CN113537584B - Patrol task conflict processing method and device, electronic equipment and storage medium - Google Patents

Patrol task conflict processing method and device, electronic equipment and storage medium Download PDF

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CN113537584B
CN113537584B CN202110760306.7A CN202110760306A CN113537584B CN 113537584 B CN113537584 B CN 113537584B CN 202110760306 A CN202110760306 A CN 202110760306A CN 113537584 B CN113537584 B CN 113537584B
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task
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CN113537584A (en
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朱富昆
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Workway Shenzhen Information Technology Co ltd
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    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman

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Abstract

The application relates to the technical field of intelligent control, and discloses a method and a device for processing conflict of inspection tasks, electronic equipment and a storage medium, wherein the method comprises the following steps: receiving task information corresponding to a patrol task, wherein the task information comprises a starting time for executing the patrol task and at least one patrol point; based on the starting time and the inspection point corresponding to each inspection task, determining the inspection tasks with mutually conflicting execution time as a combined task; performing de-duplication processing on the inspection points of the merging task to obtain a first inspection point set corresponding to the merging task, wherein each inspection point in the first inspection point set corresponds to one of the inspection points and is used for indicating the earliest moment for allowing the inspection of the inspection point; determining a patrol path corresponding to the merging task based on the position information of each patrol point in the first patrol point set and the earliest moment; and controlling the inspection robot to inspect according to the inspection path corresponding to the merging task so as to improve inspection efficiency.

Description

Patrol task conflict processing method and device, electronic equipment and storage medium
Technical Field
The present application relates to the field of intelligent control technologies, and in particular, to a method and apparatus for processing a patrol task conflict, an electronic device, and a storage medium.
Background
At present, most inspection work needs operation and maintenance personnel to finish manual operation, inspection results are recorded through various tables, inspection time is long, labor cost is high, and accuracy and timeliness of inspection data cannot be fully guaranteed. The intelligent inspection robot not only can perfectly replace the traditional manual inspection, but also truly performs automatic inspection, data identification and analysis, abnormal alarm and notification by means of advanced deep learning algorithm, leading machine vision and data analysis technology, and solves the problems of cost, efficiency, accuracy, data management, personnel security and the like of the traditional manual inspection.
In some scenarios, the information of one or more inspection points needs to be acquired when an inspection task is executed, and at this time, the inspection robot sequentially performs inspection according to the order of the inspection points in the inspection task. If a conflict occurs among the plurality of inspection tasks received by the inspection robot, the inspection robot can sequentially execute the plurality of inspection tasks according to preset priority logic, for example, the inspection tasks are sequentially executed according to the sequence of the received inspection tasks, and the execution efficiency is low.
Disclosure of Invention
The embodiment of the application provides a method, a device, electronic equipment and a storage medium for processing patrol task conflict, which can combine a plurality of patrol tasks with mutually conflicting execution time into one task, thereby greatly improving the execution rate and the patrol efficiency of the tasks.
In one aspect, an embodiment of the present application provides a method for processing a patrol task conflict, including:
receiving task information corresponding to a patrol task, wherein the task information comprises a starting time for executing the patrol task and at least one patrol point;
based on the starting time and the inspection point corresponding to each inspection task, determining the inspection tasks with mutually conflicting execution time as a combined task;
performing de-duplication processing on the patrol points of the merging task to obtain a first patrol point set corresponding to the merging task, wherein each patrol point in the first patrol point set corresponds to one earliest moment for indicating permission to detect the patrol point, the earliest moment corresponding to each patrol point is determined according to the latest starting moment in starting moments corresponding to appointed patrol tasks, and the appointed patrol tasks are patrol tasks containing the patrol points in the merging task;
determining a routing inspection path corresponding to the merging task based on the position information and the earliest moment of each routing inspection point in the first routing inspection point set;
and controlling the inspection robot to inspect according to the inspection path corresponding to the merging task.
Optionally, determining, based on the start time and the inspection point corresponding to each inspection task, the inspection task with the execution time conflicting with each other as a combination and task specifically includes:
Determining estimated task time consumption corresponding to each inspection task according to the position information of the inspection robot and the position information of the inspection point in each inspection task;
determining an execution time period of each inspection task according to the estimated task time consumption and the starting time of each inspection task;
determining at least two patrol tasks with coincident execution time periods as patrol tasks with mutually conflicting execution time;
and taking the patrol tasks with mutually conflicting execution time as a combined task.
Optionally, the determining, based on the location information and the earliest time of each inspection point in the first inspection point set, an inspection path corresponding to the merging task specifically includes:
determining an Nth inspection point in the inspection path by the following method, wherein N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N=1, the threshold value of the activation time of the inspection point is the earliest time in the first inspection point set, and when N is greater than 1, the threshold value of the activation time of the inspection point is determined based on the time of the (N-1) inspection points before the inspection is finished;
adding a patrol point with the earliest moment not later than the threshold value of the patrol point activation moment in the first patrol point set as a candidate patrol point into a candidate patrol point set, and deleting the patrol point added into the candidate patrol point set in the first patrol point set;
Respectively calculating the distance value between each candidate patrol point in the candidate patrol point set and the Nth point of the patrol path, selecting the candidate patrol point corresponding to the smallest distance value as the Nth patrol point of the patrol path, and deleting the candidate patrol point corresponding to the smallest distance value from the candidate patrol point set; the 1 st point of the inspection path is the starting position of the inspection robot, and the N th point of the inspection path is the (N-1) th inspection point of the inspection path.
Optionally, the determining the threshold value of the activation time of the inspection point based on the time of the (N-1) inspection points before the inspection is finished specifically includes:
based on the starting position of the inspection robot and the front (N-1) inspection points of the inspection path, determining the predicted time t of the front (N-1) inspection points before the inspection is finished N-1 Will predict time t N-1 As a patrol point activation time threshold.
Optionally, the method further comprises:
when the inspection points contained in any one of the merging tasks are inspected, acquiring monitoring data corresponding to the inspection points contained in any one of the merging tasks, and outputting inspection results corresponding to any one of the inspection tasks based on the acquired monitoring data.
Optionally, the method further comprises:
if a new inspection task is received in the inspection process of the inspection robot and the execution time of the new inspection task conflicts with the inspection task currently executed, acquiring inspected inspection points in the inspection process;
determining a target inspection point belonging to the new inspection task from the inspected inspection points;
acquiring the inspection time of a target inspection point;
based on the inspection time of the target inspection point, judging the effectiveness of the monitoring data of the target inspection point on the new inspection task;
performing duplicate removal processing on the inspection points which are not inspected in the present inspection process and the inspection points in the new inspection task to obtain a second inspection point set;
removing the valid inspection points of the monitoring data in the second inspection point set to obtain a third inspection point set;
and planning a path based on each inspection point in the third inspection point set to obtain a new inspection path.
Optionally, the determining the validity of the monitoring data of the target inspection point for the new inspection task based on the inspection time of the target inspection point specifically includes:
if the difference value between the starting time of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold, determining that the monitoring data of the target inspection point is valid for the new inspection task, otherwise, determining that the monitoring data of the target inspection point is invalid for the new inspection task.
In one aspect, an embodiment of the present application provides a device for processing a patrol task conflict, including:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving task information corresponding to a patrol task, and the task information comprises starting time for executing the patrol task and at least one patrol point;
the conflict determination module is used for determining the patrol tasks with the execution time conflicting with each other as a combined task based on the starting time and the patrol points corresponding to each patrol task;
the task merging module is used for carrying out de-duplication processing on the patrol points of the merging task to obtain a first patrol point set corresponding to the merging task, wherein each patrol point in the first patrol point set corresponds to one earliest moment for indicating permission to detect the patrol point, the earliest moment corresponding to each patrol point is determined according to the latest starting moment in starting moments corresponding to appointed patrol tasks, and the appointed patrol tasks are patrol tasks containing the patrol points in the merging task;
the path determining module is used for determining a routing inspection path corresponding to the merging task based on the position information and the earliest moment of each routing inspection point in the first routing inspection point set;
And the inspection module is used for controlling the inspection robot to inspect according to the inspection path corresponding to the merging task.
In one aspect, an embodiment of the present application provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any of the methods described above when the processor executes the computer program.
In one aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, perform the steps of any of the methods described above.
In one aspect, an embodiment of the present application provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in various alternative implementations of control of any of the TCP transmission capabilities described above.
According to the inspection task conflict processing method, the inspection task conflict processing device, the electronic equipment and the storage medium, the inspection tasks with mutually conflicting execution time can be identified, the mutually conflicting inspection tasks are combined into one task, the distance between the inspection points and the inspection time effectiveness of the inspection points are comprehensively considered when path planning is conducted on the combined tasks, so that an optimal inspection path is obtained, the inspection robot is prevented from repeatedly monitoring the same inspection point, inspection results of the inspection tasks can be obtained after inspection of the inspection robot for one time, inspection efficiency is improved, and timeliness requirements of inspection time of each inspection point are guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a method for processing a patrol task conflict according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for processing a patrol task conflict according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of determining a patrol path of a merging task according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for processing a patrol task conflict according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an inspection task conflict processing device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
It should be noted that, without conflict, the following embodiments and features in the embodiments may be combined with each other; and, based on the embodiments in this disclosure, all other embodiments that may be made by one of ordinary skill in the art without inventive effort are within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
In some scenarios, information of one or more inspection points needs to be acquired during the process of executing one inspection task, and at this time, the inspection robot sequentially performs inspection according to the sequence of the inspection points in the inspection task. If a conflict occurs among a plurality of inspection tasks received by the inspection robot, the inspection robot can sequentially execute the plurality of inspection tasks according to preset priority logic, for example, sequentially execute the inspection tasks according to the sequence of the received inspection tasks, firstly inspect all inspection points in one inspection task, and then inspect the inspection points of the next inspection task, so that the inspection robot is likely to pass through the same inspection point or the same route for a plurality of times, and the inspection efficiency is very low. In addition, in a scene with higher timeliness requirements on the inspection time, the robot is required to finish the inspection tasks within a specified time period, if the execution time required by a plurality of inspection tasks is very similar, a single robot cannot finish a plurality of inspection tasks within the specified time period at the same time, and at the moment, a plurality of robots can only be assigned to respectively execute different inspection tasks, so that the use efficiency of the robot is greatly reduced.
Therefore, the application provides a method for processing the conflict of the routing inspection tasks, which can combine a plurality of routing inspection tasks with mutually conflicting execution time into one task, specifically, the routing inspection points in the plurality of routing inspection tasks can be subjected to de-duplication processing to obtain routing inspection points corresponding to the combined tasks, and path planning is performed according to the routing inspection points corresponding to the combined tasks to obtain an optimal routing inspection path, and the routing inspection robot performs routing inspection according to the optimal routing inspection path, so that repeated routing inspection points in the plurality of routing inspection tasks only need to be detected once, and the routing inspection efficiency is greatly improved. After the inspection robot obtains the monitoring data of each inspection point on the inspection path, the monitoring data of each inspection point contained in each inspection task is obtained, and then inspection results corresponding to each inspection task are respectively generated, namely after the merging task is executed, the inspection results of the merging task are split into the inspection results of each inspection task, the inspection robot inspects the inspection results of a plurality of inspection tasks once, and inspection efficiency is improved. Further, if the timeliness of the execution time of the inspection tasks has a certain requirement, when a plurality of inspection tasks are combined, the earliest detectable time corresponding to each inspection point in the combined task can be determined, and the optimal inspection path corresponding to the combined task is determined based on the position information and the earliest time of each inspection point, so that the inspection time of each inspection point is ensured to meet the requirement.
After the design idea of the embodiment of the present application is introduced, some simple descriptions are made below for application scenarios applicable to the technical solution of the embodiment of the present application, and it should be noted that the application scenarios described below are only used for illustrating the embodiment of the present application and are not limiting. In the specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Referring to fig. 1, an application scenario diagram of a method for processing a patrol task conflict according to an embodiment of the present application is shown. The region to be inspected in the application scene comprises a plurality of inspection points, and the coordinate positions of the inspection points and the region where the inspection robot can walk are marked in map data corresponding to the region to be inspected. The terminal device 101, the server 102, and the inspection robot 103 may be connected through a wireless or wired network, where the terminal device 101 includes, but is not limited to, electronic devices such as a desktop computer, a mobile phone, a mobile computer, a tablet computer, a media player, an intelligent wearable device, and an intelligent television, and the server 102 may be an independent physical server, a server cluster or a distributed system formed by multiple physical servers, or a cloud server that provides cloud services, a cloud database, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, and basic cloud computing services such as big data and an artificial intelligent platform. The inspection robot 103 is equipment capable of realizing autonomous movement through indoor positioning technology, inertial navigation technology, laser radar and other technologies, the inspection robot 103 can autonomously move to any inspection point according to map data of an area to be inspected, and a camera, an audio acquisition device, various sensors and the like can be configured on the inspection robot 103 so as to detect equipment states of the inspection point or environment states of the inspection point and the like and obtain monitoring data corresponding to the inspection point.
The operation and maintenance personnel can set the inspection points and the starting time corresponding to the inspection tasks through the terminal equipment 101, the inspection tasks are sent to the server 102, the server 102 distributes the inspection tasks to the proper inspection robots 103, the inspection robots 103 generate optimal inspection paths according to the inspection tasks, the inspection of each inspection point is completed according to the optimal inspection paths, the monitoring data of each inspection point is fed back to the server 102, the server 102 generates inspection results corresponding to the inspection tasks based on the monitoring data of each inspection point, and the inspection results are displayed to the operation and maintenance personnel through the terminal equipment 101.
Of course, the method provided by the embodiment of the present application is not limited to the application scenario shown in fig. 1, but may be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described together in the following method embodiments, which are not described in detail herein.
In order to further explain the technical solution provided by the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present application provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method, either on a routine or non-inventive basis. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application.
The technical scheme provided by the embodiment of the application is described below with reference to an application scenario shown in fig. 1. Any inspection task conflict processing method provided by the embodiment of the application can be executed by a controller in the robot or by a background server controlling the robot, and is not limited. In the following embodiments, the execution body is mainly described by a controller in the robot, and the implementation of using the background server as the execution body is similar and will not be described again.
Referring to fig. 2, an embodiment of the present application provides a method for processing a patrol task conflict, including the following steps:
s201, task information corresponding to the patrol task is received, wherein the task information comprises starting time of executing the patrol task and at least one patrol point.
In specific implementation, the operation and maintenance personnel can configure task information corresponding to the inspection tasks according to inspection requirements, each inspection task has a unique task ID, the configurable task information comprises inspection points to be inspected by the inspection task, one inspection task can be provided with only one inspection point, and a plurality of inspection points can be provided. The task information may further include specific inspection content of each inspection point, where the specific inspection content may be configured according to an application scenario, for example, the inspection point No. 1 is a transformer, and the inspection content may be to monitor a switch of the transformer.
The operation and maintenance personnel can also configure a starting time for the inspection task, wherein the starting time refers to the time when the inspection robot starts to execute the inspection task, for example, when the starting time of a certain inspection task is 14 points, the inspection robot starts to execute the inspection task when the 14 points are reached. In one possible embodiment, the starting time may also be configured as a periodic parameter, for example, 14 points per day starts to perform the patrol task, and the patrol task is performed every 6 hours.
S202, based on the starting time and the inspection point corresponding to each inspection task, the inspection tasks with mutually conflicting execution time are determined to be used as a combined task.
In specific implementation, the estimated time consumption of the inspection task corresponding to the inspection task can be estimated according to at least one of the number of inspection points, the distance between the inspection points and the inspection content included in the inspection task, and the time period for executing the inspection task is obtained by combining the starting time of the inspection task, for example, the starting time is 14 points, the estimated time consumption of the inspection task is 30 minutes, and the execution time period of the inspection task is 14 points to 14 points 30 minutes. The more the number of the inspection points is, the longer the time consumption of the estimated task is; the larger the distance between the inspection points is, the longer the time consumption of the estimation task is; the more complex the inspection content, the longer the time-consuming the predictive task.
If the execution time periods of the plurality of inspection tasks overlap, the plurality of inspection tasks are mutually conflicting in execution time, and the plurality of inspection tasks are combined into one task, namely, a combined task is obtained. Thus, one merge task includes at least two patrol tasks. For example, when the execution time period of the inspection task a is 14 points to 14 points for 30 minutes, the execution time period of the inspection task B is 14 points for 10 minutes to 14 points for 40 minutes, and the execution time period of the inspection task C is 14 points for 5 minutes to 14 points for 45 minutes, the inspection tasks A, B, C collide with each other, and the three tasks need to be combined.
S203, performing de-duplication treatment on the patrol points of the merging task to obtain a first patrol point set corresponding to the merging task; each inspection point in the first inspection point set corresponds to an earliest moment for indicating permission to detect the inspection point, the earliest moment corresponding to each inspection point is determined according to the latest starting moment in starting moments corresponding to designated inspection tasks, and the designated inspection tasks are inspection tasks containing the inspection point in the merging task.
Specifically, the duplication removing process is performed on the inspection points in the plurality of inspection tasks included in the combined task, that is, only one repeated inspection point is reserved, so that no repeated inspection point exists in the first inspection point set.
For a patrol task, it is generally considered that the monitoring data obtained before the start time is invalid, or that the monitoring data obtained M minutes before the start time is invalid, especially in a scene with high timeliness requirement, M may be set according to the actual application requirement. In order to ensure that the monitoring data obtained at one inspection point are effective to a plurality of inspection tasks in the combined task, for the inspection point which belongs to only one inspection task, the earliest time corresponding to the inspection point can be determined according to the starting time of the inspection task to which the inspection point belongs, and specifically, the earliest time can be the starting time of the inspection task or the time corresponding to M minutes before the starting time of the inspection task; for the inspection points belonging to a plurality of inspection tasks at the same time, the starting time of the plurality of inspection tasks to which the inspection point belongs can be obtained, one latest starting time is selected, the earliest time corresponding to the inspection point is determined based on the latest starting time, and specifically, the earliest time can be the latest starting time or the time corresponding to M minutes before the latest starting time.
It should be noted that, for each inspection point in the first inspection point set, only after reaching the earliest time corresponding to the inspection point, the inspection robot can monitor the inspection point, and the monitoring data of the inspection point obtained before the earliest time is invalid.
For example, patrol task a contains 3 patrol points: the inspection point 1, the inspection point 2, the inspection point 3, the starting time of configuration is 12 points; the inspection task B comprises 3 inspection points: the starting time of the configuration of the inspection point 1, the inspection point 3, the inspection point 4 is 12 points and 10 minutes. Performing de-duplication processing on the inspection points of the inspection task A and the inspection task B to obtain a first inspection point set corresponding to the merging task, wherein the de-duplication processing comprises the following steps: inspection point 1, inspection point 2, inspection point 3, inspection point 4. Then determining earliest time corresponding to each inspection point in the first inspection point set one by one, taking the inspection point 1 as an example, wherein the inspection points belong to an inspection task A and an inspection task B at the same time, and the starting time of the inspection task B is later than the starting time of the inspection task A, so that the earliest time of the inspection point 1 can be 12 points and 10 points; taking the inspection point 2 as the inspection task A, the earliest time of the inspection point 2 can be 12 points.
S204, determining a routing inspection path corresponding to the merging task based on the position information of each routing inspection point in the first routing inspection point set and the earliest moment.
In the specific implementation, a routing inspection path with the shortest moving distance of the routing inspection robot can be determined according to the distance between the routing inspection points. In the process of path planning, whether the moment when the inspection robot moves to the inspection point is earlier than the earliest moment corresponding to the inspection point or not is also required to be considered, so that the inspection point with the earliest moment can be inspected preferentially when the path planning is carried out. Specifically, the routing inspection points in the first routing inspection point set may be ordered according to the sequence of the earliest time, the routing inspection points with the same earliest time are arranged in parallel on the same sequence, that is, one or more routing inspection points may exist on the same sequence, then path planning is performed according to the ordered sequence, for example, a part of routing inspection paths are determined according to the position information of the routing inspection points ordered first, then a next part of routing inspection paths are determined according to the position information of the routing inspection points ordered second, and so on until all the routing inspection points are planned into the routing inspection paths.
For example, the first set of inspection points obtained after the inspection task a and the inspection task B are combined includes: the inspection point 1, the inspection point 2, the inspection point 3 and the inspection point 4, wherein the earliest corresponding moments of the inspection point 1, the inspection point 2, the inspection point 3 and the inspection point 4 are as follows: 12 points 10 minutes, 12 points whole, 12 points 10 minutes and 12 points 10 minutes. Assuming that the starting position of the inspection robot is shown in fig. 1 and is closest to the inspection point 1, but the earliest time of the inspection point 1 is not reached when the 12 points are all located, so that the inspection point 2 is monitored first, and the inspection paths corresponding to the merging task may be: patrol point 2, patrol point 1, patrol point 3 and patrol point 4.
S205, controlling the inspection robot to inspect according to the inspection path corresponding to the merging task.
And the inspection robot sequentially moves to each inspection point according to the inspection path corresponding to the merging task, and acquires the monitoring data of each inspection point. Then, for each inspection task in the merging task, the monitoring data corresponding to each inspection point contained in the inspection task is extracted from the obtained monitoring data, and an inspection result corresponding to the inspection task is generated based on the monitoring data.
In one possible implementation manner, when the inspection is completed and the inspection point included in any one of the inspection tasks is inspected, the monitoring data corresponding to the inspection point included in the inspection task is obtained, and the inspection result corresponding to the inspection task is output based on the obtained monitoring data. Therefore, the inspection result of part of inspection tasks can be obtained without waiting for completion of the merging task, and the efficiency of obtaining the result is improved.
According to the inspection task conflict processing method, the inspection tasks with conflicting execution time can be identified, the plurality of inspection tasks with conflicting execution time are combined into one task, and when path planning is conducted on the combined tasks, the distance between the inspection points and the inspection time effectiveness of the inspection points are comprehensively considered, so that an optimal inspection path is obtained, the inspection robot is prevented from repeatedly monitoring the same inspection point, inspection results of the plurality of inspection tasks can be obtained after inspection by the inspection robot for one time, inspection efficiency is improved, and the inspection time of each inspection point is guaranteed to meet timeliness requirements.
In one possible implementation, step S202 specifically includes: determining estimated task time consumption corresponding to each inspection task according to the position information of the inspection robot and the position information of the inspection point in each inspection task; determining an execution time period of each inspection task according to the estimated task time consumption and the starting time of each inspection task; determining at least two patrol tasks with coincident execution time periods as patrol tasks with mutually conflicting execution time; and taking the patrol tasks with mutually conflicting execution time as a combined task.
Specifically, an optimal inspection path can be planned according to the position information of the inspection robot and the position information of the inspection point in the inspection task, the length of the optimal inspection path is calculated, and the estimated time consumption of the corresponding estimated task of the inspection task is estimated according to the length of the optimal inspection path and the moving speed of the robot. Of course, on the basis of the time consumption obtained based on the length of the optimal inspection path and the moving speed of the robot, the time consumption of the inspection robot for executing the monitoring task at each inspection point can be further increased, and therefore the accuracy of estimating the time consumption of the task is improved.
In one possible implementation, the nth inspection point in the inspection path may be determined by:
determining a threshold value of the activation time of the inspection point; wherein N is an integer not less than 1; when N=1, the threshold value of the activation time of the inspection point is the earliest time in the first inspection point set, and when N is larger than 1, the threshold value of the activation time of the inspection point is determined based on the time of (N-1) inspection points before inspection is finished;
adding the inspection points with the earliest time not later than the threshold value of the activation time of the inspection points in the first inspection point set as candidate inspection points into the candidate inspection point set, and deleting the inspection points added into the candidate inspection point set in the first inspection point set;
Respectively calculating the distance value between each candidate inspection point in the candidate inspection point set and the Nth point of the inspection path, selecting the candidate inspection point corresponding to the smallest distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the smallest distance value from the candidate inspection point set; the 1 st point of the inspection path is the starting position of the inspection robot, and the N (N-1) th point of the inspection path is the (N-1) th inspection point of the inspection path.
The above specific embodiment of determining the routing path may refer to fig. 3, that is, step S204 specifically includes the following steps:
s301, taking the earliest moment in the first inspection point set as an inspection point activation moment threshold.
S302, adding the inspection point with the earliest moment not later than the threshold value of the activation moment of the inspection point in the first inspection point set as a candidate inspection point into the candidate inspection point set, and deleting the inspection point added into the candidate inspection point set in the first inspection point set.
S303, respectively calculating the distance value between each candidate inspection point in the candidate inspection point set and the 1 st point of the inspection path, selecting the candidate inspection point corresponding to the smallest distance value as the 1 st inspection point of the inspection path, and deleting the candidate inspection point corresponding to the smallest distance value from the candidate inspection point set.
The 1 st point of the inspection path may be a starting position of the inspection robot, and the 2 nd point of the inspection path is the 1 st inspection point of the inspection path.
The value of S304, N increases by 1.
Wherein the initial value of N is 1, and N is an integer not less than 1.
S305, determining a threshold value of the activation time of the inspection point according to the time of the (N-1) inspection points before the inspection is finished.
In the specific implementation, the time of the (N-1) inspection points before the inspection is finished can be directly used as an inspection point activation time threshold. Alternatively, the time required for the (N-1) th inspection point to reach the next nearest inspection point may be considered, and the time obtained by adding the time of the (N-1) inspection point before the inspection is completed to the time obtained after the time is used as the inspection point activation time threshold.
In one possible implementation, the corresponding inspection path may be determined before the inspection robot performs the merge task. At this time, the estimated time t of the (N-1) inspection points before the inspection is completed can be determined based on the starting position of the inspection robot and the first (N-1) inspection points of the inspection path N-1 Will predict time t N-1 As a patrol point activation time threshold. Based on the path planning of the former (N-1) inspection points, the time of the former (N-1) inspection points is estimated, so that the inspection point activation time threshold used in determining the Nth inspection point is updated, and the accuracy of the path planning is improved. In this embodiment, the position where the inspection robot is to be charged may be set as the start position of the inspection robot.
In another possible implementation manner, the inspection robot may perform the merging task while determining the corresponding inspection path, that is, after finishing inspecting one inspection point, determining the next inspection point, where the time of the (N-1) th inspection point before the inspection in step S305 is the time of the (N-1) th inspection point actually after the inspection. In this embodiment, the position where the inspection robot is located immediately before the merging task is performed may be taken as the start position of the inspection robot.
S306, adding the inspection point with the earliest moment not later than the threshold value of the activation moment of the inspection point in the first inspection point set as the candidate inspection point into the candidate inspection point set, and deleting the inspection point added into the candidate inspection point set in the first inspection point set.
S307, calculating the distance value between each candidate inspection point in the candidate inspection point set and the N-th point of the inspection path, selecting the candidate inspection point corresponding to the smallest distance value as the N-th inspection point of the inspection path, and deleting the candidate inspection point corresponding to the smallest distance value from the candidate inspection point set.
The nth point of the inspection path is the (N-1) th inspection point of the inspection path.
In specific implementation, each inspection point corresponds to a position coordinate, and the position coordinates (x 1 ，y 1 ) And (x) 2 ，y 2 ) Calculating the distance value between two inspection points
In the specific implementation, as an obstacle may exist between two inspection points in practice, the inspection robot has to bypass, and in order to improve the accuracy of path planning, the actual distance value between the two inspection points, rather than the linear distance, may be calculated by combining map data.
S308, judging whether N is equal to the number of the inspection points in the initial first inspection point set; if yes, ending, otherwise returning to the step S304.
When N is equal to the number of inspection points in the initial first set of inspection points, it indicates that all inspection points in the first set of inspection points are in the inspection path.
Based on the embodiment shown in fig. 3, a more reasonable and efficient inspection path can be determined.
On the basis of any of the above embodiments, if the inspection robot receives a new inspection task during the process of executing the inspection task and the execution time of the new inspection task conflicts with the currently executed inspection task, the inspection task being executed and the new inspection task may be combined, and a new inspection path may be obtained, and the specific process may refer to the steps shown in fig. 4:
S401, if a new inspection task is received in the inspection process of the inspection robot and the execution time of the new inspection task conflicts with the inspection task currently executed, acquiring an inspected inspection point in the inspection process.
The currently executed inspection task may be a single inspection task which is not combined, or may be a combined task.
In the specific implementation, the finishing time of the current inspection task can be estimated according to the inspection point which is not detected in the inspection task currently executed by the inspection robot, and if the starting time of the new inspection task is before the finishing time and the time difference between the starting time of the new inspection task and the finishing time is larger than a preset value, the conflict between the execution time of the new inspection task and the inspection task currently executed is determined. The preset value may be determined according to actual requirements, for example, the preset value may be 5 minutes, 10 minutes, or the like.
In the specific implementation, if the new inspection task is a task which needs to be executed immediately, the execution time of the new inspection task is directly determined to conflict with the currently executed inspection task.
S402, determining a target inspection point belonging to a new inspection task from the inspected inspection points.
The aim of this step is to determine which of the inspection points of the inspection task are just monitored by the inspection robot.
S403, acquiring the inspection time of the target inspection point.
The inspection time refers to the time when the monitoring of the corresponding inspection point is completed. In the specific implementation, after the monitoring data of the inspection point are obtained, the inspection robot records the current moment and takes the current moment as the inspection time of the inspection point.
S404, based on the inspection time of the target inspection point, judging the effectiveness of the monitoring data of the target inspection point on the new inspection task.
In specific implementation, if the difference between the starting time of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold, determining that the monitoring data of the target inspection point is valid for the new inspection task, otherwise, determining that the monitoring data of the target inspection point is invalid for the new inspection task. The time validity threshold may be set according to actual requirements, for example, may be 5 minutes, 10 minutes, or the like.
S405, performing de-duplication processing on the inspection points which are not inspected in the inspection process and the inspection points in the new inspection task, and obtaining a second inspection point set.
S406, removing the patrol points with effective monitoring data in the second patrol point set to obtain a third patrol point set.
S407, carrying out path planning based on each inspection point in the third inspection point set to obtain a new inspection path.
S408, controlling the inspection robot to inspect according to the new inspection path.
Assuming that the time availability threshold is 5 minutes, the currently performed inspection tasks include: patrol point 1, patrol point 2, patrol point 3 and patrol point 4, wherein the patrol points that have been patrol include: inspection point 1, inspection point 2 and inspection point 3, the inspection time of these 3 inspection points is respectively: 12 points 03, 12 points 07 and 12 points 11. The new inspection task comprises an inspection point 2, an inspection point 3 and an inspection point 5, and the starting time of the new inspection task is 12 points and 15 minutes. To this end, the second set of inspection points may be obtained comprising: the inspection point 4, the inspection point 2, the inspection point 3 and the inspection point 5, wherein the inspection point 2 and the inspection point 3 have been monitored, but the inspection time of the inspection point 2 is more than 5 minutes from the starting time of the new inspection task, so that the previously obtained inspection data of the inspection point 2 is invalid, the inspection point 2 needs to be inspected again, and the inspection time of the inspection point 3 is less than 5 minutes from the starting time of the new inspection task, so that the inspection data of the inspection point 3 is valid, no re-monitoring is needed, the new inspection task can multiplex the inspection data of the inspection point 3, and the third inspection point set thus obtained comprises: inspection point 4, inspection point 2, and inspection point 5. Then, according to the current position of the robot, the position information of the inspection point 4, the inspection point 2 and the inspection point 5, a new inspection path is determined, and the inspection robot is controlled to inspect the inspection point 4, the inspection point 2 and the inspection point 5.
Based on the embodiment shown in fig. 4, the inspection robot can receive a new inspection task in the process of executing the inspection task, combine the new inspection task with the inspection task currently executed, execute the existing task and simultaneously complete the new inspection task, thereby greatly improving the execution efficiency and inspection efficiency of the inspection robot. In addition, the inspection time can be further shortened and the inspection efficiency can be improved by multiplexing the inspected monitoring data according to the execution condition of the existing task.
As shown in fig. 5, based on the same inventive concept as the above-mentioned inspection task conflict processing method, an embodiment of the present application further provides an inspection task conflict processing device 50, including:
the receiving module 501 is configured to receive task information corresponding to a patrol task, where the task information includes a start time of executing the patrol task and at least one patrol point;
the conflict determination module 502 is configured to determine, based on a start time and a patrol point corresponding to each patrol task, patrol tasks with mutually conflicting execution times as a combined task;
a task merging module 503, configured to perform deduplication processing on the inspection points of the merging task, and obtain a first inspection point set corresponding to the merging task, where each inspection point in the first inspection point set corresponds to an earliest time for indicating that the inspection is allowed to be performed on the inspection point, and the earliest time corresponding to each inspection point is determined according to a latest start time in start times corresponding to specified inspection tasks, where the specified inspection tasks are inspection tasks including the inspection point in the merging task;
A path determining module 504, configured to determine a routing inspection path corresponding to the merging task based on the location information and the earliest moment of each routing inspection point in the first routing inspection point set;
and the inspection module 505 is configured to control the inspection robot to inspect according to the inspection path corresponding to the merging task.
Optionally, the conflict determination module 502 is specifically configured to:
determining estimated task time consumption corresponding to each inspection task according to the position information of the inspection robot and the position information of the inspection point in each inspection task;
determining an execution time period of each inspection task according to the estimated task time consumption and the starting time of each inspection task;
determining at least two patrol tasks with coincident execution time periods as patrol tasks with mutually conflicting execution time;
and taking the patrol tasks with mutually conflicting execution time as a combined task.
Optionally, the path determining module 504 is specifically configured to determine an nth inspection point in the inspection path, where N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N=1, the threshold value of the activation time of the inspection point is the earliest time in the first inspection point set, and when N is greater than 1, the threshold value of the activation time of the inspection point is determined based on the time of the (N-1) inspection points before the inspection is finished;
Adding a patrol point with the earliest moment not later than the threshold value of the patrol point activation moment in the first patrol point set as a candidate patrol point into a candidate patrol point set, and deleting the patrol point added into the candidate patrol point set in the first patrol point set;
respectively calculating the distance value between each candidate patrol point in the candidate patrol point set and the Nth point of the patrol path, selecting the candidate patrol point corresponding to the smallest distance value as the Nth patrol point of the patrol path, and deleting the candidate patrol point corresponding to the smallest distance value from the candidate patrol point set; the 1 st point of the inspection path is the starting position of the inspection robot, and the N th point of the inspection path is the (N-1) th inspection point of the inspection path.
Optionally, the path determining module 504 is specifically configured to: based on the starting position of the inspection robot and the first (N-1) inspection points of the inspection path, the expected time tN-1 of the first (N-1) inspection points before the inspection is finished is determined, and the expected time tN-1 is used as an inspection point activation time threshold.
Optionally, the inspection module 505 is further configured to: when the inspection points contained in any one of the merging tasks are inspected, acquiring monitoring data corresponding to the inspection points contained in any one of the merging tasks, and outputting inspection results corresponding to any one of the inspection tasks based on the acquired monitoring data.
Optionally, the conflict determination module 502 is further configured to: and judging whether the execution time of the new inspection task received in the inspection process of the inspection robot conflicts with the inspection task currently executed.
Accordingly, the task merge module 503 is further configured to: after the conflict determination module determines that the execution time of the new inspection task conflicts with the inspection task currently executed, acquiring an inspected inspection point in the inspection process; determining a target inspection point belonging to the new inspection task from the inspected inspection points; acquiring the inspection time of a target inspection point; based on the inspection time of the target inspection point, judging the effectiveness of the monitoring data of the target inspection point on the new inspection task; performing duplicate removal processing on the inspection points which are not inspected in the present inspection process and the inspection points in the new inspection task to obtain a second inspection point set; and removing the patrol points with effective monitoring data in the second patrol point set to obtain a third patrol point set.
Correspondingly, the path determining module 504 is further configured to perform path planning based on each inspection point in the third inspection point set, so as to obtain a new inspection path.
Optionally, the task merging module 503 is specifically configured to: if the difference value between the starting time of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold, determining that the monitoring data of the target inspection point is valid for the new inspection task, otherwise, determining that the monitoring data of the target inspection point is invalid for the new inspection task.
The inspection task conflict processing device and the inspection task conflict processing method provided by the embodiment of the application adopt the same application conception, can obtain the same beneficial effects, and are not described herein again.
Based on the same inventive concept as the inspection task conflict processing method, the embodiment of the application also provides an electronic device, which can be specifically a control device or a control system inside the robot, or can be an external device in communication with an intelligent device, such as a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal digital assistant (Personal DigitalAssistant, PDA), a server, and the like. As shown in fig. 6, the electronic device 60 may include a processor 601 and a memory 602.
The processor 601 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.
The memory 602 is a non-volatile computer readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The Memory may include at least one type of storage medium, which may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (RandomAccess Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic Memory, magnetic disk, optical disk, and the like. The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 602 in embodiments of the present application may also be circuitry or any other device capable of performing storage functions for storing program instructions and/or data.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; such computer storage media can be any available media or data storage device that can be accessed by a computer including, but not limited to: various media capable of storing program code, such as a mobile storage device, a random access Memory (RAM, randomAccess Memory), a magnetic Memory (e.g., a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor Memory (e.g., ROM, EPROM, EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)), etc.
Alternatively, the above-described integrated units of the present application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program code, such as a mobile storage device, a random access Memory (RAM, randomAccess Memory), a magnetic Memory (e.g., a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor Memory (e.g., ROM, EPROM, EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)), etc.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (8)

1. The method for processing the patrol task conflict is characterized by comprising the following steps of:
receiving task information corresponding to a patrol task, wherein the task information comprises a starting time for executing the patrol task and at least one patrol point;
based on the starting time and the inspection point corresponding to each inspection task, determining the inspection tasks with mutually conflicting execution time as a combined task;
performing de-duplication processing on the patrol points of the merging task to obtain a first patrol point set corresponding to the merging task, wherein each patrol point in the first patrol point set corresponds to one earliest moment for indicating permission to detect the patrol point, the earliest moment corresponding to each patrol point is determined according to the latest starting moment in starting moments corresponding to appointed patrol tasks, and the appointed patrol tasks are patrol tasks containing the patrol points in the merging task;
determining a routing inspection path corresponding to the merging task based on the position information and the earliest moment of each routing inspection point in the first routing inspection point set;
controlling the inspection robot to inspect according to the inspection path corresponding to the merging task;
the method for determining the patrol task with the conflict execution time is based on the start time and the patrol point corresponding to each patrol task and is used as a combination and task, and specifically comprises the following steps:
Determining estimated task time consumption corresponding to each inspection task according to the position information of the inspection robot and the position information of the inspection point in each inspection task;
determining an execution time period of each inspection task according to the estimated task time consumption and the starting time of each inspection task;
determining at least two patrol tasks with coincident execution time periods as patrol tasks with mutually conflicting execution time;
taking the patrol tasks with mutually conflicting execution time as a combined task;
the determining, based on the position information and the earliest time of each inspection point in the first inspection point set, an inspection path corresponding to the merging task specifically includes:
determining an Nth inspection point in the inspection path by the following method, wherein N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N=1, the threshold value of the activation time of the inspection point is the earliest time in the first inspection point set, and when N is greater than 1, the threshold value of the activation time of the inspection point is determined based on the time of the (N-1) inspection points before the inspection is finished;
adding a patrol point with the earliest moment not later than the threshold value of the patrol point activation moment in the first patrol point set as a candidate patrol point into a candidate patrol point set, and deleting the patrol point added into the candidate patrol point set in the first patrol point set;
Respectively calculating the distance value between each candidate patrol point in the candidate patrol point set and the Nth point of the patrol path, selecting the candidate patrol point corresponding to the smallest distance value as the Nth patrol point of the patrol path, and deleting the candidate patrol point corresponding to the smallest distance value from the candidate patrol point set; the 1 st point of the inspection path is the starting position of the inspection robot, and the N th point of the inspection path is the (N-1) th inspection point of the inspection path.
2. The method according to claim 1, wherein determining the threshold of the inspection point activation time based on the time of (N-1) inspection points before the inspection is completed, specifically comprises:
based on the starting position of the inspection robot and the front (N-1) inspection points of the inspection path, determining the predicted time t of the front (N-1) inspection points before the inspection is finished N-1 Will predict time t N-1 As a patrol point activation time threshold.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
when the inspection points contained in any one of the merging tasks are inspected, acquiring monitoring data corresponding to the inspection points contained in any one of the merging tasks, and outputting inspection results corresponding to any one of the inspection tasks based on the acquired monitoring data.
4. The method according to claim 1 or 2, characterized in that the method further comprises:
if a new inspection task is received in the inspection process of the inspection robot and the execution time of the new inspection task conflicts with the inspection task currently executed, acquiring inspected inspection points in the inspection process;
determining a target inspection point belonging to the new inspection task from the inspected inspection points;
acquiring the inspection time of a target inspection point;
based on the inspection time of the target inspection point, judging the effectiveness of the monitoring data of the target inspection point on the new inspection task;
performing duplicate removal processing on the inspection points which are not inspected in the present inspection process and the inspection points in the new inspection task to obtain a second inspection point set;
removing the valid inspection points of the monitoring data in the second inspection point set to obtain a third inspection point set;
and planning a path based on each inspection point in the third inspection point set to obtain a new inspection path.
5. The method according to claim 4, wherein the determining the validity of the monitored data of the target inspection point for the new inspection task based on the inspection time of the target inspection point specifically includes:
If the difference value between the starting time of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold, determining that the monitoring data of the target inspection point is valid for the new inspection task, otherwise, determining that the monitoring data of the target inspection point is invalid for the new inspection task.
6. An inspection task conflict processing device, comprising:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving task information corresponding to a patrol task, and the task information comprises starting time for executing the patrol task and at least one patrol point;
the conflict determination module is used for determining the patrol tasks with the execution time conflicting with each other as a combined task based on the starting time and the patrol points corresponding to each patrol task;
the task merging module is used for carrying out de-duplication processing on the patrol points of the merging task to obtain a first patrol point set corresponding to the merging task, wherein each patrol point in the first patrol point set corresponds to one earliest moment for indicating permission to detect the patrol point, the earliest moment corresponding to each patrol point is determined according to the latest starting moment in starting moments corresponding to appointed patrol tasks, and the appointed patrol tasks are patrol tasks containing the patrol points in the merging task;
The path determining module is used for determining a routing inspection path corresponding to the merging task based on the position information and the earliest moment of each routing inspection point in the first routing inspection point set;
the inspection module is used for controlling the inspection robot to inspect according to the inspection path corresponding to the merging task;
the conflict determination module is specifically configured to:
determining estimated task time consumption corresponding to each inspection task according to the position information of the inspection robot and the position information of the inspection point in each inspection task;
determining an execution time period of each inspection task according to the estimated task time consumption and the starting time of each inspection task;
determining at least two patrol tasks with coincident execution time periods as patrol tasks with mutually conflicting execution time;
taking the patrol tasks with mutually conflicting execution time as a combined task;
the path determining module is specifically configured to determine an nth inspection point in the inspection path, where N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N=1, the threshold value of the activation time of the inspection point is the earliest time in the first inspection point set, and when N is greater than 1, the threshold value of the activation time of the inspection point is determined based on the time of the (N-1) inspection points before the inspection is finished;
Adding a patrol point with the earliest moment not later than the threshold value of the patrol point activation moment in the first patrol point set as a candidate patrol point into a candidate patrol point set, and deleting the patrol point added into the candidate patrol point set in the first patrol point set;
respectively calculating the distance value between each candidate patrol point in the candidate patrol point set and the Nth point of the patrol path, selecting the candidate patrol point corresponding to the smallest distance value as the Nth patrol point of the patrol path, and deleting the candidate patrol point corresponding to the smallest distance value from the candidate patrol point set; the 1 st point of the inspection path is the starting position of the inspection robot, and the N th point of the inspection path is the (N-1) th inspection point of the inspection path.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed by the processor.
8. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 5.
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