessing the energy security reachability of each candidate navigation target is as follows: For each candidate navigation target, the energy requirement of the corresponding candidate navigation target is determined based on the first predicted energy consumption and emergency reserve energy of the corresponding candidate navigation target; The energy requirement corresponding to each candidate navigation target is compared with the remaining available energy of the inspection robot. Candidate navigation targets whose energy requirement is less than or equal to the remaining available energy are retained, and candidate navigation targets whose energy requirement is greater than the remaining available energy are eliminated. The energy requirements of each of the remaining candidate navigation targets are compared, and the candidate navigation target with the lowest energy requirement is determined as the energy-safe reachable target. The first-stage navigation path corresponding to the energy-safe reachable target is then determined as the target navigation path.

10. An autonomous navigation system for a port hazardous chemical storage area inspection robot, characterized in that, include: The status risk analysis module is used to collect energy status data and location information of the inspection robot, analyze the energy status data, and obtain the remaining available energy of the inspection robot. Simultaneously acquire environmental monitoring data of hazardous chemicals and conduct risk analysis to obtain predicted hazardous areas; The path planning module is used to determine candidate navigation targets based on the location information of the inspection robot and the predicted dangerous areas, and to perform path planning for each candidate navigation target to obtain the first-stage navigation path information corresponding to each candidate navigation target. The first-stage energy consumption analysis module is used to perform energy consumption analysis based on the first-stage navigation path information and energy status data corresponding to each candidate navigation target to obtain the first predicted energy consumption corresponding to each candidate navigation target. The backup evacuation path analysis module is used to analyze evacuation paths based on each candidate navigation target and predicted danger zone, determine the backup safety target corresponding to each candidate navigation target, perform energy consumption analysis on the backup evacuation path from each candidate navigation target to the corresponding backup safety target, and obtain the emergency reserve energy corresponding to each candidate navigation target. The accessibility assessment navigation module is used to assess the energy security accessibility of each candidate navigation target based on the remaining available energy, the first predicted energy consumption, and the emergency reserve energy, to obtain the energy security accessible target, and to control the inspection robot to navigate autonomously according to the energy security accessible target.

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