CN112859848A - Wireless navigation method and system of pipeline robot - Google Patents

Wireless navigation method and system of pipeline robot Download PDF

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Publication number
CN112859848A
CN112859848A CN202110014781.XA CN202110014781A CN112859848A CN 112859848 A CN112859848 A CN 112859848A CN 202110014781 A CN202110014781 A CN 202110014781A CN 112859848 A CN112859848 A CN 112859848A
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navigation
task
routing node
information
stay
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CN112859848B (en
Inventor
赵俊杰
孙同敏
武兴卓
杨立功
赵磊
杜中宝
张毅龙
刘育强
李建军
商慧江
黄超
娄跃明
郭佳
孔军
周建彬
孙凤波
郑万俊
袁硕斌
刘臻杰
杨如意
张越
王献文
赵晶
王兵
贾莹霞
王磊
于大鹏
唐剑
瞿成钢
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Guodian Dongsheng Thermal Power Co ltd
Guodian Longyuan Electrical Co Ltd
Guodian Inner Mongolia Dongsheng Thermal Power Co Ltd
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Guodian Dongsheng Thermal Power Co ltd
Guodian Longyuan Electrical Co Ltd
Guodian Inner Mongolia Dongsheng Thermal Power Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B21/00—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings
    • F16B21/09—Releasable fastening devices with a stud engaging a keyhole slot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The application provides a wireless navigation method and a system of a pipeline robot, and the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is determined by considering the influence of the local navigation task routing node information and the global navigation task routing node information, so that the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval can be determined quickly and accurately, and the expected navigation control task is determined without consuming more time, so that the wireless navigation efficiency aiming at the target wireless navigation task can be improved as much as possible, and the stagnation of the wireless navigation process can be relieved in time.

Description

Wireless navigation method and system of pipeline robot
Technical Field
The invention relates to the technical field of wireless navigation, in particular to a wireless navigation method and a wireless navigation system for a pipeline robot.
Background
In view of the closeness and complexity of petroleum pipelines, it is difficult for a pipeline robot to recognize environmental features, and thus wireless navigation control is required. In the related art, the inventor researches and discovers that the influence of local navigation task routing node information and global navigation task routing node information is not considered in the current scheme, and much time is required to determine the expected navigation control task.
Disclosure of Invention
In order to overcome at least the above-mentioned deficiencies in the prior art, the present invention aims to provide a wireless navigation method and system for a pipeline robot, which performs event capture on task routing node configuration information in target navigation task routing node information of a target wireless navigation task of the pipeline robot to be subjected to wireless navigation, performs local wireless navigation decision configuration and global wireless navigation decision configuration to realize wireless navigation processing, obtains a navigation control task corresponding to the target navigation task routing node information corresponding to a target instance in a set navigation task interval in the target navigation task routing node information, and performs navigation control service on the pipeline robot based on the navigation control task. Because the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is determined by considering the influence of the local navigation task routing node information and the global navigation task routing node information, the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval can be quickly and accurately determined, and the expected navigation control task is determined without consuming more time, so that the wireless navigation efficiency aiming at the target wireless navigation task can be improved as much as possible, and the stagnation of the wireless navigation process can be relieved in time.
In a first aspect, the present invention provides a wireless navigation method for a pipeline robot, applied to a wireless navigation server in communication with the pipeline robot, the method comprising:
acquiring target navigation task routing node information of a target wireless navigation task of a pipeline robot to be subjected to wireless navigation, and respectively performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result;
performing local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to local navigation task routing node information comprising the actively-stopped event in a set navigation task interval;
performing global wireless navigation decision configuration on the passively stopped event capturing result through a preset global wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to the global navigation task routing node information including the passively stopped event in a set navigation task interval;
performing wireless navigation configuration on a navigation control task corresponding to the local navigation task routing node information in a set navigation task interval and a navigation control task corresponding to the global navigation task routing node information in the set navigation task interval to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in the target navigation task routing node information in the set navigation task interval, and performing navigation control service on the pipeline robot based on the navigation control task; the target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in a set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
In a possible design of the first aspect, the performing active stay event capture and passive stay event capture on multiple task routing node configuration information in the target navigation task routing node information respectively to obtain an active stay event capture result and a passive stay event capture result includes:
respectively performing active stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain active stay event capture indexes in each task routing node configuration information and initial navigation control task attributes corresponding to each active stay event capture index;
determining an event capturing result of active stay based on active stay event capturing indexes and corresponding initial navigation control task attributes in the configuration information of each task routing node;
and respectively carrying out passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain passive stay event capture results.
In a possible design of the first aspect, the performing passive stay event capture on the configuration information of the plurality of task routing nodes in the target navigation task routing node information respectively to obtain an event capture result of passive stay includes:
respectively analyzing a plurality of task routing node configuration information in the target navigation task routing node information by using obstacle sensing nodes to obtain obstacle sensing node analysis results corresponding to the task routing node configuration information;
performing collaborative sensing node analysis on a plurality of task routing node configuration information in the target navigation task routing node information respectively to obtain collaborative sensing node analysis results corresponding to the task routing node configuration information respectively;
associating the obstacle sensing node analysis result and the cooperative sensing node analysis result corresponding to the same instance element;
performing passive stay event capturing processing based on a cooperative sensing node analysis result associated with a target obstacle sensing node analysis result in the target navigation task routing node information to obtain a passive stay event capturing result; and the target obstacle sensing node analysis result is an obstacle sensing node analysis result corresponding to the marked instance element.
In a possible design of the first aspect, the performing, by a preset local wireless navigation decision unit for an event capture result, local wireless navigation decision configuration on the event capture result of the active stop to obtain a navigation control task corresponding to local navigation task routing node information including the active stop event in a set navigation task interval includes:
respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capturing result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information;
respectively performing event capture index wireless navigation decision configuration based on analysis index wireless navigation decision configuration records of active stay event capture indexes corresponding to corresponding unique navigation control task attributes in each task routing node configuration information to obtain active stay event capture results after wireless navigation decision configuration;
performing continuous wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the actively-stopped event in a set navigation task interval;
according to the active stay categories corresponding to the navigation control tasks corresponding to the local candidate navigation task routing node information in the set navigation task interval, local example wireless navigation decision configuration is carried out on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval, and the navigation control tasks corresponding to the local navigation task routing node information including the active stay events in the set navigation task interval are obtained;
the step of respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capture result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information includes:
aiming at each task routing node configuration information in the actively-stopped event capturing result, when the type number of the initial navigation control task attributes of the task routing node configuration information is not less than two, acquiring navigation linkage index information of each initial navigation control task attribute;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is one, taking the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information as the unique navigation control task attribute of the corresponding task routing node configuration information;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is not less than two, acquiring the event capture index change degree of the corresponding active stay event capture index aiming at the initial navigation control task attribute with the highest index strength corresponding to each navigation linkage index information; according to the initial navigation control task attribute corresponding to the highest event capture index change degree, determining the unique navigation control task attribute corresponding to the corresponding task routing node configuration information;
the method comprises the following steps that an analysis index wireless navigation decision configuration record of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in configuration information of each task routing node is based on an analysis index wireless navigation decision configuration record of the active stay event capture index, event capture index wireless navigation decision configuration is respectively carried out, and an active stay event capture result after wireless navigation decision configuration is obtained, and the method comprises the following steps:
acquiring cooperative node quantity information of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in each task routing node configuration information for each task routing node configuration information;
when the current cooperative node number corresponding to the cooperative node number information is within a preset cooperative node number interval, maintaining a corresponding active stay event capturing result, wherein the maintained active stay event capturing result comprises an active stay event capturing index and a unique navigation control task attribute corresponding to the active stay event capturing index;
deleting the active stay event capture result of the corresponding task routing node configuration information when the current cooperative node number corresponding to the cooperative node number information is not within the preset cooperative node number interval;
and obtaining the active stay event capture result after the wireless navigation decision configuration based on the active stay event capture result corresponding to each task routing node configuration information.
In a possible design of the first aspect, the performing continuous wireless navigation decision configuration on the active stay event capture result after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the active stay event in a set navigation task interval includes:
carrying out continuous wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration to obtain multiple groups of self-adaptive navigation control tasks and non-self-adaptive navigation control tasks;
determining a navigation control task comparison result corresponding to navigation task routing node information between each group of self-adaptive navigation control tasks and non-self-adaptive navigation control tasks in a set navigation task interval;
when the correlation degree corresponding to the navigation control task comparison result corresponding to the navigation task routing node information in the set navigation task interval is greater than or equal to the preset correlation degree, taking the navigation control task corresponding to the navigation task routing node information in the set navigation task interval, which is formed by the adaptive navigation control task and the non-adaptive navigation control task of the corresponding group, as the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval;
for the navigation control task corresponding to each local candidate navigation task routing node information in a set navigation task interval, determining a target active stay category with the largest counting times according to the unique navigation control task attribute configured by the wireless navigation decision corresponding to each task routing node configuration information in the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval;
taking the target active stay category as an active stay category corresponding to an active stay event included in a corresponding navigation control task in a set navigation task interval according to the corresponding local candidate navigation task routing node information;
wherein, the active stay event capturing result in the active stay event capturing result includes positive cooperative stay information and negative cooperative stay information, and the active stay event capturing result after the radio navigation decision configuration is subjected to continuous radio navigation decision configuration to obtain multiple sets of adaptive navigation control tasks and non-adaptive navigation control tasks, including:
taking task routing node configuration information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the active stay event capture result after the wireless navigation decision configuration as a current group of self-adaptive navigation control tasks;
traversing task routing node configuration information after the current set of adaptive navigation control tasks;
when the traversed current task routing node configuration information corresponds to positive cooperative stay information and the capturing results of active stay events corresponding to the task routing node configuration information within the global preset duration from the current task routing node configuration information are all positive cooperative stay information, taking the current task routing node configuration information as the current group of non-adaptive navigation control tasks;
taking task routing node configuration information corresponding to the first negative cooperative stay information after the current group of non-adaptive navigation control tasks as the current group of adaptive navigation control tasks configured by the next wireless navigation decision, and returning to the step of traversing the task routing node configuration information after the current group of adaptive navigation control tasks to continue executing until obtaining multiple groups of adaptive navigation control tasks and non-adaptive navigation control tasks;
when the traversed current task routing node configuration information corresponds to positive cooperative stay information and the capturing result of the active stay event corresponding to the task routing node configuration information within the global preset time from the current task routing node configuration information is positive cooperative stay information, before the current task routing node configuration information is used as the current group of the non-adaptive navigation control task, the method further comprises:
when the traversed current task routing node configuration information and the navigation task routing node information determined by the self-adaptive navigation control task of the current group are smaller than a set task duration threshold value, determining whether an active stay event capture result corresponding to the current task routing node configuration information is positive cooperative stay information or not;
when the current task routing node configuration information corresponds to the negative cooperation stay information, taking the current task routing node configuration information as one task routing node configuration information in the navigation control task corresponding to the navigation task routing node information corresponding to the current group in a set navigation task interval;
when the current task routing node configuration information corresponds to positive cooperative stay information and a result of capturing an active stay event within a global preset time period from the current task routing node configuration information includes negative cooperative stay information, taking the task routing node configuration information corresponding to the first negative cooperative stay information within the global preset time from the current task routing node configuration information as the traversed next task routing node configuration information, and returning to the navigation task routing node information when the traversed current task routing node configuration information and the navigation task routing node information determined by the self-adaptive navigation control task of the current group are smaller than the set task duration threshold value in the navigation task duration corresponding to the navigation control task in the set navigation task interval, and determining whether the active stay event capture result corresponding to the current task routing node configuration information is the positive cooperative stay information or not.
In a possible design of the first aspect, in the event capture result of the active stay after the radio navigation decision configuration, the task routing node configuration information corresponding to the first negative cooperative stay information in the current radio navigation decision configuration is used as the current set of adaptive navigation control tasks, and the method includes:
determining target navigation task routing node information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the active stay event capture result after the wireless navigation decision configuration;
deleting the active stay event capture result corresponding to the target navigation task routing node information when the active stay event capture result corresponding to the next task routing node configuration information of the target navigation task routing node information is positive cooperative stay information;
and when the capturing result of the active stay event corresponding to the subsequent task routing node configuration information of the target navigation task routing node information is negative cooperative stay information, taking the target navigation task routing node information as the self-adaptive navigation control task of the current group.
In a possible design of the first aspect, the performing, according to active stay categories respectively corresponding to navigation control tasks corresponding to the local candidate navigation task routing node information in a set navigation task interval, local instance wireless navigation decision configuration on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval to obtain the navigation control tasks corresponding to the local navigation task routing node information including the active stay event in the set navigation task interval includes:
determining active stay categories corresponding to navigation control tasks corresponding to the local candidate navigation task routing node information in a set navigation task interval;
and when the navigation control tasks corresponding to more than one local candidate navigation task routing node information in the set navigation task interval adjacent in time sequence all belong to the same active stay category, performing navigation control task fusion on the navigation control tasks corresponding to the more than one local candidate navigation task routing node information in the set navigation task interval to obtain the navigation control tasks corresponding to the local navigation task routing node information corresponding to the same active stay category in the set navigation task interval.
In a possible design of the first aspect, the performing global wireless navigation decision configuration on the passively staying event capturing result through a preset global wireless navigation decision unit for the event capturing result to obtain a navigation control task corresponding to the global navigation task routing node information including the passively staying event within a set navigation task interval includes:
performing continuous wireless navigation decision configuration on the event capture result of the passive stay to obtain a plurality of navigation control tasks corresponding to the global candidate navigation task routing node information including the passive stay event in a set navigation task interval;
and according to the passive stay categories corresponding to the navigation control tasks corresponding to the global candidate navigation task routing node information in the set navigation task interval, performing global example wireless navigation decision configuration on the navigation control tasks corresponding to the global candidate navigation task routing node information belonging to the same passive stay category in the set navigation task interval to obtain the navigation control tasks corresponding to the global navigation task routing node information including the passive stay events in the set navigation task interval.
In a second aspect, an embodiment of the present invention further provides a wireless navigation system for a pipeline robot, the wireless navigation system for a pipeline robot including a pipeline robot and a wireless navigation server communicating with the pipeline robot, the system including:
the wireless navigation server is configured to:
acquiring target navigation task routing node information of a target wireless navigation task of a pipeline robot to be subjected to wireless navigation, and respectively performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result;
performing local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to local navigation task routing node information comprising the actively-stopped event in a set navigation task interval;
performing global wireless navigation decision configuration on the passively stopped event capturing result through a preset global wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to the global navigation task routing node information including the passively stopped event in a set navigation task interval;
performing wireless navigation configuration on a navigation control task corresponding to the local navigation task routing node information in a set navigation task interval and a navigation control task corresponding to the global navigation task routing node information in the set navigation task interval to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in the target navigation task routing node information in the set navigation task interval, and performing navigation control service on the pipeline robot based on the navigation control task; the target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in a set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
In a third aspect, an embodiment of the present invention further provides a wireless navigation server, where the wireless navigation server includes a processor, a machine-readable storage medium, and a network interface, where the machine-readable storage medium, the network interface, and the processor are connected through a bus system, the network interface is configured to be communicatively connected with at least one pipeline robot, the machine-readable storage medium is configured to store a program, an instruction, or code, and the processor is configured to execute the program, the instruction, or the code in the machine-readable storage medium to perform a wireless navigation method for the pipeline robot in the first aspect or any possible implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where instructions are stored, and when executed, cause a computer to perform a wireless navigation method for a pipeline robot in the first aspect or any one of the possible implementations of the first aspect.
Based on any one of the above aspects, in the embodiment of the present invention, event capture is performed on task routing node configuration information in target navigation task routing node information of a target wireless navigation task of a pipeline robot to be subjected to wireless navigation, and local wireless navigation decision configuration and global wireless navigation decision configuration are performed to implement wireless navigation processing, so as to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in a set navigation task interval in the target navigation task routing node information, and perform navigation control service on the pipeline robot based on the navigation control task. Because the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is determined by considering the influence of the local navigation task routing node information and the global navigation task routing node information, the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval can be quickly and accurately determined, and the expected navigation control task is determined without consuming more time, so that the wireless navigation efficiency aiming at the target wireless navigation task can be improved as much as possible, and the stagnation of the wireless navigation process can be relieved in time.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an application scenario of a wireless navigation system of a pipeline robot according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a wireless navigation method for a pipeline robot according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a wireless navigation device of a pipeline robot according to an embodiment of the present invention;
fig. 4 is a block diagram schematically illustrating a wireless navigation server for implementing the wireless navigation method of the pipeline robot according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Fig. 1 is an interactive view of a wireless navigation system 10 for a pipeline robot according to an embodiment of the present invention. The wireless navigation system 10 of the pipe robot may include a wireless navigation server 100 and a pipe robot 200 communicatively connected to the wireless navigation server 100. The wireless navigation system 10 of the pipeline robot shown in fig. 1 is only one possible example, and in other possible embodiments, the wireless navigation system 10 of the pipeline robot may include only one of the components shown in fig. 1 or may also include other components.
In this embodiment, the wireless navigation server 100 and the pipeline robot 200 in the wireless navigation system 10 of the pipeline robot can cooperatively perform the wireless navigation method of the pipeline robot described in the following method embodiments, and the detailed description of the following method embodiments can be referred to for the execution steps of the wireless navigation server 100 and the pipeline robot 200.
To solve the technical problems in the background art, fig. 2 is a flowchart illustrating a wireless navigation method for a pipeline robot according to an embodiment of the present invention, which can be executed by the wireless navigation server 100 shown in fig. 1, and the wireless navigation method for a pipeline robot is described in detail below.
Step S110, acquiring target navigation task routing node information of a target wireless navigation task of the pipeline robot to be subjected to wireless navigation, and respectively performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result.
For example, the target wireless navigation task may be a navigation task for which there is a navigation need after big data analysis or management personnel feedback, such as a wireless navigation task for which the navigation need is frequent. The navigation task routing node information may be understood as a path set composed of a plurality of navigation task routing nodes obtained based on preset navigation needs, and may include the path information of the navigation task routing nodes or the navigation task routing node set and a corresponding time sequence.
The task routing node configuration information can be used for describing the recording situation in the running process of the instance. Further, active and passive dwell event capture may be performed by data of active or passive dwell tags present during the operation of the instance. In practical applications, active stay and passive stay may be performed simultaneously, where active stay event capture refers to an active stay wireless navigation node where passive stay does not occur, and the active stay wireless navigation node where passive stay occurs may be classified as passive stay event capture.
And step S120, performing local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to the local navigation task routing node information comprising the actively-stopped event in a set navigation task interval.
For example, the local wireless navigation decision unit may be a deep learning model, and further, the local navigation task routing node information may be navigation task routing node information corresponding to a part of navigation task routing nodes in the target wireless navigation task, for example, there are 20 navigation task routing nodes in the target wireless navigation task, and then the local navigation task routing node information may be 2 or 4 navigation task routing nodes therein, which is not limited herein.
Step S130, global wireless navigation decision configuration is carried out on the event capturing result of the passive stay through a preset global wireless navigation decision unit aiming at the event capturing result, and a navigation control task corresponding to the global navigation task routing node information including the passive stay event in a set navigation task interval is obtained.
For example, the global wireless navigation decision unit may also be a deep learning model, further, the local wireless navigation decision unit and the global wireless navigation decision unit may adopt different training sets during training, or may perform different model parameter adjustments during later-stage model use to differentiate between the local wireless navigation decision unit and the global wireless navigation decision unit, and the specific implementation manner is determined according to actual business requirements, and is not limited herein. Further, the global navigation task routing node information may be navigation task routing node information corresponding to all navigation task routing nodes in the target wireless navigation task.
Step S140, performing wireless navigation configuration on a navigation control task corresponding to the local navigation task routing node information in a set navigation task interval and a navigation control task corresponding to the global navigation task routing node information in the set navigation task interval to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in the target navigation task routing node information in the set navigation task interval, and performing navigation control service on the pipeline robot based on the navigation control task; the target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in a set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
For example, the wireless navigation processing may be global wireless navigation configuration processing of navigation control tasks for different navigation task routing nodes, and for example, prediction of navigation control tasks for different navigation task routing nodes may be implemented by combining different algorithms, so as to implement navigation control task configuration for as many navigation task routing nodes as possible in a target wireless navigation task. Furthermore, the wireless navigation server can generate navigation control task configuration instructions corresponding to different navigation task routing nodes according to navigation control tasks corresponding to target navigation task routing node information in a set navigation task interval, and issues the navigation control task configuration instructions to the pipeline robots corresponding to the navigation task routing nodes, so that the navigation control tasks in the target wireless navigation tasks can be adjusted according to the corresponding navigation control task configuration instructions, and it can be understood that the navigation control tasks corresponding to the target navigation task routing node information in the set navigation task interval can be understood as examples after the wireless navigation is completed, that is, the wireless navigation server can realize the feedback wireless navigation of the navigation control tasks of different navigation task routing nodes according to the expected navigation control tasks analyzed in advance, because the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is determined by considering the influence of the local navigation task routing node information and the global navigation task routing node information, the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval can be quickly and accurately determined, and the expected navigation control task is determined without consuming more time, so that the wireless navigation efficiency aiming at the target wireless navigation task can be improved as much as possible, and the stagnation of the wireless navigation process can be relieved in time.
In the following, some alternative embodiments will be described, which should be understood as examples and not as technical features essential for implementing the present solution.
In some possible designs, the active stay event capturing and the passive stay event capturing are respectively performed on the plurality of task routing node configuration information in the target navigation task routing node information described in step S110, so as to obtain an event capturing result of active stay and an event capturing result of passive stay, which may include the contents described in steps S1101 to S1103 below.
Step S1101, performing active stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information, respectively, to obtain an active stay event capture index in each task routing node configuration information and an initial navigation control task attribute corresponding to each active stay event capture index.
Step S1102, determining an event capture result of active stay based on the active stay event capture index and the corresponding initial navigation control task attribute in the configuration information of each task routing node.
Step S1103, respectively performing passive stay event capturing on the configuration information of the plurality of task routing nodes in the target navigation task routing node information, to obtain an event capturing result of passive stay.
It can be understood that by implementing the above steps S1101-S1103, different active stay event capture indexes and their corresponding initial navigation control task attributes can be considered when determining the active stay event capture result, so as to ensure that the active stay event capture result can take the real-time situation into account, thereby ensuring the integrity and accuracy of the event capture result.
In some possible designs, the passive stay event capturing is performed on the plurality of task routing node configuration information in the target navigation task routing node information respectively, which is described in step S1103, to obtain an event capturing result of passive stay, and further may include the following contents described in step S11031 to step S11034.
Step S11031, respectively performing obstacle sensing node analysis on a plurality of task routing node configuration information in the target navigation task routing node information, to obtain obstacle sensing node analysis results corresponding to each task routing node configuration information.
Step S11032, respectively performing cooperative sensing node analysis on the plurality of task routing node configuration information in the target navigation task routing node information, to obtain cooperative sensing node analysis results corresponding to each task routing node configuration information, respectively.
Step S11033, the obstacle sensing node analysis result and the cooperative sensing node analysis result corresponding to the same instance element are correlated.
Step S11034, carrying out passive stay event capturing processing based on a cooperative sensing node analysis result associated with a target obstacle sensing node analysis result in the target navigation task routing node information to obtain a passive stay event capturing result; and the target obstacle sensing node analysis result is an obstacle sensing node analysis result corresponding to the marked instance element.
Therefore, when the contents described in the steps S11031 to S11034 are applied, the obstacle sensing node analysis result and the cooperative sensing node analysis result can be subjected to correlation analysis, so that the obtained passive stay event capture result is ensured to be matched with the actual navigation task routing node wireless navigation state, and thus the passive stay event capture can be realized from the global level.
For some possible embodiments, the local wireless navigation decision configuration is performed on the event capture result of the active stay through a preset local wireless navigation decision unit for the event capture result described in step S120, so as to obtain a navigation control task corresponding to the local navigation task routing node information including the active stay event in the set navigation task interval, which may include the contents described in steps S1201 to S1204 below.
Step S1201, performing event attribute matching on each task routing node configuration information in the actively-stopped event capture result, to obtain a unique navigation control task attribute corresponding to each task routing node configuration information.
Step S1202, based on the analysis index wireless navigation decision configuration record of the active stay event capture index corresponding to the corresponding unique navigation control task attribute in each task routing node configuration information, event capture index wireless navigation decision configuration is respectively carried out, and an active stay event capture result after wireless navigation decision configuration is obtained.
Step S1203, performing persistent wireless navigation decision configuration on the active stay event capture result after the wireless navigation decision configuration, to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the active stay event in the set navigation task interval.
Step S1204, according to the corresponding initiative stay category of the navigation control task in the set navigation task interval of each said local candidate navigation task routing node information, carry on the wireless navigation decision-making configuration of local example to the navigation control task that the local candidate navigation task routing node information belonging to the same initiative stay category corresponds in the set navigation task interval, get the navigation control task that the local navigation task routing node information including initiative stay incident corresponds in the set navigation task interval.
Based on the above steps S1201-S1204, the active stay categories can be considered, so that local instance wireless navigation decision configuration is performed on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval, so that the influence of the local navigation task routing node information on the global navigation task routing node information can be eliminated as much as possible, and the navigation control tasks corresponding to the target navigation task routing node information in the set navigation task interval can be determined more quickly in the following process.
Further, in step S1201, performing event attribute matching on each task routing node configuration information in the event capture result of the active stay, respectively, to obtain a unique navigation control task attribute corresponding to each task routing node configuration information, which may include the following steps S12011 to S12013.
Step S12011, for each task routing node configuration information in the active-stay event capture result, when the number of types of the initial navigation control task attribute of the task routing node configuration information is not less than two, acquiring navigation linkage index information of each initial navigation control task attribute. For example, the navigation linkage indicator information may be used to characterize the reason for the occurrence of the wireless navigation linkage.
Step S12012, when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is one, the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is used as the unique navigation control task attribute of the corresponding task routing node configuration information. For example, the index strength is used for representing the linkage degree, and the higher the index strength is, the more complicated the wireless navigation condition is.
Step S12013, when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is not less than two, aiming at the initial navigation control task attribute with the highest index strength corresponding to each navigation linkage index information, acquiring the event capture index change degree of the corresponding active stay event capture index; and determining the unique navigation control task attribute corresponding to the corresponding task routing node configuration information according to the initial navigation control task attribute corresponding to the highest event capture index change degree. For example, the event capture index change degree is used for representing the real-time change condition of the active stay event capture index, and it can be understood that the wireless navigation condition is changed in real time, and the one-to-one correspondence between the corresponding task routing node configuration information and the navigation control task attribute can be accurately and reliably determined by considering the event capture index change degree.
It can be understood that when the contents described in the above steps S12011 to S12013 are applied, the wireless navigation condition that changes in real time can be taken into account when the event attribute matching is performed, so that the one-to-one correspondence relationship between the corresponding task routing node configuration information and the navigation control task attribute can be accurately and reliably determined.
In another embodiment, the step S1202 may include the following steps S12021 to S12024, based on the analysis index wireless navigation decision configuration record of the active stay event capture index corresponding to the corresponding unique navigation control task attribute in the configuration information of each task routing node, respectively performing event capture index wireless navigation decision configuration, and obtaining an event capture result of the active stay after the wireless navigation decision configuration.
Step S12021, for each task routing node configuration information, acquiring the cooperative node number information of the active stay event capture index corresponding to the corresponding unique navigation control task attribute in each task routing node configuration information. For example, the information on the number of collaborative nodes may be used to characterize the usage heat of the active stay event capture index, and a higher number of collaborative nodes indicates a more frequent usage of the corresponding active stay event capture index.
Step S12022, when the current number of the cooperative nodes corresponding to the cooperative node number information is within a preset cooperative node number interval, maintaining a corresponding active stop event capturing result, where the maintained active stop event capturing result includes an active stop event capturing index and a unique navigation control task attribute corresponding to the active stop event capturing index. For example, the preset cooperative node number interval may be adaptively adjusted according to actual situations, and will not be further described herein.
Step S12023, when the current cooperative node number corresponding to the cooperative node number information is not within the preset cooperative node number interval, deleting the active stay event capture result of the corresponding task routing node configuration information.
Step S12024, obtaining an active stay event capture result after the wireless navigation decision configuration based on the active stay event capture result corresponding to each task routing node configuration information.
It can be understood that, by executing the steps S12021 to S12024, the information of the number of the collaborative nodes of the active stay event capture index can be analyzed when determining the event capture result of the active stay after the radio navigation decision configuration, so as to take the historical usage of the active stay event capture index into account, which can ensure that the event capture result of the active stay after the radio navigation decision configuration matches the analysis result of the main stream as much as possible, and further provide a reliable decision basis for the subsequent radio navigation.
In some possible design solutions, the step S1203 performs persistent wireless navigation decision configuration on the event capture result of the active stay after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the active stay event in the set navigation task interval, which may include the following steps S12031-S12035.
Step S12031, performing persistent wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration, to obtain multiple sets of adaptive navigation control tasks and non-adaptive navigation control tasks.
Step S12032, determining a navigation control task comparison result corresponding to the navigation task routing node information between each group of adaptive navigation control tasks and non-adaptive navigation control tasks in the set navigation task interval.
Step S12033, when the correlation degree corresponding to the comparison result of the navigation control task corresponding to the navigation task routing node information in the set navigation task interval is greater than or equal to the preset correlation degree, taking the navigation control task corresponding to the navigation task routing node information in the set navigation task interval, which is formed by the adaptive navigation control task and the non-adaptive navigation control task of the corresponding group, as the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval. For example, the preset correlation may be adjusted according to actual conditions, and is not limited herein.
Step S12034, for the navigation control task corresponding to each local candidate navigation task routing node information in the set navigation task interval, determining the target active stay category with the largest number of statistics according to the unique navigation control task attribute configured by the wireless navigation decision corresponding to each task routing node configuration information in the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval.
Step S12035, regarding the target active stay category as an active stay category corresponding to an active stay event included in a navigation control task corresponding to the local candidate navigation task routing node information in a set navigation task interval.
Therefore, when the continuous wireless navigation decision configuration is carried out on the actively-stopped event capturing result after the wireless navigation decision configuration, the self-adaptive navigation control task and the non-self-adaptive navigation control task can be analyzed in a distinguishing way, so that the wireless navigation decision configuration aiming at the event capturing result can not confuse the self-adaptive navigation control task and the non-self-adaptive navigation control task.
In some possible designs, the active stay event capture result in the active stay event capture result includes positive cooperative stay information and negative cooperative stay information, based on which, the persistent radio navigation decision configuration is performed on the active stay event capture result after the radio navigation decision configuration is performed in step S12031, so as to obtain multiple sets of adaptive navigation control tasks and non-adaptive navigation control tasks, which may include the following steps S120311 to S120314.
Step S120311, using the task routing node configuration information corresponding to the first negative cooperative stay information in the current radio navigation decision configuration in the active stay event capture result after the radio navigation decision configuration as the current set of adaptive navigation control task.
Step S120312, traverse the task routing node configuration information after the adaptive navigation control task of the current group.
Step S120313, when the traversed current task routing node configuration information corresponds to positive cooperative stay information and the active stay event capture result corresponding to the task routing node configuration information within the global preset duration from the current task routing node configuration information is positive cooperative stay information, taking the current task routing node configuration information as the current group of non-adaptive navigation control tasks.
Step S120314, taking the task routing node configuration information corresponding to the first negative cooperative stay information after the current set of non-adaptive navigation control tasks as the current set of adaptive navigation control tasks configured for the next wireless navigation decision, and returning to the step of traversing the task routing node configuration information after the current set of adaptive navigation control tasks to continue execution until multiple sets of adaptive navigation control tasks and non-adaptive navigation control tasks are obtained.
Thus, when the steps S120311 to S120314 are applied to distinguish the adaptive navigation control task from the non-adaptive navigation control task, the positive cooperative stay information and the negative cooperative stay information can be considered comprehensively, so that the precise distinction between the adaptive navigation control task and the non-adaptive navigation control task can be ensured as much as possible, and the intersection and confusion between the adaptive navigation control task and the non-adaptive navigation control task can be avoided.
For an optional embodiment, before the step 2313, when the traversed current task routing node configuration information corresponds to positive cooperative stay information and all active stay event capturing results corresponding to the task routing node configuration information within the global preset duration from the current task routing node configuration information are positive cooperative stay information, and taking the current task routing node configuration information as the current set of non-adaptive navigation control tasks, the method may further include the following technical solutions described in the steps a to c.
Step a, when the traversed current task routing node configuration information and the navigation task routing node information determined by the self-adaptive navigation control task of the current group are smaller than a set task duration threshold value in the navigation control task duration corresponding to the navigation task routing node information in a set navigation task interval, determining whether the active stay event capture result corresponding to the current task routing node configuration information is positive cooperative stay information.
And b, when the current task routing node configuration information corresponds to the negative cooperation stay information, taking the current task routing node configuration information as one task routing node configuration information in the navigation control task corresponding to the navigation task routing node information corresponding to the current group in a set navigation task interval.
Step c, when the current task routing node configuration information corresponds to positive cooperative stay information and the active stay event capture result in the global preset time length from the current task routing node configuration information comprises negative cooperative stay information, taking the task routing node configuration information corresponding to the first negative cooperative stay information in the global preset time length from the current task routing node configuration information as the traversed next task routing node configuration information, and returning to the step of determining whether the active stay event capture result corresponding to the current task routing node configuration information is the positive cooperative stay information or not when the traversed current task routing node configuration information and the navigation control task duration of the navigation control task corresponding to the self-adaptive navigation control task of the current group in the set navigation task interval are less than the set task duration threshold value And (6) rows.
In some possible designs, in the event capturing result of the active stay after the radio navigation decision configuration described in step S120311, the task routing node configuration information corresponding to the first negative cooperative stay information in the current radio navigation decision configuration may be used as the current set of adaptive navigation control tasks, and may include: determining target navigation task routing node information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the active stay event capture result after the wireless navigation decision configuration; deleting the active stay event capture result corresponding to the target navigation task routing node information when the active stay event capture result corresponding to the next task routing node configuration information of the target navigation task routing node information is positive cooperative stay information; and when the capturing result of the active stay event corresponding to the subsequent task routing node configuration information of the target navigation task routing node information is negative cooperative stay information, taking the target navigation task routing node information as the self-adaptive navigation control task of the current group.
In some possible design solutions, the step S1204 performs local example wireless navigation decision configuration on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval according to the active stay categories respectively corresponding to the navigation control tasks corresponding to the local candidate navigation task routing node information in the set navigation task interval, so as to obtain the navigation control tasks corresponding to the local navigation task routing node information including the active stay event in the set navigation task interval, and may include the following steps S12041 and S12042.
Step S12041, determining the active stay type corresponding to the navigation control task corresponding to each local candidate navigation task routing node information in the set navigation task interval.
Step S12042, when the navigation control tasks corresponding to the more than one local candidate navigation task routing node information in the set navigation task interval adjacent in time sequence all belong to the same active stay category, performing navigation control task fusion on the navigation control tasks corresponding to the more than one local candidate navigation task routing node information in the set navigation task interval to obtain the navigation control tasks corresponding to the local navigation task routing node information corresponding to the same active stay category in the set navigation task interval. By the design, when local instance wireless navigation decision configuration is carried out, instance fusion is carried out through the time sequence, the mutual influence among routing node information of different local navigation tasks can be improved as much as possible, and therefore accurate decision basis is provided for subsequent global wireless navigation.
In some possible design solutions, the event capturing result of the passive stay is configured with a global wireless navigation decision through a preset global wireless navigation decision unit for the event capturing result described in step S130, so as to obtain a navigation control task corresponding to the global navigation task routing node information including the passive stay event in a set navigation task interval, which may include the contents described in steps S1301 and S1302 below.
Step S1301, continuous wireless navigation decision configuration is carried out on the event capture result of the passive stay to obtain a plurality of navigation control tasks corresponding to the global candidate navigation task routing node information including the passive stay event in a set navigation task interval.
Step S1302, according to the passive stay type corresponding to the navigation control task corresponding to the global candidate navigation task routing node information in the set navigation task interval, performing global instance wireless navigation decision configuration on the navigation control task corresponding to the global candidate navigation task routing node information belonging to the same passive stay type in the set navigation task interval, so as to obtain the navigation control task corresponding to the global navigation task routing node information including the passive stay event in the set navigation task interval.
It can be understood that, through the above steps S1301 and S1302, the passive stay categories can be taken into consideration, so as to take into account the radio navigation authorization influence among the global candidate navigation task routing node information, which can ensure that the radio navigation authorization influence is eliminated as much as possible when global instance radio navigation decision configuration is performed, thereby ensuring that the navigation control task corresponding to the global navigation task routing node information including the passive stay event in the set navigation task interval is not influenced by the local navigation task routing node information as much as possible.
In some possible designs, the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval and the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval, which are described in step S140, are configured for wireless navigation, so as to obtain the navigation control task corresponding to the target navigation task routing node information corresponding to the target instance in the target navigation task routing node information in the set navigation task interval, and the navigation control task is performed on the pipeline robot based on the navigation control task, which may include the following contents described in steps S1401 to S1403.
Step 1401, when the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval is completely in the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval, or when the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval is completely in the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval, and the wireless navigation decision configures the navigation control task corresponding to the global navigation task routing node information in a set navigation task interval and maintains the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval to obtain the navigation control task corresponding to the target navigation task routing node information corresponding to the active stay event in the set navigation task interval.
Step S1402, when the subsequent task routing node configuration information of the local navigation task routing node information in the corresponding navigation control task in the set navigation task interval is crossed with the previous task routing node configuration information of the global navigation task routing node information in the corresponding navigation control task in the set navigation task interval, maintaining the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval as the navigation control task corresponding to the target navigation task routing node information corresponding to the active stay event in the set navigation task interval, and taking the non-adaptive navigation control task of the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval as the adaptive navigation control task of the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval, and obtaining a navigation control task corresponding to the global navigation task routing node information after the wireless navigation decision configuration in a set navigation task interval, and taking the navigation control task corresponding to the global navigation task routing node information after the wireless navigation decision configuration in the set navigation task interval as the navigation control task corresponding to the target navigation task routing node information corresponding to the passive stay event in the set navigation task interval.
Step S1403, when the subsequent task routing node configuration information in the corresponding navigation control task of the global navigation task routing node information in the set navigation task interval intersects with the previous task routing node configuration information in the corresponding navigation control task of the local navigation task routing node information in the set navigation task interval, maintaining the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval as the navigation control task corresponding to the target navigation task routing node information corresponding to the active stay event in the set navigation task interval, and taking the adaptive navigation control task in the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval as the non-adaptive navigation control task of the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval, and obtaining a navigation control task corresponding to the global navigation task routing node information after the wireless navigation decision configuration in a set navigation task interval, and taking the navigation control task corresponding to the global navigation task routing node information after the wireless navigation decision configuration in the set navigation task interval as the navigation control task corresponding to the target navigation task routing node information corresponding to the passive stay event in the set navigation task interval.
It can be understood that by implementing the contents described in the above steps S1401 to S1403, the inclusion relationship of the corresponding form examples of the global navigation task routing node information and the local navigation task routing node information can be taken into consideration, and the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is determined by combining the adaptive navigation control task and the non-adaptive navigation control task, so that when the navigation control task (desired navigation control task) corresponding to the target navigation task routing node information in the set navigation task interval is determined, the mutual wireless navigation authorization influence between the global navigation task routing node information and the local navigation task routing node information can be weakened as much as possible, thereby reducing the time consumption for determining the desired navigation control task, and thus improving the wireless navigation efficiency for the target wireless navigation task, the method and the system enable the wireless navigation server to quickly generate and issue the indication information related to the wireless navigation strategy based on the expected navigation control task, so that the stagnation of the target wireless navigation task is quickly improved.
Fig. 3 is a schematic diagram of functional modules of a wireless navigation device 300 of a pipeline robot according to an embodiment of the present invention, which can divide the wireless navigation device 300 of the pipeline robot into functional modules according to the method embodiment executed by the wireless navigation server 100, that is, the following functional modules corresponding to the wireless navigation device 300 of the pipeline robot can be used to execute the method embodiments executed by the wireless navigation server 100. The functions of the functional blocks of the wireless navigation device 300 for a pipeline robot will be described in detail below.
The acquiring module 310 is configured to acquire target navigation task routing node information of a target wireless navigation task of a pipeline robot to be wirelessly navigated, and perform active stay event capture and passive stay event capture on configuration information of a plurality of task routing nodes in the target navigation task routing node information, respectively, to obtain an active stay event capture result and a passive stay event capture result.
The first configuration module 320 is configured to perform local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit for the event capturing result, so as to obtain a navigation control task corresponding to the local navigation task routing node information including the actively-stopped event in a set navigation task interval.
The second configuration module 330 is configured to perform global wireless navigation decision configuration on the passively staying event capturing result through a preset global wireless navigation decision unit for the event capturing result, so as to obtain a navigation control task corresponding to the global navigation task routing node information including the passively staying event within a set navigation task interval.
And the wireless navigation module 340 is configured to perform wireless navigation configuration on the navigation control task corresponding to the local navigation task routing node information in the set navigation task interval and the navigation control task corresponding to the global navigation task routing node information in the set navigation task interval based on the local navigation task routing node information, obtain the navigation control task corresponding to the target navigation task routing node information corresponding to the target instance in the target navigation task routing node information in the set navigation task interval, and perform navigation control service on the pipeline robot based on the navigation control task. The target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in the set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the obtaining module 310 may be a processing element separately set up, or may be implemented by being integrated into a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the processing element of the apparatus calls and executes the functions of the obtaining module 310. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when some of the above modules are implemented in the form of processing element protection program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call the program code. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).
Fig. 4 is a schematic diagram illustrating a hardware structure of the wireless navigation server 100 for implementing the wireless navigation method of the pipeline robot according to the embodiment of the present invention, and as shown in fig. 4, the wireless navigation server 100 may include a processor 110, a machine-readable storage medium 120, a bus 130, and a transceiver 140.
In a specific implementation process, the at least one processor 110 executes computer-executable instructions stored in the machine-readable storage medium 120 (for example, the acquisition module 310, the clustering module 320, the configuration module 330, and the pushing module 340 included in the wireless navigation apparatus 300 of a pipeline robot shown in fig. 3), so that the processor 110 can execute the wireless navigation method of a pipeline robot according to the above method embodiment, where the processor 110, the machine-readable storage medium 120, and the transceiver 140 are connected via the bus 130, and the processor 110 can be used to control the transceiving action of the transceiver 140, so as to perform data transceiving with the pipeline robot 200.
For a specific implementation process of the processor 110, reference may be made to the above-mentioned various method embodiments executed by the wireless navigation server 100, which implement the principle and the technical effect similarly, and the detailed description of the embodiment is omitted here.
In the embodiment shown in fig. 4, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The machine-readable storage medium 120 may comprise high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.
The bus 130 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus 130 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, the buses in the figures of the present invention are not limited to only one bus or one type of bus.
In addition, the embodiment of the invention also provides a readable storage medium, wherein the readable storage medium stores computer execution instructions, and when a processor executes the computer execution instructions, the wireless navigation method of the pipeline robot is realized.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.

Claims (10)

1. A wireless navigation method of a pipeline robot, applied to a wireless navigation server communicating with the pipeline robot, the method comprising:
acquiring target navigation task routing node information of a target wireless navigation task of a pipeline robot to be subjected to wireless navigation, and respectively performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result;
performing local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to local navigation task routing node information comprising the actively-stopped event in a set navigation task interval;
performing global wireless navigation decision configuration on the passively stopped event capturing result through a preset global wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to the global navigation task routing node information including the passively stopped event in a set navigation task interval;
performing wireless navigation configuration on a navigation control task corresponding to the local navigation task routing node information in a set navigation task interval and a navigation control task corresponding to the global navigation task routing node information in the set navigation task interval to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in the target navigation task routing node information in the set navigation task interval, and performing navigation control service on the pipeline robot based on the navigation control task; the target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in a set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
2. The wireless navigation method of a pipeline robot according to claim 1, wherein the step of performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result comprises:
respectively performing active stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain active stay event capture indexes in each task routing node configuration information and initial navigation control task attributes corresponding to each active stay event capture index;
determining an event capturing result of active stay based on active stay event capturing indexes and corresponding initial navigation control task attributes in the configuration information of each task routing node;
and respectively carrying out passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain passive stay event capture results.
3. The wireless navigation method for a pipeline robot according to claim 2, wherein the passive stay event capturing is performed on each of the plurality of task routing node configuration information in the target navigation task routing node information to obtain an event capturing result of passive stay, and the method comprises:
respectively analyzing a plurality of task routing node configuration information in the target navigation task routing node information by using obstacle sensing nodes to obtain obstacle sensing node analysis results corresponding to the task routing node configuration information;
performing collaborative sensing node analysis on a plurality of task routing node configuration information in the target navigation task routing node information respectively to obtain collaborative sensing node analysis results corresponding to the task routing node configuration information respectively;
associating the obstacle sensing node analysis result and the cooperative sensing node analysis result corresponding to the same instance element;
performing passive stay event capturing processing based on a cooperative sensing node analysis result associated with a target obstacle sensing node analysis result in the target navigation task routing node information to obtain a passive stay event capturing result; and the target obstacle sensing node analysis result is an obstacle sensing node analysis result corresponding to the marked instance element.
4. The wireless navigation method of the pipeline robot according to any one of claims 1 to 3, wherein the local wireless navigation decision making configuration is performed on the event capturing result of the active stay through a preset local wireless navigation decision making unit for the event capturing result of the active stay, so as to obtain the navigation control task corresponding to the local navigation task routing node information including the active stay event in the set navigation task interval, and the method comprises the following steps:
respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capturing result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information;
respectively performing event capture index wireless navigation decision configuration based on analysis index wireless navigation decision configuration records of active stay event capture indexes corresponding to corresponding unique navigation control task attributes in each task routing node configuration information to obtain active stay event capture results after wireless navigation decision configuration;
performing continuous wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the actively-stopped event in a set navigation task interval;
according to the active stay categories corresponding to the navigation control tasks corresponding to the local candidate navigation task routing node information in the set navigation task interval, local example wireless navigation decision configuration is carried out on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval, and the navigation control tasks corresponding to the local navigation task routing node information including the active stay events in the set navigation task interval are obtained;
the step of respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capture result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information includes:
aiming at each task routing node configuration information in the actively-stopped event capturing result, when the type number of the initial navigation control task attributes of the task routing node configuration information is not less than two, acquiring navigation linkage index information of each initial navigation control task attribute;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is one, taking the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information as the unique navigation control task attribute of the corresponding task routing node configuration information;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is not less than two, acquiring the event capture index change degree of the corresponding active stay event capture index aiming at the initial navigation control task attribute with the highest index strength corresponding to each navigation linkage index information;
according to the initial navigation control task attribute corresponding to the highest event capture index change degree, determining the unique navigation control task attribute corresponding to the corresponding task routing node configuration information;
the method comprises the following steps that an analysis index wireless navigation decision configuration record of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in configuration information of each task routing node is based on an analysis index wireless navigation decision configuration record of the active stay event capture index, event capture index wireless navigation decision configuration is respectively carried out, and an active stay event capture result after wireless navigation decision configuration is obtained, and the method comprises the following steps:
acquiring cooperative node quantity information of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in each task routing node configuration information for each task routing node configuration information;
when the current cooperative node number corresponding to the cooperative node number information is within a preset cooperative node number interval, maintaining a corresponding active stay event capturing result, wherein the maintained active stay event capturing result comprises an active stay event capturing index and a unique navigation control task attribute corresponding to the active stay event capturing index;
deleting the active stay event capture result of the corresponding task routing node configuration information when the current cooperative node number corresponding to the cooperative node number information is not within the preset cooperative node number interval;
and obtaining the active stay event capture result after the wireless navigation decision configuration based on the active stay event capture result corresponding to each task routing node configuration information.
5. The wireless navigation method of the pipeline robot according to claim 4, wherein the step of performing continuous wireless navigation decision configuration on the event capture result of the active stay after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the active stay event in the set navigation task interval comprises:
carrying out continuous wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration to obtain multiple groups of self-adaptive navigation control tasks and non-self-adaptive navigation control tasks;
determining a navigation control task comparison result corresponding to navigation task routing node information between each group of self-adaptive navigation control tasks and non-self-adaptive navigation control tasks in a set navigation task interval;
when the correlation degree corresponding to the navigation control task comparison result corresponding to the navigation task routing node information in the set navigation task interval is greater than or equal to the preset correlation degree, taking the navigation control task corresponding to the navigation task routing node information in the set navigation task interval, which is formed by the adaptive navigation control task and the non-adaptive navigation control task of the corresponding group, as the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval;
for the navigation control task corresponding to each local candidate navigation task routing node information in a set navigation task interval, determining a target active stay category with the largest counting times according to the unique navigation control task attribute configured by the wireless navigation decision corresponding to each task routing node configuration information in the navigation control task corresponding to the local candidate navigation task routing node information in the set navigation task interval;
taking the target active stay category as an active stay category corresponding to an active stay event included in a corresponding navigation control task in a set navigation task interval according to the corresponding local candidate navigation task routing node information;
wherein, the active stay event capturing result in the active stay event capturing result includes positive cooperative stay information and negative cooperative stay information, and the active stay event capturing result after the radio navigation decision configuration is subjected to continuous radio navigation decision configuration to obtain multiple sets of adaptive navigation control tasks and non-adaptive navigation control tasks, including:
taking task routing node configuration information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the active stay event capture result after the wireless navigation decision configuration as a current group of self-adaptive navigation control tasks;
traversing task routing node configuration information after the current set of adaptive navigation control tasks;
when the traversed current task routing node configuration information corresponds to positive cooperative stay information and the capturing results of active stay events corresponding to the task routing node configuration information within the global preset duration from the current task routing node configuration information are all positive cooperative stay information, taking the current task routing node configuration information as the current group of non-adaptive navigation control tasks;
taking task routing node configuration information corresponding to the first negative cooperative stay information after the current group of non-adaptive navigation control tasks as the current group of adaptive navigation control tasks configured by the next wireless navigation decision, and returning to the step of traversing the task routing node configuration information after the current group of adaptive navigation control tasks to continue executing until obtaining multiple groups of adaptive navigation control tasks and non-adaptive navigation control tasks;
when the traversed current task routing node configuration information corresponds to positive cooperative stay information and the capturing result of the active stay event corresponding to the task routing node configuration information within the global preset time from the current task routing node configuration information is positive cooperative stay information, before the current task routing node configuration information is used as the current group of the non-adaptive navigation control task, the method further comprises:
when the traversed current task routing node configuration information and the navigation task routing node information determined by the self-adaptive navigation control task of the current group are smaller than a set task duration threshold value, determining whether an active stay event capture result corresponding to the current task routing node configuration information is positive cooperative stay information or not;
when the current task routing node configuration information corresponds to the negative cooperation stay information, taking the current task routing node configuration information as one task routing node configuration information in the navigation control task corresponding to the navigation task routing node information corresponding to the current group in a set navigation task interval;
when the current task routing node configuration information corresponds to positive cooperative stay information and a result of capturing an active stay event within a global preset time period from the current task routing node configuration information includes negative cooperative stay information, taking the task routing node configuration information corresponding to the first negative cooperative stay information within the global preset time from the current task routing node configuration information as the traversed next task routing node configuration information, and returning to the navigation task routing node information when the traversed current task routing node configuration information and the navigation task routing node information determined by the self-adaptive navigation control task of the current group are smaller than the set task duration threshold value in the navigation task duration corresponding to the navigation control task in the set navigation task interval, and determining whether the active stay event capture result corresponding to the current task routing node configuration information is the positive cooperative stay information or not.
6. The wireless navigation method of the pipeline robot according to claim 5, wherein the step of using the task routing node configuration information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the event capturing result of the active stay after the wireless navigation decision configuration as the current set of adaptive navigation control tasks comprises:
determining target navigation task routing node information corresponding to the first negative cooperative stay information in the current wireless navigation decision configuration in the active stay event capture result after the wireless navigation decision configuration;
deleting the active stay event capture result corresponding to the target navigation task routing node information when the active stay event capture result corresponding to the next task routing node configuration information of the target navigation task routing node information is positive cooperative stay information;
and when the capturing result of the active stay event corresponding to the subsequent task routing node configuration information of the target navigation task routing node information is negative cooperative stay information, taking the target navigation task routing node information as the self-adaptive navigation control task of the current group.
7. The wireless navigation method of the pipeline robot according to claim 4, wherein the local instance wireless navigation decision configuration is performed on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval according to the active stay category respectively corresponding to the navigation control tasks corresponding to each of the local candidate navigation task routing node information in the set navigation task interval, so as to obtain the navigation control tasks corresponding to the local navigation task routing node information including the active stay event in the set navigation task interval, the method comprises:
determining active stay categories corresponding to navigation control tasks corresponding to the local candidate navigation task routing node information in a set navigation task interval;
and when the navigation control tasks corresponding to more than one local candidate navigation task routing node information in the set navigation task interval adjacent in time sequence all belong to the same active stay category, performing navigation control task fusion on the navigation control tasks corresponding to the more than one local candidate navigation task routing node information in the set navigation task interval to obtain the navigation control tasks corresponding to the local navigation task routing node information corresponding to the same active stay category in the set navigation task interval.
8. The wireless navigation method of the pipeline robot according to any one of claims 1 to 7, wherein the global wireless navigation decision unit for the event capturing result is configured to perform global wireless navigation decision for the passively staying event capturing result to obtain the navigation control task corresponding to the global navigation task routing node information including the passively staying event within the set navigation task interval, and the method comprises:
performing continuous wireless navigation decision configuration on the event capture result of the passive stay to obtain a plurality of navigation control tasks corresponding to the global candidate navigation task routing node information including the passive stay event in a set navigation task interval;
and according to the passive stay categories corresponding to the navigation control tasks corresponding to the global candidate navigation task routing node information in the set navigation task interval, performing global example wireless navigation decision configuration on the navigation control tasks corresponding to the global candidate navigation task routing node information belonging to the same passive stay category in the set navigation task interval to obtain the navigation control tasks corresponding to the global navigation task routing node information including the passive stay events in the set navigation task interval.
9. A wireless navigation system of a pipeline robot is characterized in that the wireless navigation system of the pipeline robot comprises the pipeline robot and a wireless navigation server which is communicated with the pipeline robot;
the wireless navigation service is to:
acquiring target navigation task routing node information of a target wireless navigation task of a pipeline robot to be subjected to wireless navigation, and respectively performing active stay event capture and passive stay event capture on a plurality of task routing node configuration information in the target navigation task routing node information to obtain an active stay event capture result and a passive stay event capture result;
performing local wireless navigation decision configuration on the actively-stopped event capturing result through a preset local wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to local navigation task routing node information comprising the actively-stopped event in a set navigation task interval;
performing global wireless navigation decision configuration on the passively stopped event capturing result through a preset global wireless navigation decision unit aiming at the event capturing result to obtain a navigation control task corresponding to the global navigation task routing node information including the passively stopped event in a set navigation task interval;
performing wireless navigation configuration on a navigation control task corresponding to the local navigation task routing node information in a set navigation task interval and a navigation control task corresponding to the global navigation task routing node information in the set navigation task interval to obtain a navigation control task corresponding to target navigation task routing node information corresponding to a target instance in the target navigation task routing node information in the set navigation task interval, and performing navigation control service on the pipeline robot based on the navigation control task; the target instance comprises at least one of an active stay event and a passive stay event, and the navigation control task corresponding to the target navigation task routing node information in a set navigation task interval is used for performing wireless navigation on the target wireless navigation task.
10. The wireless navigation system of the pipeline robot according to claim 9, wherein the local wireless navigation decision-making configuration is performed on the event capturing result of the active stop by a preset local wireless navigation decision-making unit for the event capturing result of the active stop to obtain a navigation control task corresponding to the local navigation task routing node information including the active stop event in a set navigation task interval, the navigation control task comprising:
respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capturing result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information;
respectively performing event capture index wireless navigation decision configuration based on analysis index wireless navigation decision configuration records of active stay event capture indexes corresponding to corresponding unique navigation control task attributes in each task routing node configuration information to obtain active stay event capture results after wireless navigation decision configuration;
performing continuous wireless navigation decision configuration on the actively-stopped event capture result after the wireless navigation decision configuration to obtain a plurality of navigation control tasks corresponding to the local candidate navigation task routing node information including the actively-stopped event in a set navigation task interval;
according to the active stay categories corresponding to the navigation control tasks corresponding to the local candidate navigation task routing node information in the set navigation task interval, local example wireless navigation decision configuration is carried out on the navigation control tasks corresponding to the local candidate navigation task routing node information belonging to the same active stay category in the set navigation task interval, and the navigation control tasks corresponding to the local navigation task routing node information including the active stay events in the set navigation task interval are obtained;
the step of respectively performing event attribute matching on each task routing node configuration information in the actively-stopped event capture result to obtain a unique navigation control task attribute corresponding to each task routing node configuration information includes:
aiming at each task routing node configuration information in the actively-stopped event capturing result, when the type number of the initial navigation control task attributes of the task routing node configuration information is not less than two, acquiring navigation linkage index information of each initial navigation control task attribute;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is one, taking the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information as the unique navigation control task attribute of the corresponding task routing node configuration information;
when the initial navigation control task attribute with the highest index strength corresponding to the navigation linkage index information is not less than two, acquiring the event capture index change degree of the corresponding active stay event capture index aiming at the initial navigation control task attribute with the highest index strength corresponding to each navigation linkage index information; according to the initial navigation control task attribute corresponding to the highest event capture index change degree, determining the unique navigation control task attribute corresponding to the corresponding task routing node configuration information;
the method comprises the following steps that an analysis index wireless navigation decision configuration record of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in configuration information of each task routing node is based on an analysis index wireless navigation decision configuration record of the active stay event capture index, event capture index wireless navigation decision configuration is respectively carried out, and an active stay event capture result after wireless navigation decision configuration is obtained, and the method comprises the following steps:
acquiring cooperative node quantity information of an active stay event capture index corresponding to a corresponding unique navigation control task attribute in each task routing node configuration information for each task routing node configuration information;
when the current cooperative node number corresponding to the cooperative node number information is within a preset cooperative node number interval, maintaining a corresponding active stay event capturing result, wherein the maintained active stay event capturing result comprises an active stay event capturing index and a unique navigation control task attribute corresponding to the active stay event capturing index;
deleting the active stay event capture result of the corresponding task routing node configuration information when the current cooperative node number corresponding to the cooperative node number information is not within the preset cooperative node number interval;
and obtaining the active stay event capture result after the wireless navigation decision configuration based on the active stay event capture result corresponding to each task routing node configuration information.
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