CN112506205A

CN112506205A - Robot inspection task planning method and device

Info

Publication number: CN112506205A
Application number: CN202011498105.6A
Authority: CN
Inventors: 王敏节; 鲜开义; 徐劲莉; 彭志远; 谷湘煜
Original assignee: Shenzhen Launch Digital Technology Co Ltd
Current assignee: Shenzhen Launch Digital Technology Co Ltd
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-03-16
Anticipated expiration: 2040-12-17
Also published as: CN112506205B

Abstract

The application is suitable for the technical field of artificial intelligence, and provides a robot inspection task planning method, which comprises the following steps: the method comprises the steps of obtaining a first inspection task and environment information of a target inspection place corresponding to the first inspection task, wherein the environment information comprises solar altitude angle and azimuth angle information of the target inspection place, and the first inspection task comprises one or more devices for inspecting the target inspection place; the method comprises the steps of acquiring pose information of the robot at a preset detection place, wherein the preset detection place is a place where the robot detects each device in one or more devices; determining a time constraint condition according to the solar altitude angle, azimuth angle information and pose information; determining a first routing inspection route according to a preset algorithm based on the time constraint condition and the first routing inspection task; the robot executes a first inspection task according to the first inspection route. According to the method for polling the equipment in the transformer substation by using the robot, the traditional manual polling mode is replaced, and the efficiency of polling the equipment in the transformer substation is improved.

Description

Robot inspection task planning method and device

Technical Field

The application belongs to the technical field of artificial intelligence, and particularly relates to a robot inspection task planning method and device.

Background

The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. In order to ensure that substation equipment, such as a power meter, a transmission line, an insulator, etc., can operate normally and safely, regular inspection of the substation equipment is required.

The traditional inspection mode is manual inspection, namely, an operator on duty of a transformer substation periodically inspects transformer substation equipment so as to know the running condition of the equipment, find and record abnormity, and then take targeted measures in time.

However, the manual inspection has the defects of high labor intensity, low safety and low working efficiency, and particularly, the manual inspection has obvious defects when severe weather or complex terrain is encountered.

Disclosure of Invention

The embodiment of the application provides a robot inspection task method and device, and can solve the problems of high labor intensity, low safety and low working efficiency of the existing manual inspection.

In a first aspect, an embodiment of the present application provides a method, including: the method comprises the steps of obtaining a first inspection task and environment information of a target inspection place corresponding to the first inspection task, wherein the environment information comprises solar altitude angle and azimuth angle information of the target inspection place, and the first inspection task comprises one or more devices for inspecting the target inspection place; the method comprises the steps of acquiring pose information of the robot at a preset detection place, wherein the preset detection place is a place where the robot detects each device in one or more devices; determining a time constraint condition according to the solar altitude angle, azimuth angle information and pose information; determining a first routing inspection route according to a preset algorithm based on the time constraint condition and the first routing inspection task; the robot executes a first inspection task according to the first inspection route.

In some embodiments of the present application, the first inspection task includes the robot inspecting one or more devices of the target inspection site.

It should be understood that the robot is patrolling and examining the in-process, when the robot detects specific certain equipment, the camera that can pass through shoots this equipment or the panel board of this equipment to acquire the image that can characterize this equipment running condition, and then make transformer substation's staff or robot know the running condition of this equipment or this transformer substation according to the image that acquires itself, so that when detecting out certain equipment of transformer substation and go wrong, transformer substation's staff can in time maintain transformer substation's equipment, ensure the operation that the transformer substation can be safe.

It should also be understood that the target inspection locations include, but are not limited to, a substation, and may also be other scenarios requiring maintenance and inspection of equipment, which is not limited in this application. For convenience of description, the following description will be made in detail by taking a substation as an example.

For the explanation of the pose information of the robot at the preset detection place: firstly, the preset detection place is a detection place preset by a user or a substation worker according to actual conditions, and when the robot patrols and examines, the robot can detect the equipment corresponding to the detection place at a determined detection place.

When the detection place is set, the robot arrives at the detection place, and the pose information of the robot is determined relative to the equipment corresponding to the place. The pose information of the robot comprises the orientation angle of the robot and/or the height of the camera. It is understood that the robot is located at the preset detection location.

After the pose information of the robot is determined, the time constraint condition that the robot is not interfered by the sun illumination when the robot is located at the preset detection place can be determined by combining the sun altitude angle and the azimuth angle information of the place where the transformer substation is located, so that the robot can detect corresponding equipment within the time constraint condition and cannot be interfered by the sun illumination.

Wherein the time constraint may be expressed in the form of a time window within which the robot detection device is not disturbed by environmental factors.

And then planning the equipment to be inspected by the robot according to the time window, the equipment to be inspected by the robot and a preset algorithm, and then obtaining a first inspection route. The preset algorithm comprises a traveler problem algorithm, and the inspection route which takes the least time or has the shortest path for the robot to inspect each device can be obtained through the algorithm.

It should be understood that the first patrol route represents the patrol order or priority of the above-described devices.

And then, the robot can sequentially patrol the equipment according to the first patrol route.

By the method, the robot can effectively detect each device in the transformer substation in the shortest time without being interfered by sunlight, and the inspection efficiency and accuracy of the robot are improved. Meanwhile, a robot detection mode is adopted, a traditional manual detection mode is replaced, the workload of people is reduced, and the problems of poor safety and low efficiency of manual detection are solved.

With reference to the first aspect, in a possible implementation manner of the first aspect, the environment information further includes weather information of a target inspection site, and determining the time constraint condition according to the solar altitude angle, azimuth angle information, and pose information includes: determining a time constraint condition according to the solar altitude angle, azimuth angle information, weather information and pose information, wherein the time constraint condition comprises information of a first time interval, and the weather in the first time interval supports the robot to patrol one or more devices; and the robot executes a first inspection task according to the first inspection route, including: and the robot executes a first inspection task according to the first inspection route in a first period.

In some embodiments of the present application, the environment information may further include weather information of a location where the substation is located, and the weather information may represent a weather condition of the location where the substation is located. It can be understood that, in some bad weather (for example, rainy and snowy days, thunderstorm and the like), the robot continues to patrol the equipment in the substation, and the loss of the robot is relatively large.

The method determines the first routing inspection route by combining the solar altitude angle and azimuth angle information, the pose information of the robot and the weather information, so that the robot can avoid severe weather when inspecting each device according to the route, the loss of the robot is reduced as much as possible, the service life of the robot is ensured, and the robot can continue to carry out follow-up work.

With reference to the first aspect and the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the environment information further includes geographic information of the target inspection location, and the method further includes: determining a geographical constraint condition according to the geographical information; and determining a first routing inspection route according to a preset algorithm based on the time constraint condition and the first routing inspection task, wherein the method comprises the following steps: and determining a first routing inspection route according to a preset algorithm based on the geographic constraint condition, the time constraint condition and the first routing inspection task.

In some embodiments of the present application, the environmental information further includes geographic information of the substation, which may characterize the geographic location condition of each device in the substation, such as whether some devices in the substation are not normally close to by the robot. For example, some equipment may be located in a remote and narrow place of a substation, or some equipment is in a maintenance state, so that an obstacle is provided around the equipment, a robot cannot approach, and the like.

And determining a geographical constraint condition according to the geographical information, wherein the geographical constraint condition indicates that the robot cannot reach a preset detection place under the constraint of the geographical condition so as to detect the equipment.

According to the geographical constraint condition, the time constraint condition and the equipment to be inspected by the robot, a first inspection route is determined, then the robot detects each equipment capable of being detected in the transformer substation according to the inspection route, and for each equipment incapable of being detected by the robot, the transformer substation staff or the robot detects each equipment when the geographical constraint condition disappears, so that the efficiency of the robot detection equipment is improved, and each equipment in the transformer substation can be effectively detected.

With reference to the first aspect and the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the obtaining the first inspection task further includes: and acquiring a personnel list corresponding to each device in one or more devices in the first inspection task.

With reference to the first aspect and the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the method further includes: and monitoring the running condition of the robot in real time, and sending alarm information to all personnel in a personnel list corresponding to the equipment which is detected by the robot when the running condition of the robot does not meet the preset condition for executing the first inspection task.

In some embodiments of the present application, the robot may malfunction during the inspection process.

To this kind of condition, the robot can also acquire the personnel list that each equipment corresponds in one or more equipment when acquireing first task of patrolling and examining, then when the robot breaks down and can't continue check out test set, the robot can send alarm information to all personnel in the personnel list to the personnel that receive alarm information can replace the robot temporarily and detect equipment, and carry out timely maintenance to the robot. The personnel in the personnel list may be maintenance personnel, responsible personnel, or substation operators of the corresponding equipment, and the like.

With reference to the first aspect and the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the manner of obtaining the first inspection task includes any one of the following: acquiring a first inspection task stored in a robot memory; or acquiring a first inspection task from other electronic equipment; or acquiring the first inspection task input by the user.

In some embodiments of the application, the first inspection task may be a task stored in a robot memory by a substation worker or a user in advance, may also be a task downloaded by the robot from other electronic devices (e.g., a substation server, a cloud, etc.), and may also be a task input to the robot in real time as needed by the substation worker according to the field investigation in real time. The present application is not limited by this comparison.

In a second aspect, an embodiment of the present application provides a robot inspection task planning device, including:

one or more processors;

one or more memories;

a plurality of application programs; and one or more programs, wherein the one or more programs are stored in the memory, which when executed by the processor, cause the apparatus to perform any of the methods of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements any of the methods of the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute any one of the methods in the first aspect.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic view of an exemplary scenario of a robot in a substation for inspection according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of an exemplary robot assembly according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram illustrating an example of interaction between a robot and a substation scheduling platform according to an embodiment of the present application;

fig. 4 is a schematic view of an example of a robot inspection scene provided in an embodiment of the present application;

fig. 5 is a schematic view of a robot inspection scene according to another embodiment of the present disclosure;

fig. 6 is a schematic diagram illustrating an example of a robot inspection task planning method according to an embodiment of the present disclosure.

Detailed Description

It should be noted that in the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular compositions, methods, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance. For example, the first routing inspection route presented in this application.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The robot inspection task planning method provided by the embodiment of the application can be applied to the scene shown in fig. 1.

Fig. 1 is a schematic view of an example of a scenario for a robot inspection substation, including a robot 100 and substation devices A, B, C, D, according to some embodiments of the present application.

It should be understood that the robot 100 may be a track robot, an unmanned aerial vehicle, or the like, and the device A, B, C, D in the substation may be a power meter, a transmission line, an insulator, or the like, which is not limited in this application.

In some embodiments of the present application, there may be more or fewer devices in the substation, and the present application is not limited thereto.

Fig. 2 is a schematic diagram of an example of a robot composition provided in the embodiment of the present application.

Illustratively, as shown in fig. 2, the robot assembly 100 includes: a processor 10, a memory 11, a computer program 12 stored in the memory 11 and executable on the processor 10, and a patrol unit 13.

The processor 10, when executing the computer program 12, implements the method for planning a robot inspection task provided in the present application.

Illustratively, the computer program 12 may be partitioned into one or more modules/units, which are stored in the memory 11 and executed by the processor 10 to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 12 in the robot.

Those skilled in the art will appreciate that fig. 2 is only one example of the robot composition 100, and does not constitute a limitation on the robot composition, and that other robot compositions may include more or less components than those shown in fig. 2, for example, input/output devices, network access devices, buses, etc.

The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or alert management logic, discrete hardware components, etc. The general purpose processor 10 may be a microprocessor or the processor may be any conventional processor or the like. For example, in some embodiments of the present application, the processor 10 may plan a polling task acquired by the robot 100 according to a preset algorithm, or analyze an image of a device or an image of a dashboard of the device acquired when the robot 100 detects a specific device.

The storage 11 may be an internal storage unit in the robot assembly 100, such as a hard disk or a memory of the robot assembly 100. The memory 11 may also be an external storage device, such as a plug-in hard disk provided on a robot, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. For example, in some embodiments of the present application, the memory 11 may store inspection tasks of the robot 100.

Further, the memory 11 may also include both an internal storage unit and an external storage device. The memory 11 is used for storing computer programs and other data and programs required by the system. The memory 11 may also be used to temporarily store data that has been output or is to be output. The computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc.

The inspection unit 13 may include a camera 131, a sensor module 132, and a communication module 133. The inspection unit 13 is a unit in which the robot acquires external information.

The camera 131 is used to capture still images or video. In some embodiments of the present application, the robot obtains an image of the device or the dashboard of the device via camera 131.

The sensor module 132 may include, but is not limited to, a gyroscope sensor, an accelerometer, a odometer, a lidar sensor, and the like. In some embodiments of the present application, the robot may acquire its pose information through a gyro sensor. The communication module 133 may provide a solution for wireless communication including Wireless Local Area Network (WLAN), (such as wireless fidelity (Wi-Fi), Bluetooth (BT)), and the like, applied to the robot. In some embodiments of the present application, the robot may be communicatively coupled to other electronic devices via the communication module 133.

It can be understood that the technical solution of the present application may also be applied to other scenarios requiring maintenance and detection of equipment, and the present application is not limited thereto. For convenience of description, the substation scenario shown in fig. 1 is taken as an example in the following.

Generally, in order to ensure safe operation of a substation, substation workers need to know the operation conditions of each device of the substation, so that when some devices (for example, a device a) fail, the device a can be repaired in time. However, the traditional manual inspection mode has the defects of high labor intensity, low safety, low working efficiency and the like, so that the current technical scheme adopts a mode of replacing manual inspection by robot inspection.

Specifically, the robot 100 acquires an infrared or visible light image (for example, an image of the device itself or an image of a device dashboard) capable of representing the operation status of each device A, B, C, D through its own camera 131, and then the robot 100 intelligently identifies and analyzes the acquired image or the robot 100 transmits the acquired image to a substation worker for analysis, so that the substation worker can know the operation status of each device in the substation, and when a certain device fails, the substation worker can timely maintain the device, and the substation can safely operate.

It is understood that the robot 100 may also obtain an image of a device or a device dashboard according to its own visible light camera, infrared imaging camera, etc., which is not limited in this application.

However, in the current inspection mode of the robot 100, environmental factors affecting a location where the substation is located are not fully considered, for example, a device a of the substation is in a maintenance state, so that some obstacles may be arranged around the device a, so that the robot 100 cannot detect the device a, or a device B may be affected by sunlight in a certain period of time, so that an image of the device B or an image of a dashboard of the device B, which is acquired when the robot 100 detects the device B, is not clear enough and cannot be identified (for example, sunlight reflection on a surface glass of a power meter causes that meter information cannot be identified, an image obtained by a backlight detection power meter is too dark and cannot be identified).

Aiming at the problems of the existing robot inspection, the application provides a robot inspection task planning method, which will be explained in detail with reference to a scene diagram shown in fig. 1 and accompanying fig. 2 to 6 of the application.

Fig. 3 is a schematic diagram of an example of interaction between the robot 100 and the substation scheduling platform 200 according to some embodiments of the present application.

In some embodiments of the present application, the technical solution of the present application may be implemented in a manner that the robot 100 interacts with the substation scheduling platform 200, that is, the substation scheduling platform acquires an inspection task of the robot 100, environment information of a substation corresponding to the inspection task, and pose information of the robot 100 at a preset detection location, determines a time window according to the acquired solar altitude and azimuth information and the pose information of the robot 100, determines a first inspection route of the robot 100 according to a preset algorithm based on the time window and the inspection task, and then sends the inspection route to the robot 100 in a wireless communication manner, so that the robot 100 can execute the inspection task according to the first inspection route.

It should be understood that, with the development of scientific technology, when the robot has sufficient computing power and processing power, the technical solutions of the present application may also be implemented by the robot 100, so as to improve the efficiency of the inspection task of the robot 100.

It should also be understood that the scheduling platform 200 may be embodied in the form of a substation terminal server, a super computer, a desktop computer, a tablet computer, a personal handheld computer, or the like, which is capable of performing data processing and computation.

For convenience of description, the method of the present application will be described in detail below by taking the scheduling platform as an example.

As shown in fig. 3, the method 300 includes:

301: the robot 100 and the server 200 establish a communication connection.

It should be understood that the manner in which the robot 100 establishes the communication connection with the server 200 may be a wireless communication manner, for example, the robot 100 sends a "connection request" to the server 200 through the communication module 133 under a Wi-Fi network; the communication connection between the robot 100 and the server 200 may be a wired communication connection, for example, the robot 100 is connected to the server 200 through a data line. This is not limited by the present application.

302: the server 200 acquires the inspection task of the robot 100 at the substation.

In some embodiments of the present application, the server 200 first obtains an inspection task to be performed, where the inspection task includes the robot 100 inspecting one or more devices within the substation (e.g., the device A, B, C, D within the substation).

It should be understood that, in some embodiments of the present application, the polling task may be a polling task downloaded by the server 200 from other electronic devices (for example, a cloud, etc.), or may also be a polling task input to the server 200 in real time according to a specific detection requirement (for example, some devices have been detected and do not need to be detected) by a user in combination with a specific situation of each device of the substation, which is not limited in this application.

303: the server 200 acquires the polling task of the robot 100 and then transmits the polling task to the robot 100.

304: the server 200 acquires environmental information of the substation.

In some embodiments of the present application, the server 200 may obtain the altitude and azimuth Information of the sun, the weather Information, the environment Information such as Geographic Information, and the like by connecting a Geographic Information System (GIS). The present application does not limit the manner in which the server 200 acquires the environment information.

305: the robot 100 sends the pose information of each preset detection place where the robot executes the inspection task to the server 200 according to the inspection task acquired by the robot.

It should be noted that the preset detection location is a location where the robot 100 detects each of the one or more devices, and the pose information refers to an orientation angle and/or a camera height of the robot 100 when the robot 100 photographs the device or an instrument panel of the device through its own camera 131 at the preset detection location.

It should be understood that the pose information may be acquired by the robot 100 through a gyro sensor, an accelerometer, a odometer, a lidar sensor in the sensor module 132, which is not limited in this application.

It should also be understood that the location where the robot 100 is located is coincident with the preset detection location, and when the robot 100 detects the device at the preset detection location, the orientation angle of the robot 100 with respect to the device is determined.

Fig. 4 is a schematic view of a scenario in which the robot 100 detects a device at a preset detection location according to some embodiments of the present application.

For example, as shown in fig. 4, the point a is a preset detection point when the robot detects the device a, and when the robot 100 detects the device a at the point a, the orientation angle of the robot 100 at the point a is true west.

After the pose information of the robot is determined, a time window which is not interfered by solar illumination when the robot is located at a preset detection place to detect equipment can be determined by combining the sun altitude angle and azimuth angle information of the place where the transformer substation is located.

In some embodiments of the present application, the preset detection location may be preset by a user according to an actual situation.

Fig. 5 is a schematic view of a scenario in which robot 100 detects device a, provided in accordance with some embodiments of the present application.

For example, as shown in fig. 5, in the process that the robot 100 approaches the a device, the camera 131 of the robot 100 may acquire an image of the a device or an instrument panel of the a device at any time, but if the camera 131 of the robot 100 is always in an on state in the process of approaching the a device, power consumption of the robot 100 may be increased, so that a user may use a certain position (e.g., a, b, and c) near the a device as a preset detection point of the robot 100, and when the robot 100 reaches the preset detection point, the robot 100 turns on the camera 131 to shoot the instrument panel of the device or the instrument panel of the device, so as to acquire an image that can represent an operation condition of the a device.

In some embodiments of the present application, the locations a, b, and c may be optimal shooting positions when the robot 100 detects the device, for example, the robot 100 can shoot an entire image of the device a or all images of an instrument panel of the device a in the location a, and then the location a is used as a preset detection location, which is not limited in the present application.

306: the server 200 determines a time window based on the acquired pose information of the robot 100 and the environment information.

It should be noted that the time window is a time constraint condition, and the robot 100 does not interfere with the detection of the device in the time window by environmental factors (e.g., sun light). The robot 100 can obtain the time period of the change of the solar illumination of the place where the transformer substation is located according to the obtained information of the solar altitude angle and the solar azimuth angle. Then, by combining the pose information of the preset detection place where the robot 100 is located (i.e. the orientation angle and/or the location of the robot 100), a time window is obtained, where the robot 100 is not affected by light when the preset detection place detects each device in the substation (see table 1).

TABLE 1

Device	Time period of solar illumination change	Time window
			A equipment	9:00-10:00	9:00-10:00
B device	9:30-10:30	9:30-10:30
			C equipment	10:00-10:40	10:00-10:40
D equipment	17:00-18:00	17:00-18:00

The contents in table 1 show that the robot 100 detects that the device a is not affected by the solar light during the time period from 9:00 to 10:00 a.m. at the preset detection point, detects that the device B is not affected by the solar light during the time period from 9:30 to 10:30 a.m. at 10:00 to 10 a.m.: detection C device was not affected by solar illumination for a period of 40, 17: the detection D equipment is not influenced by the sun illumination in the time period of 00-18: 00.

307: the server 200 determines a patrol route of the robot based on the time window and the patrol task of the robot 100.

In some embodiments of the present application, the first routing inspection route may be determined according to a Traveling Salesman Project (TSP) algorithm based on the above-described time window when the robot 100 detects that the devices are not disturbed by the sun's illumination and the devices to be inspected by the robot 100.

The TSP algorithm is used for planning a routing inspection route which can detect all the equipment in the routing inspection task and has the shortest time or shortest path or least cost for the robot.

Fig. 6 is a schematic diagram of another inspection task planning method for the robot 100 according to some embodiments of the present application. As shown in fig. 6, the time (unit: min) taken for the robot 100 to traverse A, B, C, D between four devices is: A-B (T1), A-C (T2), A-D (T3), B-C (T4), B-D (T5), C-D (T6), the contents of FIG. 6 can be represented in table form as Table 2:

TABLE 2

It should be noted that the time taken for the robot 100 to traverse A, B, C, D between the four devices when the robot 100 is inspecting includes the time taken for the robot 100 to inspect a specific device. For example, if the robot 100 detects that the a device requires T7, the T1 time required for the robot 100 to go from the a device to the B device includes T7 time taken for the robot 100 to detect the a device.

In some embodiments of the present application, in combination with the time window that each device is not affected by the sunlight and the time that the robot 100 spends to patrol and traverse A, B, C, D four devices (see table 2) described in table 1, the TSP algorithm is used to plan the robot 100 to patrol A, B, C, D four devices, so as to obtain the shortest first patrol route when the robot patrols all the devices in the substation.

Assume that the first routing inspection route is: B. c, A, D are provided.

308: the server 200 transmits the patrol route to the robot 100.

309: the robot 100 performs the patrol task according to the patrol route.

The time windows of the device, i.e., B (9:30-10:30), C (10:00-10:40), a (9:00-10:00), and D (17:00-18:00), which are not affected by the sun light can be obtained according to the description in table 1, so that the robot 100 can sequentially detect the devices according to the routing inspection route of B, C, A, D in the time period of 9:30 to 18: 00.

However, since the time period in which the D device is not affected by the sunlight is 17:00 to 18:00, and after the robot 100 detects the a device in the above sequence (assuming 10:00), it needs to wait 7 hours to detect the D device, which greatly increases the power consumption of the robot 100, the robot 100 will use 10:00 as the end time point of the first round of inspection task, and inspect the D device within the time window of the D device after the preset time period.

It should be understood that the above four devices are taken as the devices to be detected only for convenience of explaining an example of the technical solution of the present application, in other embodiments of the present application, the robot 100 may also inspect more or less devices, but the manner of planning the more or less devices is consistent with the manner of planning the four devices.

For example, assuming that the robot 100 has eight devices to be inspected (A, B, C, D, E, F, G, H), based on the time windows of the eight devices and the eight devices, the first inspection route obtained according to the TSP algorithm is: C. d, E, F, H, G, A, B are provided.

After the robot 100 finishes inspecting the H device according to the inspection route, the robot needs to wait for a long time to continue inspecting the H device G, A, B, and at this time, the time when the robot 100 finishes inspecting the H device is taken as the end time; and continuously planning the rest of the equipment G, A, B according to the TSP algorithm to obtain a routing inspection route A, G, B, and routing inspection A, G, B equipment according to the route until the robot 100 finishes detecting all the equipment.

It should be understood that the preset time period may be set by a user according to the operation condition and the standby time period of the robot 100. If the operation condition of the robot 100 is not good (e.g., an excessive collision occurs during the detection of the device, etc.) or the standby time of the robot 100 is short (e.g., the standby time of the robot 100 is 3 hours), the user may set the preset time to be longer for the maintenance and charging of the robot 100. This is not limited by the present application.

In some embodiments of the present application, there may be a case where it takes too long for the robot 100 to detect a certain device according to the patrol route, so that the time for the robot 100 to detect the next device according to the patrol route is not within the time window of the device.

For example, continuing with the A, B, C, D example of four devices, as shown in Table 3 below: the time required for the robot 100 to detect A, B, C, D four devices is 10min, 20min, 15min and 5min respectively.

TABLE 3

Device	Detecting the time (unit: min) used by each device	Time window
			A equipment	20	9:00-10:00
B device	30	9:30-10:30
			C equipment	15	10:00-10:40
D equipment	5	17:00-18:00

Suppose that the first routing inspection route obtained by planning A, B, C, D four devices according to the TSP algorithm is: B. a, C, D are provided.

As can be seen from table 3, the robot 100 can check all the devices in 9:30 to 18:00 according to the first routing inspection route.

Assuming that the robot 100 starts to detect from 9:30, the time after the robot 100 detects the device B is 10:00, and the time when the robot 100 continues to detect the device a is not within the time window of the device a (9:00-10:00), at this time, the robot 100 plans the remaining devices again according to the TSP algorithm to obtain a second routing inspection route (for example, C, D, A) until the robot 100 detects all the devices.

It should be noted that, at present, according to the actual substation inspection working condition, the time taken for the robot 100 to detect one device is not longer than the time length of the device time window. For example, the elapsed time for the robot 100 to detect the a device is T8, which is greater than the length T9 of the a device's time window. If the situation exists, at the moment, the robot 100 detects each device to the routing inspection route which is planned according to the mode so as to ensure that the time for the robot 100 to inspect all the devices is at least the minimum, improve the efficiency for the robot 100 to inspect the devices and reduce the workload of substation workers as far as possible.

The robot 100 detects each device and acquires an image of each device and/or an instrument panel of each device through the camera 131 of the robot 100, so that substation workers can analyze and record in real time or directly analyze and record by a processor of the robot 100, and an analysis and recording result is uploaded to a server of the substation, so that the substation workers can obtain the operation condition of the substation through values displayed by the devices and/or the instrument panels of the devices of the substation.

By the method, the robot can effectively detect each device in the transformer substation in the shortest time without being interfered by sunlight, and the inspection efficiency and accuracy of the robot are improved.

In other embodiments of the present application, steps 302 and 303 of the method 300 may be omitted, that is, the inspection task may be pre-stored in the memory 11 of the robot 100 or may be input to the robot 100 in real time according to specific detection requirements (for example, some devices may have been detected and therefore do not need to be detected) by a user in combination with specific situations of the devices of the substation, without the server 200 acquiring the inspection task and then sending the inspection task to the robot 100.

In some embodiments of the present application, the method for determining 306 the time window may further be: and determining a time window by combining weather information of the transformer substation, solar altitude and azimuth information of the transformer substation and pose information of the robot 100. The weather information also belongs to one of the environment information of the substation acquired by the server 200, and may represent weather conditions of a location where the substation is located when the robot 100 inspects the equipment of the substation, such as rainstorm, snowfall, thunderstorm, cloudy day, sunny day, and the like.

Specifically, the server 200 obtains a time window that is not affected by the ambient sun light and the weather condition when the robot 100 detects a specific device according to the pose information, the solar altitude angle, the solar azimuth angle information, and the weather information of the robot 100 at the preset detection location.

The solar altitude and azimuth information of the substation and the pose information of the robot 100 are the same as those in the above embodiments, and are not described herein again.

As shown in table 4, the weather condition of the substation and the time window for the robot 100 to inspect each device in the substation against the weather condition and the solar illumination are shown:

TABLE 4

From the above table, it can be seen that in the time period of 9:00-10:00 am, there is a heavy rain day, and the time period from 10:00 am to 18:00 pm is sunny; at 10:00-10:30 am, the sun's illumination has no effect on the detection A, B equipment of the robot 100; at 10:00-10:40 am, the sun illumination has no effect on the detection of the C device by the robot 100; in the afternoon, at 17:00-18:00, the sun illumination had no effect on the detection of C devices by robot 100.

The time window determined by the server 200 in combination with the weather conditions and the solar altitude and solar azimuth information is: when the preset detection point is used for detecting A, B equipment at 10:00-10:30 in the morning, the robot 100 is not influenced by weather conditions and solar illumination, when the robot detects C equipment at 10:00-10:40 in the morning, the robot is not influenced by weather conditions and solar illumination, and when the robot detects D equipment at 17:00-18:00 in the afternoon, the robot is not influenced by weather conditions and solar illumination.

By the method, the weather conditions of all the devices detected in the inspection process of the robot are comprehensively considered, the robot does not detect the devices temporarily in severe weather, all the devices are planned according to the planning method to obtain inspection routes when the weather conditions are better, and all the devices are detected according to the inspection routes.

It should be noted that the robot may detect each device of the substation even in a severe condition, and the above method is for the purpose of protecting the robot, and if the robot continues to detect the device in a severe weather condition, the loss of the robot may be increased, which is not favorable for the subsequent work of the robot.

In some embodiments of the present application, the method for determining the first inspection route in the above 307 may further include: and determining a geographical constraint condition by combining geographical information of the place where the transformer substation is located, and then determining a first routing inspection route according to a preset algorithm based on the geographical constraint condition, the time window and the routing inspection task of the robot 100.

It should be understood that the geographic constraint condition refers to a condition of a place where the robot 100 cannot normally drive in, for example, a certain device is being repaired, so that some obstacles may be disposed around the device, so that the robot 100 cannot drive in and detect the device, or the device is located at a remote narrow position of a substation, and the robot 100 cannot normally drive in the position to detect the device, and so on, which is not limited in this application.

As shown in table 5, the geographical constraints and time windows of the devices in the substation are shown:

TABLE 5

As can be seen from the above table, both A, B devices have no geographical constraints, and are devices that the robot 100 can normally drive and perform detection, and, at 9:00-10:00 am, the robot 100 detects that the a device is not affected by the sun light at the preset detection location, and at 9 am: 30-10:30, detecting that the equipment B is not influenced by solar illumination in a preset detection place by the robot 100; and under normal circumstances, at 10:00-10:40 am, the robot 100 detects that the C device is not affected by the sun's illumination at the preset detection location, at 17 pm: 00-18:00, the robot 100 detects that the D equipment is not affected by the sun illumination at the preset detection place.

However, since C, D devices have geographic constraints, server 200 determines the time window in conjunction with the geographic constraints and the solar altitude and solar azimuth information as: the robot 100 cannot be influenced by solar illumination when the preset detection place is 9:00-10: 00-detection A equipment in the morning, cannot be influenced by solar illumination when the preset detection place is 9:00-10: 00-detection B equipment in the morning, and for C, D two pieces of equipment, no time window exists, which indicates that the robot 100 cannot detect C, D two pieces of equipment when the geographical constraint conditions of C, D two pieces of equipment still exist, and at the moment, manual detection can be carried out by substation workers or the C, D two pieces of equipment are planned according to the method when the geographical constraint conditions disappear.

According to the method, the routing inspection route of the robot 100 for detecting each device in the transformer substation can be determined according to the TSP algorithm by combining the time required by the robot 100 to go to and fro each device in the inspection process according to the geographical position condition of the device in the transformer substation, the device where the robot 100 cannot reach is detected manually by a transformer substation worker or the device is detected when the robot 100 can reach the device, the detection efficiency of the robot 100 is improved, and the device detection work in the transformer substation is ensured to be carried out smoothly by the way that the robot 100 is matched with the worker for detection.

In some embodiments of the present application, the server 200 may further obtain a staff list corresponding to each device in the substation, where the staff list may include a staff on duty of the substation, a staff responsible for the device, or a staff repaired by the device when the robot 100 detects the device.

Then, the user monitors the operation status of the robot 100 in real time, and when the robot 100 fails to detect the device continuously in the inspection process, the robot 100 sends alarm information to all the people in the people list to notify the people to detect the device being detected by the robot 100 continuously.

It should be understood that the robot 100 may also send alarm information to a part of the people in the people list, and the specific object for sending alarm information may be determined by the robot 100 according to the self-positioning. For example, the robot 100 may send alarm information to a person closest to the self-positioning in the person list, so as to save time and improve inspection efficiency.

By the method, when the robot 100 fails, substation workers can still obtain the operation condition of the equipment through maintenance personnel, responsibility personnel or substation watchman corresponding to the equipment detected when the robot 100 fails, and inspection work of the substation equipment is not delayed.

In some embodiments of the present application, a first routing inspection route or a route with the least cost, where the robot 100 inspects the shortest path traveled by the equipment in the substation, may also be obtained according to the TSP algorithm. This is not limited by the present application.

The cost of the robot to and from each device may be the cost of the robot to and from each device, which is obtained by configuring corresponding weights for all environmental factors (such as sunlight, weather conditions, geographical locations, and other environmental factors) and the operating conditions of the robot itself and then accumulating and calculating the weights.

For example, the cost calculation method from the robot detecting the device a to detecting the device B is as follows: assuming that the weight of the sun illumination is x, the weight of the weather condition is y, the weight of the geographic position is z, and the weight of the running condition of the robot is w, then accumulating the weights to obtain the cost of the robot from the equipment A to the equipment B: x + y + z + w.

Then, the server 200 determines a route, which is the least expensive route of the devices, to be the first routing route of the robot 100 by using the TSP algorithm based on all the costs of the robot 100 to and from the devices.

The configuration method of the specific weight and the calculation method of the cost may be set by the user according to actual requirements, which is not limited in the present application.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

By the method, the influence of the geographical position of the transformer substation, the change of solar illumination and the weather condition on the inspection of each device by the robot 100 is determined, the time window which is not interfered by each factor when the robot 100 inspects each device is determined, then the inspection route of each device in the transformer substation detected by the robot 100 is finally determined according to the TSP algorithm by combining the time required by the robot 100 to go to and fro each device in the inspection process, when the robot 100 detects each device according to the inspection route, the efficiency of the robot 100 detecting each device is improved, the workload of the working personnel of the transformer substation is reduced, the robot 100 can obtain the image which is not interfered by the environmental factor when detecting each device, and further the operation conditions of the transformer substation and each device in the transformer substation can be more accurately known by the robot 100 or the working personnel of the transformer substation from the image data obtained by the robot 100, therefore, the transformer substation workers can maintain all the devices of the transformer substation in time, and the transformer substation can operate more safely.

The embodiment of the application further provides a robot inspection task planning device, and the device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A robot inspection task planning method is characterized by comprising the following steps:

the method comprises the steps of obtaining a first inspection task and environment information of a target inspection place corresponding to the first inspection task, wherein the environment information comprises sun altitude angle and azimuth angle information of the target inspection place, and the first inspection task comprises one or more devices for inspecting the target inspection place;

acquiring pose information of the robot at a preset detection place, wherein the preset detection place is a place where the robot detects each device in the one or more devices;

determining a time constraint condition according to the solar altitude angle, azimuth angle information and pose information;

determining a first routing inspection route according to a preset algorithm based on the time constraint condition and the first routing inspection task;

and the robot executes the first inspection task according to the first inspection route.

2. The method of claim 1, wherein the environmental information further includes weather information for the target inspection site, and wherein determining time constraints based on the solar elevation and azimuth information and the pose information comprises:

determining the time constraint condition according to the solar altitude and azimuth information, the weather information and the pose information, wherein the time constraint condition comprises information of a first time interval, and the weather in the first time interval supports the robot to patrol the one or more devices; and the robot executes the first inspection task according to the first inspection route, including:

and the robot executes the first inspection task according to the first inspection route in the first time period.

3. The method of claim 1 or 2, wherein the environmental information further includes geographic information of the target inspection site, the method further comprising:

determining a geographical constraint condition according to the geographical information;

and determining a first routing inspection route according to a preset algorithm based on the time constraint condition and the first routing inspection task, wherein the determining comprises the following steps:

and determining the first routing inspection route according to a preset algorithm based on the geographic constraint condition, the time constraint condition and the first routing inspection task.

4. The method of claim 1, wherein the obtaining the first inspection task further comprises:

and acquiring a personnel list corresponding to each device in the one or more devices in the first inspection task.

5. The method of claim 4, wherein the method further comprises:

and monitoring the running condition of the robot in real time, and when the running condition of the robot does not meet the preset condition for executing the first inspection task, sending alarm information to all personnel in a personnel list corresponding to the equipment, which is detected by the robot.

6. The method of claim 4 or 5, wherein the manner of obtaining the first inspection task includes any one of:

acquiring a first inspection task stored in the robot memory; or

Acquiring the first inspection task from other electronic equipment; or

And acquiring a first inspection task input by a user.

7. The utility model provides a robot patrols and examines task planning device which characterized in that includes: one or more processors;

one or more memories;

a plurality of application programs; and one or more programs, wherein the one or more programs are stored in the memory, which when executed by the processor, cause the apparatus to perform the method of any of claims 1-6.

8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.