CN116563968A - Intelligent inspection method and device based on risk thermodynamic map and electronic equipment - Google Patents
Intelligent inspection method and device based on risk thermodynamic map and electronic equipment Download PDFInfo
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- G—PHYSICS
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Abstract
The invention provides an intelligent inspection method and device based on a risk thermodynamic map and electronic equipment. The intelligent inspection method based on the risk thermodynamic map comprises the following steps: acquiring a static risk thermodynamic map of a scene to be inspected; generating a dynamic risk thermodynamic map according to the static risk thermodynamic map; creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map; based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process; updating the dynamic risk thermodynamic map according to the inspected route contained in the inspection result; and updating the thermodynamic value of the static risk thermodynamic map according to the risk area found in the inspection process contained in the inspection result. The intelligent inspection method based on the risk thermodynamic map improves the reliability of inspection results.
Description
Technical Field
The invention relates to the technical field of computers, in particular to an intelligent inspection method and device based on a risk thermodynamic map and electronic equipment.
Background
With the increasing importance of safety problems, many scenes require the inspection robot to perform corresponding supervision and prevention control on the surrounding environment. Such as: in places such as markets and hospitals, the inspection robot is required to timely cope with unsafe matters; for places for storing dangerous inflammable substances, the inspection robot is required to timely inspect potential safety hazards.
In the prior art, many inspection tasks are simply focused on the inspection path planning task, and although the whole area coverage is achieved, the inspection method neglects the focus on the high-risk areas, so that the inspection system spends more time in a safe area.
Therefore, the inspection method in the prior art has lower reliability of the inspection result.
Disclosure of Invention
In view of the above, the present invention provides an intelligent inspection method, apparatus and electronic device based on a risk thermal map to solve the above problems.
According to a first aspect of the present invention, there is provided an intelligent patrol method based on a risk thermodynamic map, comprising: acquiring a static risk thermodynamic map of a scene to be inspected; generating a dynamic risk thermodynamic map according to the static risk thermodynamic map; creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map; based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process; updating a dynamic risk thermodynamic map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermodynamic map is used as the basis of the next inspection path planning and the initial map recorded by the inspected path; and updating the thermodynamic value of the static risk thermodynamic map according to the risk area found in the inspection process contained in the inspection result.
In another implementation of the present invention, obtaining a static risk thermodynamic map of a scene to be inspected includes: acquiring prior information of a scene to be inspected and a scene map; determining the probability of occurrence of accidents in each area in a scene map according to priori information of the scene to be patrolled and examined; modeling is carried out based on the probability of sending accidents in each area of the scene map, and a static risk thermodynamic map is obtained.
In another implementation manner of the present invention, creating a path to be patrolled according to each thermodynamic value point in a region corresponding to different thermodynamic values in a dynamic risk thermodynamic map includes: creating a temporary thermal value map according to the dynamic risk thermal map, wherein the thermal values of all thermal value points in the corresponding areas of different thermal values in the temporary thermal value map are adjusted according to preset thermal value adjusting conditions; selecting an inspection target point in the temporary thermal value map according to the number of the preset inspection target points; and connecting each inspection target point in the temporary thermal value map to obtain the path to be inspected.
In another implementation of the invention, creating a temporary thermal value map from a dynamic risk thermal map includes: creating an initial temporary thermal map according to the initial dynamic risk thermal map; selecting an inspection target point for first inspection based on the initial temporary thermal map; establishing a patrol target point set according to each selected patrol target point; and updating the last temporary thermal map according to each patrol target point set to obtain each temporary thermal map.
In another implementation of the present invention, updating the dynamic risk thermodynamic map according to the inspected route included in the inspection result includes: and updating the last dynamic risk thermodynamic map according to the inspected route contained in each inspection result to obtain each dynamic risk thermodynamic map.
In another implementation manner of the present invention, according to a risk area found in a patrol process included in a patrol result, updating a thermal value of a static risk thermal map includes: determining a corresponding region of a risk region found in the inspection process in the inspection result in a static risk thermodynamic map; the thermal value of the corresponding zone is increased.
In another implementation manner of the present invention, the intelligent patrol method based on the risk thermodynamic map further includes: and if the inspection result indicates that the inspection area does not have the risk area, reducing the thermal value of the inspection area in the area corresponding to the dynamic risk thermal map.
According to a second aspect of the present invention, there is provided an intelligent patrol apparatus based on a risk thermodynamic map, comprising: the acquisition module is used for: acquiring a static risk thermodynamic map of a scene to be inspected; a first processing module: generating a dynamic risk thermodynamic map according to the static risk thermodynamic map; creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map; and (3) a patrol module: based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process; and a second processing module: updating a dynamic risk thermodynamic map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermodynamic map is used as the basis of the next inspection path planning and the initial map recorded by the inspected path; and updating the thermodynamic value of the static risk thermodynamic map according to the risk area found in the inspection process contained in the inspection result.
According to a third aspect of the present invention, there is provided an electronic device comprising: the intelligent patrol system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the intelligent patrol method based on the risk thermodynamic map according to any one of the above when executing the computer program.
According to a fourth aspect of the present invention there is provided a computer storage medium having stored thereon a computer program which when executed by a processor performs the steps of the risk thermal map-based intelligent patrol method as defined in any one of the above.
In the intelligent inspection method based on the risk thermal map, the static risk thermal map is acquired, the region where the risk easily occurs in the scene to be inspected and the probability of occurrence of the risk can be intuitively determined, the path to be inspected is created based on each thermal value point of the dynamic risk thermal map, so that the path to be inspected has pertinence, the high-risk region can be inspected more accurately, the dynamic risk thermal map is updated according to the inspection result, the user can observe the inspection result and the inspection region more intuitively, the static risk thermal map and the dynamic risk thermal map are updated in real time according to the inspection result, the inspection target point selected by the next inspection is more accurate, and the reliability of the inspection result is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and advantages and benefits in the solutions will become apparent to those skilled in the art from reading the detailed description of the embodiments below. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
fig. 1 is a flow chart of steps of an intelligent patrol method based on a risk thermal map according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a static risk thermodynamic map according to another embodiment of the present invention.
Fig. 3 is a schematic view of a temporary thermal map according to another embodiment of the invention.
Fig. 4 is a schematic diagram of a dynamic risk thermodynamic map according to another embodiment of the present invention.
Fig. 5 is a schematic view of a patrol path according to another embodiment of the invention.
Fig. 6 is a schematic diagram of the number of rounds of each target point according to another embodiment of the present invention.
Fig. 7 is a schematic diagram of a dynamic risk thermodynamic map according to another embodiment of the present invention.
Fig. 8 is a schematic view of a patrol path according to another embodiment of the invention.
FIG. 9 is a chart showing the number of inspection steps for each target point according to another embodiment of the present invention.
Fig. 10 is a schematic diagram of a static risk thermodynamic map according to another embodiment of the present invention.
Fig. 11 is a schematic diagram of a dynamic risk thermodynamic map according to another embodiment of the present invention.
Fig. 12 is a schematic view of a patrol path according to another embodiment of the invention.
Fig. 13 is a schematic diagram of the number of rounds of each target point according to another embodiment of the present invention.
Fig. 14 is a block diagram of an intelligent patrol apparatus based on a risk thermal map according to another embodiment of the present invention.
Fig. 15 is a schematic structural diagram of an electronic device according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions in the embodiments of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and specifically described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the present invention, shall fall within the scope of protection of the embodiments of the present invention.
Fig. 1 is a step flowchart of an intelligent patrol method based on a risk thermodynamic map according to an embodiment of the present invention, as shown in fig. 1, the embodiment mainly includes the following steps:
s101, acquiring a static risk thermodynamic map of a scene to be inspected.
The method includes the steps that a scene map is generated according to scene information to be inspected, a static risk thermal map of the scene to be inspected is built according to prior probability of accident sending of each area in the scene to be inspected, and the static risk thermal map is unchanged under the conditions that risks are not found in the inspection process and the actual scene is unchanged. The method for constructing the risk thermodynamic map can be used for completing the construction of the risk thermodynamic map according to the property of gas diffusion by utilizing the gas diffusion model, performing key inspection and the like on a high-risk area where gas leakage possibly occurs, and the method for constructing the risk thermodynamic map is not particularly limited.
It should be understood that generating a static risk thermal map obtains the relative magnitude of the accident probability through some prior information, and sets the weight alpha r The probability information is modeled by a gaussian model. Assuming that the risk probability p of several critical monitoring points has been evaluated r The static thermodynamic map can be regarded as a mixture of k single Gaussian models, expressed by the following formula
Where k represents the kth single Gaussian model in the GMM (Gaussian mixture model),is the weight of the corresponding Gaussian model, K is the total number of Gaussian models, m ij Is any point in the temporary thermal map. A single component in the gaussian mixture model simulates the probability of finding a target at a particular location. />Is determined by a soft max function
Wherein the initial valueThe risk probability of important monitoring points is obtained.
S102, generating a dynamic risk thermal map according to the static risk thermal map.
For example, as shown in fig. 2, in a static risk thermal map, where larger thermal values are represented by warmer colors and smaller thermal values are represented by cooler colors, it can be seen that corresponding points appear to be warm colors to different extents depending on thermal values, where different thermal values represent different risk probabilities. From the static risk thermodynamic map, a dynamic risk thermodynamic map as shown in fig. 4 is generated.
S103, creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map.
Illustratively, each inspection target point is selected from the corresponding area of each thermal value point of the dynamic risk thermal map to be connected, and a path to be inspected is generated. The routing inspection path planning can be completed by adopting a more direct scheme, for example, the optimal path distance between any two points is obtained through other path planning algorithms, the routing inspection sequence is obtained through solving the problem of a user, the path planning of single routing inspection is further obtained, and the method for routing inspection path planning is not particularly limited.
S104, based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and the risk area found in the inspection process.
The inspection robot inspects the scene to be inspected along the path to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and whether a risk area exists in the inspection process.
And S105, updating the dynamic risk thermal map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermal map is used as the basis of the next inspection path planning and the initial map recorded by the inspected path.
Exemplary, the updated dynamic thermodynamic diagram records which areas the inspection robot has passed and which areas have not been inspected for a long time, and the scene map M (l×w) is searched for the radius r with the sensor by recording the mesh passed by the inspection path, i.e., the mesh for collecting information for the sensor s Dividing the length of each unit cell into (l/r) s )×(w/r s ) Zone(s)Domain, i.e. l h ×w h And (3) generating grids, wherein the generated path is composed of nodes and edges between the nodes, and all the nodes and the edges only need to be traversed to obtain all the grids through which the routing inspection path passes.
First, node m 1 (x 1 ,y 1 ) And node m 2 (x 2 ,y 2 ) Conversion to grid coordinates, i.e. the coordinate value divided by the sensor search radius r s Obtaining grid coordinatesAnd->
Respectively taking the maximum value and the minimum value of the line segments on the x axis and the y axis, taking the minimum value of the coordinates on the x axis to be rounded downwards, taking the maximum value to be rounded upwards, taking the integer value of the x axis from small to large, and calculating the coordinates of the line segments and the gridAnd->The value of the corresponding ordinate on the same straight line; the minimum value of the coordinates on the y axis is rounded downwards, the maximum value is rounded upwards, the integer value from small to large of the y axis is taken, and the grid coordinates are calculated>And->The value of the corresponding abscissa on the same straight line gives the set of all intersections with the grid +.>
For intersection point setSequencing and judging phasesAnd updating the single inspection record R by passing the adjacent two coordinates through the grids.
For single patrol record R:
i.e. the single inspection record R of all passing grids is recorded as 1.
For multiple rounds we assume a total of T rounds, where a total of T ij The inspection to a certain point m ij And go to m from last inspection ij Undergo T ij Secondary inspection, in other words, last inspection of x ij Is T-T ij Next, we can get:
in the above formula, α dy The larger the value of the weight parameter is, the larger the influence of the thermal value of the static risk thermal map on the updating of the dynamic risk thermal map is, and the weight alpha is increased appropriately dy The effect of multiple inspection in high-risk areas can be achieved. P is p obs (m ij ) Is point-to-point m ij Judging whether or not the obstacle obstructs, point m ij On an obstacle, p obs (m ij ) Dynamic risk thermodynamic map thermodynamic value =1
It should be understood that the dynamic risk thermal map is updated according to each inspection path, so as to reflect the inspection times of each point and the inspection interval from the last inspection, and the dynamic risk thermal map can be updated by considering the information of the actual track of the robot, the frame rate and the radius of the sensor, and the like.
S106, updating the thermal value of the static risk thermal map according to the risk area found in the inspection process contained in the inspection result.
The static risk thermodynamic map is updated according to a thermal value according to a risk area found in a patrol process included in a patrol result, and is constructed according to prior information, and is updated when conditions such as risks or surrounding environments are found to change in the patrol process.
In the intelligent inspection method based on the risk thermal map, the static risk thermal map is acquired, the region where the risk easily occurs in the scene to be inspected and the probability of occurrence of the risk can be intuitively determined, the path to be inspected is created based on each thermal value point of the dynamic risk thermal map, so that the path to be inspected has pertinence, the high-risk region can be inspected more accurately, the dynamic risk thermal map is updated according to the inspection result, the user can observe the inspection result and the inspection region more intuitively, the static risk thermal map and the dynamic risk thermal map are updated in real time according to the inspection result, the inspection target point selected by the next inspection is more accurate, and the reliability of the inspection result is improved.
In another implementation of the present invention, obtaining a static risk thermodynamic map of a scene to be inspected includes: acquiring prior information of a scene to be inspected and a scene map; determining the probability of occurrence of accidents in each area in a scene map according to priori information of the scene to be patrolled and examined; modeling is carried out based on the probability of sending accidents in each area of the scene map, and a static risk thermodynamic map is obtained.
In another implementation manner of the present invention, creating a path to be patrolled according to each thermodynamic value point in a region corresponding to different thermodynamic values in a dynamic risk thermodynamic map includes: creating a temporary thermal value map according to the dynamic risk thermal map, wherein the thermal values of all thermal value points in the corresponding areas of different thermal values in the temporary thermal value map are adjusted according to preset thermal value adjusting conditions; selecting an inspection target point in the temporary thermal value map according to the number of the preset inspection target points; and connecting each inspection target point in the temporary thermal value map to obtain the path to be inspected.
Illustratively, as shown in FIG. 2, let m ij Respectively at [30,240]]、[470,100]、[480,280]、[150,80]、[300,30]、[160,200]、[200,260]、[330,170]、[240,150]Its corresponding risk probability p r The method comprises the steps of respectively setting the dynamic risk thermodynamic map to be 0.8, 0.6, 0.5, 0.4, 0.3, 0.2, 0.1, 0.7 and 0.6, determining all thermodynamic value points according to areas corresponding to different thermodynamic values in the dynamic risk thermodynamic map, selecting patrol target points from all thermodynamic value points according to different preset patrol target point numbers, and selecting the patrol target points by the following method:
firstly, constructing a temporary thermal map with the same initial value as the initial dynamic risk thermal mapTesting on the static risk thermodynamic map of FIG. 2, setting α obj =0.001, set different n obj The temporary thermal value map of each time is shown in figure 3, and the number n of target points is selected according to the requirement obj Determining the circulation times, and selecting the maximum thermodynamic value point m on the map each time max (x max ,y max ) Joining a set M of inspection target points obj Thereafter, the temporary thermodynamic map is modified to obtain the respective temporary thermodynamic map as shown in fig. 3, and each thermodynamic value on the temporary thermodynamic map is weighted as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for temporary thermal map->Any point m ij Is weighted by ω (x) max ,y max ) Reference is made to the hyperbolic tangent (Tanh) activation function:
it should be understood that the patrol target points are selected on the dynamic risk thermal map, each time the patrol target points are determined according to the order from the initial value of the risk probability set at the beginning to the small value, and the condition that the patrol target points are concentrated in a certain area relatively densely due to the fact that the value at a certain place is too large does not exist. With the points [20,20] as starting points, the points [30,240], [470,100], [480,280], [150,80], [300,30], [160,200], [200,260], [330,170], [240,150] are set as the high risk points of the initial mark, and the risk probabilities thereof are set to 0.8, 0.6, 0.5, 0.4, 0.3, 0.2, 0.1, 0.7, 0.6, respectively.
As shown in fig. 5, each inspection target point in the temporary thermal value map is connected to obtain a path to be inspected, and the number n of target points is set obj =20, sensor search radius r s And (20), and finally, finishing the inspection task after 9 times of inspection. The preset thermal value adjustment conditions may include: decreasing the magnitude of the risk value around the selected midpoint or increasing the weight of the unselected locations. The mode of searching the target point for the single inspection can be replaced by other weight functions, and the formula for calculating the weight is not particularly limited. Based on the thermodynamic value of each area of the dynamic risk thermodynamic map, each inspection target point is determined, and the accuracy of the inspected risk area is ensured.
It will be appreciated that the invention can still achieve the same effect while reducing the number of risk points, as described in points [20,20]For starting point, the points (30,240), (150,80) are set as high risk points of initial mark, the risk probabilities thereof are set to 0.8 and 0.6 respectively, the static risk thermodynamic map obtained by GMM (Gaussian mixture model) is shown in FIG. 10, and the number n of target points is set obj ＝20，Sensor search radius r s The total inspection process is 8 times to complete the inspection task, the dynamic risk thermal map is shown in fig. 11, the inspection path is shown in fig. 12, and the inspection times t of each point are calculated ij The results of the drawing are shown in fig. 13. In the figure, the lower left corner point is used as a starting point, the other two points are high-risk areas which are arranged at the beginning, and as the high-risk areas which are arranged at the beginning are fewer, the important inspection areas are concentrated at the left side, and particularly, the two high-risk areas and the vicinity of the starting point are seen. The full-coverage task is divided into a plurality of rounds of inspection, the repeated path of each round of inspection is reduced, the global coverage is ensured after the rounds of inspection, the rounds of inspection and key rounds of inspection are performed for high-risk areas, and the inspection efficiency is improved.
In another implementation of the invention, creating a temporary thermal value map from a dynamic risk thermal map includes: creating an initial temporary thermal map according to the initial dynamic risk thermal map; selecting an inspection target point for first inspection based on the initial temporary thermal map; establishing a patrol target point set according to each selected patrol target point; and updating the last temporary thermal map according to each patrol target point set to obtain each temporary thermal map.
In another implementation of the present invention, updating the dynamic risk thermodynamic map according to the inspected route included in the inspection result includes: and updating the last dynamic risk thermodynamic map according to the inspected route contained in each inspection result to obtain each dynamic risk thermodynamic map.
An initial dynamic risk thermal map is created according to the static risk thermal map, and as shown in fig. 4, the dynamic risk thermal map of the last time is updated according to the inspected route included in the inspection result of each time, so as to obtain the dynamic thermal map after each inspection.
In another implementation manner of the present invention, according to a risk area found in a patrol process included in a patrol result, updating a thermal value of a static risk thermal map includes: determining a corresponding region of a risk region found in the inspection process in the inspection result in a static risk thermodynamic map; the thermal value of the corresponding zone is increased.
Illustratively, if the inspection result indicates that there is a risk area, the thermal value of the area corresponding to the risk area in the static risk thermal map is increased.
It should be understood that the number of rounds per point t will be ij As a result of drawing, as shown in fig. 6, the point at the lower left corner of the drawing is a starting point, the rest points are high risk areas which are initially set, and besides that individual obstacles cannot pass, the starting point and the adjacent areas can be seen to pass most frequently, and other areas needing important inspection are more in inspection frequency compared with the adjacent areas.
In another implementation manner of the present invention, the intelligent patrol method based on the risk thermodynamic map further includes: and if the inspection result indicates that the inspection area does not have the risk area, reducing the thermal value of the inspection area in the area corresponding to the dynamic risk thermal map.
For example, if the inspection result indicates that the inspection area does not have a risk area, the thermal value of the inspection area in the area corresponding to the dynamic risk thermal map is reduced, as shown in fig. 4, where the inspection path in fig. 4 has a darker color, and where the lighter area indicates that the risk area does not exist.
In another implementation of the invention, if we will formula:
medium static risk thermodynamic mapCorresponding thermodynamic value->Replacement with dynamic risk thermodynamic map->Corresponding heatForce value->The following formula:
thermal valueThe map processed by the dynamic risk thermodynamic map after the last time of determining the inspection target is adopted, so that the generated dynamic risk thermodynamic map can avoid the selection of the target point and the repetition of the last time as much as possible. Let the number of target points n obj =20, sensor search radius r s The global inspection task was completed after 7 inspection runs, the change of the winter risk thermal map is shown in fig. 7, and the inspection path is shown in fig. 8. The inspection times t of each point ij Drawing is performed, and the drawing result is shown in fig. 9.
It should be appreciated that although the number of rounds is relatively small, there is no significant effect of multiple rounds at the point of focus. Compared with a mode of using a static risk thermodynamic map, the method lacks important attention on marked high-risk areas, and is not as good as directly carrying out full-coverage inspection path planning in comparison with the mode of realizing global coverage tasks through multiple inspection.
Fig. 14 is a block diagram of an intelligent patrol device 1400 based on a risk thermal map according to an embodiment of the present invention, as shown in fig. 14, the embodiment mainly includes:
acquisition module 1401: acquiring a static risk thermodynamic map of a scene to be inspected;
the first processing module 1402: generating a dynamic risk thermodynamic map according to the static risk thermodynamic map; creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map;
inspection module 1403: based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process;
the second processing module 1404: updating a dynamic risk thermodynamic map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermodynamic map is used as the basis of the next inspection path planning and the initial map recorded by the inspected path; and updating the thermodynamic value of the static risk thermodynamic map according to the risk area found in the inspection process contained in the inspection result.
In the intelligent inspection device based on the risk thermal map, the static risk thermal map is acquired, the region where the risk easily occurs in the scene to be inspected and the probability of occurrence of the risk can be intuitively determined, the path to be inspected is created based on each thermal value point of the dynamic risk thermal map, so that the path to be inspected has pertinence, the high-risk region can be inspected more accurately, the dynamic risk thermal map is updated according to the inspection result, a user can intuitively observe the inspection result and the inspection region, the static risk thermal map and the dynamic risk thermal map are updated in real time according to the inspection result, the inspection target point selected by the next inspection is more accurate, and the reliability of the inspection result is improved.
In another implementation manner of the present invention, the obtaining module 1401 is further configured to obtain prior information of a scene to be patrolled and examined and a scene map; determining the probability of occurrence of accidents in each area in a scene map according to priori information of the scene to be patrolled and examined; modeling is carried out based on the probability of sending accidents in each area of the scene map, and a static risk thermodynamic map is obtained.
In another implementation manner of the present invention, the first processing module 1402 is further configured to create a temporary thermal value map according to a dynamic risk thermal map, where thermal values of respective thermal value points in corresponding areas of different thermal values in the temporary thermal value map are adjusted according to preset thermal value adjustment conditions; selecting an inspection target point in the temporary thermal value map according to the number of the preset inspection target points; and connecting each inspection target point in the temporary thermal value map to obtain the path to be inspected.
In another implementation of the present invention, the first processing module 1402 is further configured to create an initial temporary thermal map from the initial dynamic risk thermal map; selecting an inspection target point for first inspection based on the initial temporary thermal map; establishing a patrol target point set according to each selected patrol target point; and updating the last temporary thermal map according to each patrol target point set to obtain each temporary thermal map.
In another implementation of the present invention, the second processing module 1404 is further configured to update the dynamic risk thermal map of the last time according to the inspected route included in each inspection result, so as to obtain each dynamic risk thermal map.
In another implementation of the present invention, the second processing module 1404 is further configured to determine a corresponding area of the risk area found in the inspection process included in the inspection result in the static risk thermal map; the thermal value of the corresponding zone is increased.
In another implementation of the present invention, the second processing module 1404 is further configured to reduce a thermal value of the inspection area in the area corresponding to the dynamic risk thermal map if the inspection result indicates that the inspection area does not have the risk area.
As shown in fig. 15, the electronic device 1500 may include: a processor 1501, a memory 1503, a communication bus 1504, and a communication interface (Communications Interface) 1505.
Wherein:
the processor 1501, the memory 1503, and the communication interface 1505 communicate with each other via the communication bus 1504.
Communication interface 1505 for communicating with other electronic devices or servers.
The processor 1501 is configured to execute the program 1502, and may specifically execute the steps of the intelligent patrol method based on the risk thermal map in any one of the foregoing embodiments.
In particular, program 1502 may include program code including computer operational instructions.
The processor 1501 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors comprised by the smart device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 1503 for storing the program 1502. Memory 1503 may comprise high-speed RAM memory or may also comprise non-volatile memory, such as at least one disk memory.
Program 1502 may be specifically adapted to cause processor 1501 to execute steps of any of the risk thermal map-based intelligent patrol method described in the embodiments. The specific implementation of each step in the program 1502 may refer to the corresponding descriptions in the steps and units executed by any one of the foregoing steps of the intelligent inspection method based on the risk thermodynamic map, which are not described herein in detail. It will be apparent to those skilled in the art that for convenience and brevity of description, the specific operation of the apparatus and modules described above may be described with reference to corresponding processes in the foregoing method embodiments.
The exemplary embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the methods of the embodiments of the present application.
The above-described methods according to embodiments of the present invention may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored on such software processes on a recording medium using a general purpose computer, special purpose processor, or programmable or special purpose hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by a computer, processor, or hardware, performs the methods described herein. Furthermore, when a general purpose computer accesses code for implementing the methods illustrated herein, execution of the code converts the general purpose computer into a special purpose computer for performing the methods illustrated herein.
Thus, specific embodiments of the present invention have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
It should be noted that all directional indicators (such as up, down, left, right, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is correspondingly changed.
In the description of the present invention, the terms "first," "second," and the like are used merely for convenience in describing the various components or names, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It should be noted that, although specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention should not be construed as limiting the scope of the present invention. Various modifications and variations which may be made by those skilled in the art without the creative effort fall within the protection scope of the present invention within the scope described in the claims.
Examples of embodiments of the present invention are intended to briefly illustrate technical features of embodiments of the present invention so that those skilled in the art may intuitively understand the technical features of the embodiments of the present invention, and are not meant to be undue limitations of the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent inspection method based on a risk thermodynamic map is characterized by comprising the following steps:
acquiring a static risk thermodynamic map of a scene to be inspected;
generating a dynamic risk thermodynamic map according to the static risk thermodynamic map;
creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map;
based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process;
updating the dynamic risk thermodynamic map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermodynamic map is used as the basis of the next inspection path planning and the initial map of the inspected path record;
and updating the thermal value of the static risk thermal map according to the risk area found in the inspection process contained in the inspection result.
2. The method of claim 1, wherein the acquiring a static risk thermodynamic map of a scene to be patrolled comprises:
acquiring prior information of a scene to be inspected and a scene map;
determining the probability of occurrence of accidents in each area in the scene map according to the prior information of the scene to be patrolled and examined;
modeling is conducted based on the probability of sending accidents in each area of the scene map, and a static risk thermodynamic map is obtained.
3. The method according to claim 1, wherein creating the path to be patrolled according to each thermodynamic value point in the region corresponding to a different thermodynamic value in the dynamic risk thermodynamic map comprises:
creating a temporary thermal value map according to the dynamic risk thermal map, wherein thermal values of all thermal value points in areas corresponding to different thermal values in the temporary thermal value map are adjusted according to preset thermal value adjusting conditions;
selecting an inspection target point in the temporary thermal value map according to the number of the preset inspection target points;
and connecting each inspection target point in the temporary thermal value map to obtain a path to be inspected.
4. A method according to claim 3, wherein said creating a temporary thermal value map from said dynamic risk thermal map comprises:
creating an initial temporary thermal map according to the initial dynamic risk thermal map;
selecting a patrol target point for first patrol based on the initial temporary thermal map;
establishing a patrol target point set according to each selected patrol target point;
and updating the last temporary thermal map according to each patrol target point set to obtain each temporary thermal map.
5. The method of claim 4, wherein updating the dynamic risk thermodynamic map based on the inspected route contained in the inspection result comprises:
and updating the last dynamic risk thermodynamic map according to the inspected route contained in each inspection result to obtain each dynamic risk thermodynamic map.
6. The method according to claim 1, wherein the updating the thermal value of the static risk thermal map according to the risk area found in the inspection process included in the inspection result includes:
determining a corresponding region of a risk region found in the inspection process contained in the inspection result in the static risk thermodynamic map;
and increasing the thermal value of the corresponding region.
7. The method as recited in claim 1, further comprising:
and if the inspection result indicates that the risk area does not exist in the inspection area, reducing the thermal value of the inspection area in the area corresponding to the dynamic risk thermal map.
8. Intelligent inspection device based on risk heating power map, characterized by comprising:
the acquisition module is used for: acquiring a static risk thermodynamic map of a scene to be inspected;
a first processing module: generating a dynamic risk thermodynamic map according to the static risk thermodynamic map;
creating a path to be patrolled and examined according to each thermodynamic value point in the corresponding area of different thermodynamic values in the dynamic risk thermodynamic map;
and (3) a patrol module: based on the path to be inspected, inspecting the scene to be inspected to obtain an inspection result, wherein the inspection result comprises the inspected path and a risk area found in the inspection process;
and a second processing module: updating the dynamic risk thermodynamic map according to the inspected route contained in the inspection result, wherein the updated dynamic risk thermodynamic map is used as the basis of the next inspection path planning and the initial map of the inspected path record; and updating the thermal value of the static risk thermal map according to the risk area found in the inspection process contained in the inspection result.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the steps of the intelligent patrol method based on a risk thermal map according to any one of claims 1 to 7.
10. A computer storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the intelligent inspection method based on a risk thermal map according to any one of claims 1 to 7.
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| CN116776046A (en) * | 2023-08-24 | 2023-09-19 | 长春精意科技有限公司 | Map data updating method applied to navigation system |
| CN116776046B (en) * | 2023-08-24 | 2023-12-08 | 长春精意科技有限公司 | Map data updating method applied to navigation system |
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