Inspection path planning method and inspection robot

Abstract

The invention is suitable for the technical field of path planning, and provides an inspection path planning method and an inspection robot. The method comprises the steps of obtaining an inspection scene map, extracting endpoints at two ends of an inevitable edge in the inspection scene map as inevitable points, if the number of the inevitable edges connected with any inevitable point is larger than 1, creating virtual points with the number equal to the number of the connected inevitable edges for the inevitable point, and forming a virtual map, solving by taking the virtual map as a traveling salesman problem to obtain an optimal route, and restoring the virtual points on the optimal route to corresponding inevitable points to obtain an inevitable route. By acquiring the inevitable edges on an inspection scene map, and creating a corresponding number of virtual points according to the number of the inevitable edges connected with the inevitable points, so that the inspection scene map meets the solving requirements of travelling salesman problems, the optimal inspection path obtained by solving can avoid omission of positions needing to be inspected, can also reduce repeated inspection of the path, and is beneficial to improving the inspection efficiency of the inspection robot.

Description

technical field [0001] The application belongs to the technical field of path planning, and in particular relates to an inspection path planning method and an inspection robot. Background technique [0002] It is one of the main manifestations of the development of the smart grid to use inspection robots instead of manual inspections of power sites such as substations. The inspection robot has the characteristics of high reliability, high safety and high inspection efficiency. Among them, the inspection efficiency is an important indicator reflecting the inspection ability of the inspection robot. major factor of efficiency. [0003] The traveling salesman problem (TSP, also known as the traveling salesman problem) is such a problem: Given a series of cities and the distance between each pair of cities, solve the problem of visiting each city once and returning to the starting city the shortest circuit of . The inspection path planning is solved as a TSP problem, and the ...

AI Technical Summary

Problems solved by technology

However, when solving the TSP problem, all points are required to appear only once in the path

However, in practical applications, due to the complexity of the inspection scene, when the number of paths connected to a point is greater than 2, the number of times the point passes must be more than once, that is, the inspection scene usually does not meet the requirements of the TSP problem model, which results in Contradictions in the application of TSP problem solving in inspection path planning

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