Global path planning method and system for inspection robot based on topology point classification

Abstract

The invention discloses a global path planning method and system for inspection robots based on topological point classification. Considering that the inspection paths of robots in substations are all straight-line paths, there are fewer robot stop points outside the equipment area, while the robot stop points in the equipment area They are all on the same straight-line path. The global path planning method designed based on this feature can effectively reduce the path planning calculation and storage consumption, and meet the needs of the robot to plan the robot’s driving path online according to the special inspection task; through the topology of the stop Points are classified and merged according to the path they belong to, and a directed graph data structure corresponding to the topological points is established. Then, only the current position of the robot and the topological point of the target position are inserted into the directed graph data structure during path planning, which can significantly reduce the topology involved in the calculation. The number of points improves the calculation efficiency of path planning and reduces the consumption of storage space.

Description

technical field [0001] The invention relates to a global path planning method and system for an inspection robot based on topological point classification. Background technique [0002] The substation inspection robot is a ground mobile robot that operates fully autonomously. It can carry sensors such as visible light cameras, infrared thermal imaging cameras, and pickups to conduct automatic inspections of power equipment, effectively reducing the labor intensity of manual inspections and ensuring the safety of equipment in the station. run. [0003] During the routine inspection of substations, inspection robots need to run in the station along the route specified by the inspection task, and stop at a series of preset stops to complete the inspection of power equipment. However, in substation sequential control or other When an emergency occurs, the robot needs to perform special inspection tasks. At this time, it is necessary to plan the robot's running route to obtain t...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the above problems, the present invention proposes a global path planning method and system for inspection robots based on topological point classification. This method can effectively reduce path planning calculation and storage consumption, and meet the requirements of online planning of robot travel paths by robots according to special inspection tasks. needs

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