CN-122015852-A - Power transmission line intelligent inspection robot path optimization method, system and medium

CN122015852ACN 122015852 ACN122015852 ACN 122015852ACN-122015852-A

Abstract

The invention discloses a method, a system and a medium for optimizing a path of an intelligent inspection robot of a power transmission line, and relates to the technical field of path optimization, wherein the method comprises the steps of obtaining time sequence environment sensing data and called structured geographic data of the power transmission line, and constructing a three-dimensional channel environment model; the method comprises the steps of introducing energy constraint, calculating an initial global path connected with a plurality of preset patrol task points by taking the weighted sum of the total path length and the estimated total energy consumption as an optimization target, analyzing the patrol targets and tasks of the preset patrol task points, establishing a local patrol optimization path, identifying the coordinates of the joinable nodes and constraint attitude information as local optimization information, and carrying out consistency verification and path optimization correction on the initial global path by utilizing the local optimization information to obtain a final patrol path. The method solves the technical problem of high energy consumption caused by insufficient consideration of energy constraint in path planning of the inspection robot in the prior art, and achieves the technical effect of reducing the overall energy consumption of the inspection robot while meeting the requirements of inspection tasks.

Inventors

WANG DEZHI
HUO HONG
SONG LEI
DU JIAN
Qi Lanyu
MA CHENGJUN
XUE MEI
Sui Yushan

Assignees

国网辽宁省电力有限公司丹东供电公司
宁波大学科学技术学院

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. The intelligent routing inspection robot path optimization method for the power transmission line is characterized by comprising the following steps of: Acquiring time sequence environment sensing data acquired by a laser radar and a vision sensor carried on the inspection robot and called transmission line structured geographic data, and constructing a three-dimensional channel environment model comprising terrain elevation information, channel obstacle semantic tags and transmission equipment structural features; Introducing energy constraint based on the three-dimensional channel environment model, and calculating an initial global path connected with a plurality of preset inspection task points by taking the weighted sum of the total path length and the estimated total energy consumption as an optimization target; analyzing a patrol target and a task of a preset patrol task point, establishing a local patrol optimization path of the task point, and identifying the coordinates of the joinable nodes and constraint attitude information as local optimization information; and carrying out consistency verification and path optimization correction on the initial global path by utilizing the local optimization information to obtain a final inspection path.
2. The method for optimizing the path of an intelligent inspection robot for a power transmission line according to claim 1, wherein constructing a three-dimensional channel environment model including terrain elevation information, a channel obstacle semantic tag and structural features of power transmission equipment comprises: acquiring laser point cloud data and visual sensing data of a continuous time sequence of a channel, and performing time sequence alignment, denoising and space registration processing on the laser point cloud data and the visual sensing data; Performing image recognition based on the visual sensing data, generating semantic recognition information of the channel obstacle and the power transmission equipment, and performing semantic annotation on the laser point cloud data by utilizing the semantic recognition information to obtain three-dimensional point cloud data with semantic attributes; and calling the structured geographic data of the power transmission line through a geographic information system, and carrying out spatial registration fusion on the three-dimensional point cloud data with semantic attributes and the structured geographic data to generate the three-dimensional channel environment model.
3. The method for optimizing the path of the intelligent inspection robot for the power transmission line according to claim 1, wherein the step of introducing energy constraint based on the three-dimensional channel environment model, taking a weighted sum of total path length and estimated total energy consumption as an optimization target, calculating an initial global path connecting a plurality of preset inspection task points, comprises: based on the running data of the inspection robot, constructing energy constraint information, and carrying out dynamic constraint configuration on the energy time sequence of the inspection robot; Taking the three-dimensional channel environment model as a base, constructing a path search space, adding the energy constraint information into the path search space, and carrying out prediction evaluation on energy consumption in path optimization; and projecting the preset routing inspection task point into the three-dimensional channel environment model, taking the weighted sum of the total length of the path and the estimated total energy consumption as an optimization target, and carrying out path search and energy consumption evaluation through the path search space to obtain the routing inspection path with the maximized optimization target as the initial global path.
4. The power transmission line intelligent patrol robot path optimization method according to claim 3, wherein constructing energy constraint information based on the operation data of the patrol robot comprises: extracting energy consumption time sequence and operation gesture data of the inspection robot according to historical operation record data of the inspection robot; Based on the energy consumption time sequence and the operation gesture data, establishing a constraint relation between time sequence energy consumption and the operation gesture; and constructing the energy constraint information by utilizing the constraint relation between the time sequence energy consumption and the operation gesture, wherein the energy constraint information is used for describing the relation between the energy consumption and the operation gesture in the operation of the inspection robot and the energy constraint condition corresponding to the operation gesture.
5. The method for optimizing a path of an intelligent inspection robot for a power transmission line according to claim 3, wherein analyzing an inspection target and an inspection task of a preset inspection task point, establishing a local inspection optimization path of the task point, and identifying coordinates of a joinable node and constraint attitude information, comprises: Analyzing the target and task type of the inspection equipment of each preset inspection task point, and analyzing the inspection task requirement based on the current running state information of the task point obtained by an edge computing module deployed in the corresponding area of the task point; According to the analyzed patrol task demand, determining core patrol nodes of the task points and corresponding constraint task acquisition parameters thereof, and determining auxiliary patrol nodes associated with the core patrol nodes and corresponding selectable acquisition parameters thereof; according to the core routing inspection node, the constraint task acquisition parameters, the auxiliary routing inspection node and the optional acquisition parameters, carrying out position projection on the channel path coordinates of the task points, and carrying out parameter configuration according to the constraint intensity of the acquisition parameters; And identifying a constraint acquisition path of a task point based on the three-dimensional channel environment model, carrying out path node coherent constraint analysis according to the constraint acquisition path, determining a joinable node, acquiring a coordinate of the corresponding joinable node, grading the attitude parameters of the acquisition path according to the constraint intensity of the acquisition parameters, and setting constraint attitude information of multi-stage intensity.
6. The method for optimizing the path of the intelligent inspection robot for the power transmission line according to claim 5, wherein the identifying the constrained acquisition path of the task point based on the three-dimensional channel environment model comprises: Digitally representing a patrol equipment target of a task node, patrol node position distribution, acquisition parameters and constraint intensity of the patrol equipment target and the patrol node by the three-dimensional channel environment model; And carrying out multi-level routing inspection path searching according to the constraint intensity of the acquisition parameters based on the digital parameters of the task nodes, and identifying and screening paths meeting the continuity requirements according to the continuity constraint analysis of the acquisition parameters in the routing inspection path searching to obtain the constraint acquisition paths.
7. The method for optimizing a path of an intelligent inspection robot for a power transmission line according to claim 6, wherein performing a path node coherence constraint analysis according to the constraint acquisition path, determining an engageable node and obtaining coordinates of the corresponding engageable node, comprises: In the multi-level inspection path, carrying out coherent constraint analysis on the constraint acquisition path, and identifying an undetachable path section in the path; extracting a joinable node of the multi-level routing inspection path based on the non-detachable path interval, wherein the joinable node is any node except the non-detachable path interval or a starting node of the non-detachable path interval, and can be used as a starting point or an ending point of a path for connecting with other paths; and extracting corresponding space coordinates according to the determined joinable nodes to obtain the joinable node coordinates.
8. The method for optimizing a path of an intelligent inspection robot for a power transmission line according to claim 6, wherein performing consistency verification and path optimization correction on the initial global path by using the local optimization information to obtain a final inspection path comprises: According to the multistage constraint attitude information and the multistage routing inspection path in the local optimization information, path node matching is carried out with the initial global path, and a matched constraint attitude, a joinable node and a constraint acquisition path are obtained; Utilizing the matched constraint gesture, the joinable nodes and the constraint acquisition path to carry out constraint consistency verification on the initial global path by combining energy constraint information, and judging whether each path section in the initial global path meets the requirement of inspection task acquisition constraint and the energy constraint condition at the same time; carrying out path optimization correction on path segments with poor energy consumption in constraint consistency verification on the premise of meeting the acquisition requirement of a routing inspection task, and carrying out energy consumption evaluation on the corrected path segments; And based on the intermediate result of the energy consumption evaluation and the path optimization correction, preferentially retaining the path combination with lower energy consumption while meeting the acquisition requirement of the inspection task as the final inspection path.
9. A power transmission line intelligent patrol robot path optimization system, wherein the system is configured to perform the power transmission line intelligent patrol robot path optimization method according to any one of claims 1 to 8, the system comprising: The environment model construction module is used for acquiring time sequence environment perception data acquired by a laser radar and a visual sensor carried on the inspection robot and called transmission line structured geographic data and constructing a three-dimensional channel environment model comprising terrain elevation information, channel obstacle semantic tags and transmission equipment structural characteristics; the calculation module is used for introducing energy constraint based on the three-dimensional channel environment model, taking the weighted sum of the total path length and the estimated total energy consumption as an optimization target, and calculating an initial global path connected with a plurality of preset inspection task points; the analysis module is used for analyzing the patrol targets and tasks of the preset patrol task points, establishing a local patrol optimization path of the task points, and identifying the coordinates and the constraint attitude information of the joinable nodes as local optimization information; And the correction module is used for carrying out consistency verification and path optimization correction on the initial global path by utilizing the local optimization information to obtain a final inspection path.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method for optimizing the path of an intelligent inspection robot for an electric transmission line according to any one of claims 1 to 8.

Description

Power transmission line intelligent inspection robot path optimization method, system and medium Technical Field The invention relates to the technical field of path optimization, in particular to a method, a system and a medium for optimizing a path of an intelligent inspection robot for a power transmission line. Background In the transmission line inspection operation, the inspection robot is usually required to continuously run in a long-distance, complex terrain and multi-obstacle channel environment, and the path planning directly influences the operation duration and the energy utilization efficiency of the inspection robot. The existing path planning mode is more focused on geometric distance or traffic accessibility, the energy consumption characteristics of the robot under different terrain gradients, running postures and inspection actions are not considered enough, the condition that the path is reachable but the energy consumption is too high easily occurs, and therefore single inspection duration is shortened, and the coverage range and the operation efficiency of inspection tasks are limited. Disclosure of Invention The application provides a power transmission line intelligent inspection robot path optimization method, a system and a medium, which are used for solving the technical problem of high energy consumption caused by insufficient consideration of energy constraint in inspection robot path planning in the prior art. In view of the above problems, the application provides a method, a system and a medium for optimizing the path of an intelligent inspection robot for a power transmission line. The application provides a power transmission line intelligent inspection robot path optimization method, which comprises the following steps: The method comprises the steps of acquiring time sequence environment sensing data collected by a laser radar and a vision sensor carried on a patrol robot, constructing a three-dimensional channel environment model comprising terrain elevation information, channel obstacle semantic tags and structural characteristics of power transmission equipment according to the called power transmission line structured geographic data, introducing energy constraint based on the three-dimensional channel environment model, taking weighted sum of total path length and estimated total energy consumption as an optimization target, calculating an initial global path connected with a plurality of preset patrol task points, analyzing the patrol target and tasks of the preset patrol task points, establishing a local patrol optimization path of the task points, identifying joinable node coordinates and constraint attitude information as local optimization information, and carrying out consistency verification and path optimization correction on the initial global path by utilizing the local optimization information to obtain a final patrol path. In a second aspect of the present application, there is provided a power transmission line intelligent inspection robot path optimization system, the system comprising: the system comprises an environment model construction module, a calculation module, an analysis module and a correction module, wherein the environment model construction module is used for acquiring time sequence environment perception data acquired by a laser radar and a visual sensor carried on a patrol robot and called transmission line structured geographic data to construct a three-dimensional channel environment model comprising terrain elevation information, channel obstacle semantic tags and transmission equipment structural characteristics, the calculation module is used for introducing energy constraint based on the three-dimensional channel environment model, taking weighted sum of total path length and estimated total energy as an optimization target, calculating an initial global path connected with a plurality of preset patrol task points, the analysis module is used for analyzing the patrol targets and tasks of the preset patrol task points, establishing a local patrol optimization path of the task points, identifying joinable node coordinates and constraint attitude information, and using the local optimization information to carry out consistency verification and path optimization correction on the initial global path to obtain a final patrol task. In a third aspect of the embodiment of the present application, a computer readable storage medium is provided, where a computer program is stored, where the program is executed by a processor to implement the method for optimizing a path of an intelligent inspection robot for a power transmission line provided by the present application. One or more technical schemes provided by the application have at least the following technical effects or advantages: The method comprises the steps of acquiring time sequence environment sensing data acquired by a laser radar and a vision sensor carried on a patrol robot,