CN113537584A - Inspection task conflict processing method and device, electronic equipment and storage medium - Google Patents

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

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CN113537584A
CN113537584A CN202110760306.7A CN202110760306A CN113537584A CN 113537584 A CN113537584 A CN 113537584A CN 202110760306 A CN202110760306 A CN 202110760306A CN 113537584 A CN113537584 A CN 113537584A
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inspection
task
point
routing
inspection point
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CN113537584B (en
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朱富昆
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Workway Shenzhen Information Technology Co ltd
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Workway Shenzhen Information Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/20—Administration of product repair or maintenance
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • 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

Abstract

The application relates to the technical field of intelligent control, and discloses a method and a device for processing routing inspection task conflicts, an electronic device and a storage medium, wherein the method comprises the following steps: receiving task information corresponding to the inspection task, wherein the task information comprises a starting moment for executing the inspection task and at least one inspection point; determining routing inspection tasks with mutually conflicting execution times as a group of combined tasks based on the starting time and the routing inspection point corresponding to each routing inspection task; carrying out duplicate removal processing on routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, wherein each routing inspection point in the first routing inspection point set corresponds to an earliest moment for indicating that the routing inspection point is allowed to be detected; determining a routing inspection path corresponding to the merged 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 merged task so as to improve the inspection efficiency.

Description

Inspection task conflict processing method and device, electronic equipment and storage medium
Technical Field
The application relates to the technical field of intelligent control, in particular to a method and a device for processing routing inspection task conflicts, electronic equipment and a storage medium.
Background
At present, most of inspection work needs manual operation of operation and maintenance personnel to be completed, 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 can perfectly replace the traditional manual inspection, and by means of an advanced deep learning algorithm and advanced machine vision and data analysis technologies, automatic inspection, data identification and analysis, abnormity alarming and notification are really achieved, and the problems of cost, efficiency, accuracy, data management, personnel security and the like of the traditional manual inspection are solved.
In some scenes, the inspection task is executed once, information of one or more inspection points is required to be acquired, and at the moment, the inspection robot can perform inspection in sequence according to the sequence of the inspection points in the inspection task. If the routing inspection robot receives conflicts among the routing inspection tasks, the routing inspection robot can sequentially execute the routing inspection tasks according to preset priority logic, for example, the routing inspection tasks are sequentially executed according to the sequence of receiving the routing inspection tasks, and the execution efficiency is very low.
Disclosure of Invention
The embodiment of the application provides a method and a device for processing routing inspection task conflicts, electronic equipment and a storage medium, which can combine a plurality of routing inspection tasks with mutually conflicting execution times into one task, thereby greatly improving the execution rate and routing inspection efficiency of the task.
In one aspect, an embodiment of the present application provides a method for processing a polling task conflict, including:
receiving task information corresponding to the inspection task, wherein the task information comprises a starting moment for executing the inspection task and at least one inspection point;
determining routing inspection tasks with mutually conflicting execution times as a group of combined tasks based on the starting time and the routing inspection point corresponding to each routing inspection task;
performing duplicate removal processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, wherein each routing inspection point in the first routing inspection point set corresponds to an earliest moment used for indicating that the routing inspection point is allowed to be detected, the earliest moment corresponding to each routing inspection point is determined according to the latest starting moment in the starting moments corresponding to the appointed routing inspection task, and the appointed routing inspection task is the routing inspection task including the routing inspection point in the merged 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 merged task.
Optionally, the routing inspection task with mutually conflicting execution times is determined as a combined task based on the starting time and the routing inspection point corresponding to each routing inspection task, and the method specifically includes:
determining the 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 the 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 inspection tasks with overlapped execution time periods as inspection tasks with mutually conflicting execution times;
and taking the inspection tasks with mutually conflicting execution times as a group of combined tasks.
Optionally, 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 merged task specifically includes:
determining an Nth inspection point in the inspection path in the following mode, wherein N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N is greater than 1, determining the patrol point activation time threshold based on the time of (N-1) patrol points before patrol;
adding a routing inspection point, the earliest time of which is not later than the threshold value of the activation time of the routing inspection point, in the first routing inspection point set as a candidate routing inspection point into a candidate routing inspection point set, and deleting routing inspection points, which are added into the candidate routing inspection point set, in the first routing 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 minimum distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the minimum distance value from the candidate inspection point set; wherein, 1 st point on the route of patrolling and examining is the initial position of patrolling and examining the robot, the Nth point on the route of patrolling and examining is the (N-1) th point of patrolling and examining the route.
Optionally, the determining the threshold of the activation time of the patrol point based on the time of (N-1) patrol points before the patrol is completed specifically includes:
determining the predicted time t of the (N-1) inspection points before inspection based on the initial position of the inspection robot and the (N-1) inspection points before the inspection pathN-1Will predict time tN-1And the threshold value is used as the activation time threshold value of the routing inspection point.
Optionally, the method further comprises:
and when the inspection of any inspection point contained in any inspection task in the merged tasks is finished, acquiring monitoring data corresponding to the inspection point contained in any inspection task, and outputting an inspection result corresponding to any inspection task 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 currently executed inspection task, acquiring an inspected inspection point in the inspection process;
determining a target patrol point belonging to the new patrol task from the patrol points which are patrolled;
acquiring the inspection time of a target inspection point;
judging the effectiveness of the monitoring data of the target inspection point on the new inspection task based on the inspection time of the target inspection point;
carrying out duplicate removal treatment on inspection points which are not inspected in the inspection process and the inspection points in the new inspection task to obtain a second inspection point set;
removing the inspection points with effective 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, based on the inspection time of the target inspection point, validity of the monitoring data of the target inspection point for the new inspection task specifically includes:
and if the difference value between the starting moment of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold value, 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 an inspection task conflict processing apparatus, 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 an inspection task, and the task information comprises a starting moment for executing the inspection task and at least one inspection point;
the conflict determination module is used for determining the routing inspection tasks with mutually conflicting execution times as a combined task based on the starting time and the routing inspection point corresponding to each routing inspection task;
the task merging module is used for performing duplicate removal processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, wherein each routing inspection point in the first routing inspection point set corresponds to an earliest moment used for indicating that the routing inspection point is allowed to be detected, the earliest moment corresponding to each routing inspection point is determined according to the latest starting moment in the starting moments corresponding to the appointed routing inspection task, and the appointed routing inspection task is the routing inspection task which contains the routing inspection point in the merged 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, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing 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, implement the steps of any of the above-described methods.
In one aspect, an embodiment of the present application provides a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in any of the various alternative implementations of control of TCP transmission performance described above.
The inspection task conflict processing method, the inspection task conflict processing device, the electronic equipment and the storage medium can identify inspection tasks with mutually conflicting execution times, combine a plurality of inspection tasks with mutually conflicting execution times into one task, and comprehensively consider the distance between inspection points and the inspection time validity of the inspection points when path planning is carried out on the combined tasks, so that an optimal inspection path is obtained, repeated monitoring of the inspection robot on the same inspection point is avoided, inspection results of the inspection tasks can be obtained by one-time inspection of the inspection robot, inspection efficiency is improved, and inspection time of each inspection point meets timeliness requirements.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a method for processing a task conflict for inspection according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for processing a task conflict for routing inspection according to an embodiment of the present application;
fig. 3 is a schematic flowchart of determining a routing inspection path of a merged task according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for processing a task conflict for routing inspection according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an inspection task conflict processing apparatus 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 present application.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, all other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort fall within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended 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 disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects 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. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
In some scenes, the information of one or more inspection points is required to be acquired in the process of executing the inspection task once, and at the moment, the inspection robot can perform inspection in sequence according to the sequence of the inspection points in the inspection task. If the routing inspection robot receives conflicts among a plurality of routing inspection tasks, the routing inspection robot can sequentially execute the plurality of routing inspection tasks according to preset priority logic, for example, the routing inspection robot sequentially executes the plurality of routing inspection tasks according to the sequence of the received routing inspection tasks, inspects all routing inspection points in one routing inspection task firstly, and then inspects the routing inspection point of the next routing inspection task, so that the routing inspection robot can pass through the same routing inspection point or the same route for many times, and the routing inspection efficiency is very low. In addition, in a scene with a high requirement on the timeliness of the inspection time, the robot is required to complete the inspection task within a specified time period, if the execution times of a plurality of inspection tasks are very similar, a single robot cannot complete a plurality of inspection tasks within the specified time period at the same time, at the moment, only a plurality of robots can be assigned to respectively execute different inspection tasks, and the use efficiency of the robot is greatly reduced.
Therefore, the inspection task conflict processing method can combine a plurality of inspection tasks with mutually conflicting execution times into one task, specifically, the inspection points in the inspection tasks can be subjected to duplication elimination to obtain the inspection points corresponding to the combined tasks, path planning is carried out according to the inspection points corresponding to the combined tasks to obtain an optimal inspection path, an inspection robot inspects the inspection points according to the optimal inspection path, and therefore inspection points which repeatedly appear in the inspection tasks only need to be detected once, and 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, then the inspection results corresponding to each inspection task are respectively generated, after the merging task is executed, the inspection results of the merging task are split into the inspection results of each inspection task, and the inspection robot can obtain the inspection results of a plurality of inspection tasks once in inspection, so that the inspection efficiency is improved. Further, if the timeliness of the execution time of the routing inspection tasks has certain requirements, when a plurality of routing inspection tasks are combined, the earliest detectable time corresponding to each routing inspection point in the combined tasks can be determined, the optimal routing inspection path corresponding to the combined tasks is determined based on the position information and the earliest detectable time of each routing inspection point, and the routing inspection time of each routing inspection point is ensured to meet the requirements.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Fig. 1 is a schematic view of an application scenario of the inspection task conflict processing method according to the embodiment of the present application. The area to be patrolled and examined in this application scene contains a plurality of inspection points, marks the coordinate position of each inspection point and patrols the walkable region of robot in the map data that the area corresponds to waiting to patrol and examine. The terminal device 101, the server 102 and the inspection robot 103 may be connected through a wireless or wired network, 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, a smart wearable device, and a smart television, the server 102 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, middleware service, a domain name service, a security service, a CDN, and a big data and artificial intelligence platform. The inspection robot 103 is a device capable of autonomously moving through technologies such as an indoor positioning technology, an inertial navigation technology and a laser radar, the inspection robot 103 can autonomously move to any inspection point according to map data of an area to be inspected, and the inspection robot 103 can be provided with a camera, an audio acquisition device, various sensors and the like so as to detect the state of the inspection point or the environmental state of the inspection point and the like to obtain monitoring data corresponding to the inspection point.
The operation and maintenance personnel can set inspection points and starting moments 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 the inspection points is completed according to the optimal inspection paths, monitoring data of the inspection points are fed back to the server 102, the server 102 generates inspection results corresponding to the inspection tasks based on the monitoring data of the inspection points, and the inspection results are displayed to the operation and maintenance personnel through the terminal equipment 101.
Of course, the method provided in the embodiment of the present application is not limited to be used in the application scenario shown in fig. 1, and may also 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 in the following method embodiments, and will not be described in detail herein.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operation steps as shown in the following embodiments or figures, more or less operation steps may be included in the method based on the conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.
The following describes the technical solution provided in the embodiment of the present application with reference to the application scenario shown in fig. 1. Any routing inspection task conflict processing method provided by the embodiment of the application can be executed by a controller inside the robot or a background server controlling the robot, and is not limited. In the following embodiments, the controller inside the robot is mainly used for describing the execution main body, and the implementation mode using the background server as the execution main 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, receiving task information corresponding to the inspection task, wherein the task information comprises starting time for executing the inspection task and at least one inspection point.
During specific implementation, 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 which need to be inspected by the inspection task, one inspection task can only be provided with one inspection point, and a plurality of inspection points can also be set. The task information can also comprise specific inspection content of each inspection point, and the specific inspection content can be configured according to application scenes, for example, the inspection point No. 1 is a transformer, and the inspection content can be monitoring 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 o 'clock, the inspection robot starts to execute the inspection task when the 14 o' clock is reached. In one possible embodiment, the start time may also be configured as a periodic parameter, such as starting the patrol task at 14 o 'clock per day, starting the patrol task at 14 o' clock per day of the week, and performing the patrol task every 6 hours.
S202, determining the inspection tasks with mutually conflicting execution times as a combined task based on the starting time and the inspection point corresponding to each inspection task.
During specific implementation, the estimated task time consumption corresponding to the inspection task can be estimated according to at least one item of the inspection point number, the inspection point distance and the inspection content contained in the inspection task, and a 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 click, the estimated task time consumption is 30 minutes, and the execution time period of the inspection task is 14 click to 14 click 30 minutes. The more the number of the inspection points is, the longer the time consumed by the pre-estimation task is; the larger the distance between the inspection points is, the longer the time consumption of the estimated task is; the more complex the inspection content is, the longer the time consumption of the pre-estimation task is.
If the execution time periods of the plurality of routing inspection tasks are overlapped, the plurality of routing inspection tasks are mutually conflicted in the execution time, and the plurality of routing inspection tasks are combined into one task, namely, a combined task is obtained. Thus, one merged task includes at least two patrol tasks. For example, if the execution time period of the inspection task a is 14 th to 14 th 30 minutes, the execution time period of the inspection task B is 14 th to 14 th 10 th to 14 th 40 minutes, and the execution time period of the inspection task C is 14 th to 14 th 5 th to 14 th 45 minutes, the inspection tasks A, B, C conflict with each other, and the three tasks need to be merged.
S203, carrying out duplicate removal processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task; each inspection point in the first inspection point set corresponds to an earliest moment used for indicating that the inspection point is allowed to be detected, the earliest moment corresponding to each inspection point is determined according to the latest starting moment in the starting moments corresponding to the appointed inspection tasks, and the appointed inspection tasks are inspection tasks including the inspection points in the merged task.
Specifically, the routing inspection points in the routing inspection tasks included in the merging task are subjected to duplicate removal processing, that is, only one routing inspection point is reserved, so that no duplicate routing inspection point exists in the first routing inspection point set.
For a polling task, it is generally considered that monitoring data obtained before the starting time is invalid, or monitoring data obtained before M minutes before the starting time is invalid, and especially in a scene with high timeliness requirement, M can be set according to the actual application requirement. In order to ensure that the monitoring data obtained at one inspection point is effective to a plurality of inspection tasks in the merged tasks, for the inspection point which only belongs to one inspection task, the earliest moment corresponding to the inspection point can be determined according to the starting moment of the inspection task to which the inspection point belongs, specifically, the earliest moment can be the starting moment of the inspection task or the moment corresponding to M minutes before the starting moment of the inspection task; for a patrol point belonging to a plurality of patrol tasks at the same time, the start times of the patrol tasks belonging to the patrol point can be obtained, a latest start time is selected from the plurality of patrol tasks, and the earliest time corresponding to the patrol point is determined based on the latest start time.
It should be noted that, for each inspection point in the first inspection point set, the inspection robot may monitor the inspection point only after the earliest time corresponding to the inspection point is reached, 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 configuration starting time of the inspection point 1, the inspection point 2 and the inspection point 3 is 12-point adjustment; patrol and examine task B and contain 3 and patrol and examine the point: the starting time of the configuration of the inspection point 1, the inspection point 3 and the inspection point 4 is 12 points and 10 minutes. The inspection point of task A and B is patrolled and examined and is carried out the duplicate removal and handle, obtains the first inspection point set that the task corresponds of merging, includes: inspection point 1, inspection point 2, inspection point 3, and inspection point 4. Then determining the earliest time corresponding to each inspection point in the first inspection point set one by one, taking the inspection point 1 as an example, belonging to the inspection task A and the inspection task B at the same time, wherein the starting time of the inspection task B is later than that of the inspection task A, so that the earliest time of the inspection point 1 can be 12 points and 10 minutes; the inspection point 2 is only the inspection task a, so the earliest time of the inspection point 2 can be 12 o' clock.
And S204, determining a routing inspection path corresponding to the merged task based on the position information and the earliest moment of each routing inspection point in the first routing inspection point set.
During concrete 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 time when the inspection robot moves to the inspection point is earlier than the earliest time corresponding to the inspection point needs to be considered, so that inspection can be preferentially carried out on the inspection point with the earliest time when path planning is carried out. Specifically, the routing inspection points in the first routing inspection point set may be sorted according to the order of the earliest moment, the routing inspection points with the same earliest moment are arranged in parallel in the same sequence, that is, one or more routing inspection points may exist in the same sequence, and then path planning is performed according to the order of the sorting, for example, a part of routing inspection paths is determined according to the position information of the first routing inspection point, then the next part of routing inspection paths is determined according to the position information of the second routing inspection point, and so on until all the routing inspection points are planned into the routing inspection paths.
For example, the first patrol point set obtained after the patrol task a and the patrol task B are merged includes: patrol and examine point 1, patrol and examine point 2, patrol and examine point 3, patrol and examine point 4, wherein, patrol and examine point 1, patrol and examine point 2, patrol and examine point 3 and patrol and examine the earliest moment that point 4 corresponds separately and be in proper order: 12 o ' clock 10 min, 12 o ' clock 10 min and 12 o ' clock 10 min. Assuming that the starting position of the inspection robot is closest to the inspection point 1 as shown in fig. 1, but the 12 o' clock does not reach the earliest time of the inspection point 1, so that the inspection point 2 is monitored first, the inspection path corresponding to the merged task may be: patrol point 2 → patrol point 1 → patrol point 3 → patrol point 4.
And S205, controlling the inspection robot to perform inspection according to the inspection path corresponding to the merged task.
And the inspection robot sequentially moves to each inspection point according to the inspection path corresponding to the merged task, and acquires monitoring data of each inspection point. Then, for each routing inspection task in the merged tasks, the monitoring data corresponding to each routing inspection point included in the routing inspection task is extracted from the obtained monitoring data, and the routing inspection result corresponding to the routing inspection task is generated based on the monitoring data.
In a possible implementation mode, when the inspection is finished and any inspection point contained in the inspection task is combined, the monitoring data corresponding to the inspection point contained 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 the inspection tasks can be obtained without waiting for the completion of the merged task, and the result obtaining efficiency is improved.
According to the inspection task conflict processing method, inspection tasks with mutually conflicting execution times can be identified, a plurality of inspection tasks with mutually conflicting execution times are combined into one task, when path planning is carried out on the combined tasks, the distance between inspection points and the inspection time validity of the inspection points are comprehensively considered, an optimal inspection path is obtained, repeated monitoring of the inspection robot on the same inspection point is avoided, the inspection robot can obtain inspection results of the plurality of inspection tasks once in inspection, inspection efficiency is improved, and inspection time of each inspection point meets timeliness requirements.
In a possible implementation manner, step S202 specifically includes: determining the 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 the 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 inspection tasks with overlapped execution time periods as inspection tasks with mutually conflicting execution times; and taking the inspection tasks with mutually conflicting execution times as a group of combined tasks.
Specifically, an optimal routing inspection path can be planned according to the position information of the routing inspection robot and the position information of an inspection point in the routing inspection task, the length of the optimal routing inspection path is calculated, and the estimated task time consumption corresponding to the routing inspection task is estimated according to the length of the optimal routing inspection path and the moving speed of the robot. Of course, on the basis of the length of the optimal routing inspection path and the time consumption obtained by the moving speed of the robot, the time consumption of the routing inspection robot for executing the monitoring task at each routing inspection point can be increased, and therefore the time consumption precision of the estimated task is improved.
In one possible embodiment, the nth patrol point in the patrol route 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 is 1, the patrol point activation time threshold is the earliest and earliest time in the first patrol point set, and when N is greater than 1, the patrol point activation time threshold is determined based on the time of (N-1) patrol points before patrol;
adding the routing inspection points, the earliest time of which is not later than the threshold value of the activation time of the routing inspection points, in the first routing inspection point set as candidate routing inspection points into the candidate routing inspection point set, and deleting the routing inspection points which are added into the candidate routing inspection point set in the first routing 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 minimum distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the minimum distance value from the candidate inspection point set; wherein, 1 st point on the route of patrolling and examining is the initial position who patrols and examines the robot, and the Nth point on the route of patrolling and examining is the (N-1) th point of patrolling and examining the route.
The specific implementation of determining the routing inspection path may refer to fig. 3, that is, step S204 specifically includes the following steps:
s301, taking the earliest and earliest moment in the first patrol point set as a patrol point activation moment threshold value.
S302, taking the routing inspection point in the first routing inspection point set, the earliest time of which is not later than the threshold value of the activation time of the routing inspection point, as a candidate routing inspection point, adding the candidate routing inspection point into the candidate routing inspection point set, and deleting the routing inspection points in the first routing inspection point set, which are added into the candidate routing inspection point set.
And S303, respectively calculating the distance value between each candidate patrol point in the candidate patrol point set and the 1 st point of the patrol route, selecting the candidate patrol point corresponding to the minimum distance value as the 1 st patrol point of the patrol route, and deleting the candidate patrol point corresponding to the minimum distance value from the candidate patrol point set.
Wherein, 1 st point on the route of patrolling and examining can be the initial position who patrols and examines the robot, and 2 nd point on the route of patrolling and examining is the 1 st point of patrolling and examining the route.
S304, increasing the value of N by 1.
Wherein the initial value of N is 1, and N is an integer not less than 1.
S305, determining the threshold value of the activation time of the inspection point according to the time of (N-1) inspection points before inspection.
In specific implementation, the time of the (N-1) inspection points before inspection can be directly used as the threshold value of the activation time of the inspection point. Or, considering the time consumption required by the (N-1) th inspection point to reach the next nearest inspection point, and adding the time of the (N-1) previous inspection point to the time obtained after the time consumption is taken as the inspection point activation time threshold.
In one possible embodiment, the corresponding inspection path may be determined before the inspection robot performs the merged task. At this time, the predicted time t of the (N-1) inspection points before inspection can be determined based on the initial position of the inspection robot and the (N-1) inspection points before the inspection pathN-1Will predict time tN-1And the threshold value is used as the activation time threshold value of the routing inspection point. And predicting the time of the previous (N-1) inspection points after inspection based on the path planning of the previous (N-1) inspection points, so as to update the threshold value of the activation time of the inspection point used when the Nth inspection point is determined, thereby improving the accuracy of the path planning. In this embodiment, the position where the inspection robot waits for charging may be set as the home position of the inspection robot.
In another possible implementation manner, the inspection robot may execute the merging task while determining the corresponding inspection path, that is, determine the next inspection point after finishing inspection of one inspection point, and at this time, the time when the previous (N-1) inspection points are finished in the inspection step S305 is the time when the (N-1) th inspection point is actually finished in inspection. In this embodiment, the position of the inspection robot at the moment immediately before the merged task is executed may be used as the start position of the inspection robot.
S306, taking the routing inspection point in the first routing inspection point set, the earliest time of which is not later than the threshold value of the activation time of the routing inspection point, as a candidate routing inspection point, adding the candidate routing inspection point into the candidate routing inspection point set, and deleting the routing inspection points which are added into the candidate routing inspection point set in the first routing inspection point set.
S307, 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 minimum distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the minimum distance value from the candidate inspection point set.
The Nth point of the routing inspection path is the (N-1) th routing inspection point of the routing inspection path.
When implemented, eachThe inspection point corresponds to a position coordinate according to the position coordinates (x) of the two inspection points1，y1) And (x)2，y2) Calculating the distance between two inspection points
Figure BDA0003149407760000131
In the specific implementation, because an obstacle may exist between two inspection points in practice, the inspection robot has to detour, and in order to improve the accuracy of path planning, the actual distance value between the two inspection points can be calculated by combining map data instead of the linear distance.
S308, judging whether N is equal to the number of the inspection points in the initial first inspection point set or not; if yes, the process is ended, otherwise, the process returns to step S304.
And when N is equal to the number of the routing points in the initial first routing point set, indicating that all the routing points in the first routing point set are in the routing path.
A more reasonable and efficient routing inspection path can be determined based on the embodiment shown in FIG. 3.
On the basis of any of the above embodiments, if the inspection robot receives a new inspection task in 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 can be merged, and a new inspection path is obtained, and the specific process can 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 currently executed inspection task, acquiring an inspection point inspected in the inspection process.
The currently executed patrol inspection task can be a single patrol inspection task which is not merged, and can also be a merged task.
During specific implementation, the end time of the current inspection task can be estimated according to inspection points which are not detected in the inspection task currently executed by the inspection robot, and if the start time of the new inspection task is before the end time and the time difference between the start time and the end time of the new inspection task is greater than a preset value, the execution time of the new inspection task is determined to conflict with the inspection task currently executed. The preset value can be determined according to actual requirements, for example, the preset value can be 5 minutes, 10 minutes, and the like.
When the method is specifically implemented, 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 purpose of this step is to determine which of the inspection points of the inspection task were just monitored by the inspection robot.
And 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 specific implementation, after the monitoring data of the inspection point is acquired, the inspection robot records the current moment as the inspection time of the inspection point.
S404, judging the effectiveness of the monitoring data of the target inspection point on the new inspection task based on the inspection time of the target inspection point.
During specific implementation, if the difference value between the starting moment of the new routing inspection task and the routing inspection time of the target routing inspection point is smaller than the time validity threshold value, determining that the monitoring data of the target routing inspection point is valid for the new routing inspection task, and otherwise, determining that the monitoring data of the target routing inspection point is invalid for the new routing inspection task. The time validity threshold may be set according to actual requirements, and may be, for example, 5 minutes, 10 minutes, and the like.
S405, carrying out duplicate removal treatment on inspection points which are not inspected in the inspection process and inspection points in the new inspection task to obtain a second inspection point set.
S406, removing the inspection points with effective monitoring data in the second inspection point set to obtain a third inspection point set.
And S407, planning a path based on each inspection point in the third inspection point set to obtain a new inspection path.
And S408, controlling the inspection robot to perform inspection according to the new inspection path.
Assuming that the time validity threshold is 5 minutes, the currently executed patrol task includes: patrol and examine some 1, patrol and examine some 2, patrol and examine some 3 and patrol and examine some 4, wherein the patrol and examine some that patrol and examine including: patrol and examine point 1, patrol and examine point 2 and patrol and examine point 3, these 3 patrol and examine the time of patrolling and examining of point do respectively: 12 point 03 points, 12 point 07 points and 12 point 11 points. 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, obtaining a second set of waypoints comprises: patrol and examine point 4, patrol and examine point 2, patrol and examine point 3 and patrol and examine point 5, wherein patrol and examine point 2 and patrol and examine point 3 and have all monitored, but the time of patrolling and examining of point 2 has already exceeded 5 minutes apart from the start moment of the task of newly patrolling and examining, therefore the monitoring data of patrolling and examining point 2 that obtain before are invalid, need to patrol and examine point 2 again, and the time of patrolling and examining point 3 has not more than 5 minutes apart from the start moment of the task of newly patrolling and examining, therefore the monitoring data of patrolling and examining point 3 are effectual, need not to monitor again, the task of newly patrolling and examining can multiplex the monitoring data of patrolling and examining point 3, the third of patrolling and examining that from this obtains is gathered and is included: inspection point 4, inspection point 2, and inspection point 5. And then, determining a new routing inspection path according to the current position of the robot and the position information of the routing inspection point 4, the routing inspection point 2 and the routing inspection point 5, and controlling the routing inspection robot to perform routing inspection on the routing inspection point 4, the routing inspection point 2 and the routing 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 currently executed inspection task, and complete the new inspection task while executing the existing task, thereby greatly improving the execution efficiency and the inspection efficiency of the inspection robot. In addition, the patrolled monitoring data can be reused according to the execution condition of the existing task, the patrolling time is further shortened, and the patrolling efficiency is improved.
As shown in fig. 5, based on the same inventive concept as the inspection task conflict processing method, the embodiment of the present application further provides an inspection task conflict processing apparatus 50, including:
the system comprises a receiving module 501, a task processing module and a task processing module, wherein the receiving module is used for receiving task information corresponding to an inspection task, and the task information comprises a starting moment for executing the inspection task and at least one inspection point;
a conflict determination module 502, configured to determine, based on the start time and the inspection point corresponding to each inspection task, inspection tasks whose execution times conflict with each other as a set of merged tasks;
the task merging module 503 is configured to perform deduplication processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, where each routing inspection point in the first routing inspection point set corresponds to an earliest time for indicating that the routing inspection point is allowed to be detected, the earliest time corresponding to each routing inspection point is determined according to a latest starting time in starting times corresponding to a designated routing inspection task, and the designated routing inspection task is a routing inspection task including the routing inspection point in the merged task;
a path determining module 504, configured to determine, 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 merged task;
and the inspection module 505 is used for controlling the inspection robot to perform inspection according to the inspection path corresponding to the merging task.
Optionally, the conflict determining module 502 is specifically configured to:
determining the 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 the 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 inspection tasks with overlapped execution time periods as inspection tasks with mutually conflicting execution times;
and taking the inspection tasks with mutually conflicting execution times as a group of combined tasks.
Optionally, the path determining module 504 is specifically configured to determine an nth patrol point in the patrol route in the following manner, where N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N is greater than 1, determining the patrol point activation time threshold based on the time of (N-1) patrol points before patrol;
adding a routing inspection point, the earliest time of which is not later than the threshold value of the activation time of the routing inspection point, in the first routing inspection point set as a candidate routing inspection point into a candidate routing inspection point set, and deleting routing inspection points, which are added into the candidate routing inspection point set, in the first routing 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 minimum distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the minimum distance value from the candidate inspection point set; wherein, 1 st point on the route of patrolling and examining is the initial position of patrolling and examining the robot, the Nth point on the route of patrolling and examining is the (N-1) th point of patrolling and examining the route.
Optionally, the path determining module 504 is specifically configured to: and determining the predicted time tN-1 of the previous (N-1) inspection points after inspection based on the initial position of the inspection robot and the previous (N-1) inspection points of the inspection path, and taking the predicted time tN-1 as an activation time threshold of the inspection points.
Optionally, the polling module 505 is further configured to: and when the inspection of any inspection point contained in any inspection task in the merged tasks is finished, acquiring monitoring data corresponding to the inspection point contained in any inspection task, and outputting an inspection result corresponding to any inspection task 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 polling task received in the polling process of the polling robot conflicts with the currently executed polling task.
Accordingly, the task merging module 503 is further configured to: after the conflict determination module determines that the execution time of the new inspection task conflicts with the currently executed inspection task, acquiring an inspection point inspected in the inspection process; determining a target patrol point belonging to the new patrol task from the patrol points which are patrolled; acquiring the inspection time of a target inspection point; judging the effectiveness of the monitoring data of the target inspection point on the new inspection task based on the inspection time of the target inspection point; carrying out duplicate removal treatment on inspection points which are not inspected in the inspection process and the inspection points in the new inspection task to obtain a second inspection point set; and removing the inspection points with effective monitoring data in the second inspection point set to obtain a third inspection 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: and if the difference value between the starting moment of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold value, 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 inventive concept, can obtain the same beneficial effects, and are not repeated herein.
Based on the same inventive concept as the inspection task conflict processing method, an embodiment of the present application further provides an electronic device, which may be specifically a control device or a control system inside the robot, or an external device communicating with an intelligent device, such as a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (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), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A 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 directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
The memory 602, which is a non-volatile computer-readable storage medium, may 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, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. 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 the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; the computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to: various media that can store program codes, such as a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A method for processing routing inspection task conflict is characterized by comprising the following steps:
receiving task information corresponding to the inspection task, wherein the task information comprises a starting moment for executing the inspection task and at least one inspection point;
determining routing inspection tasks with mutually conflicting execution times as a group of combined tasks based on the starting time and the routing inspection point corresponding to each routing inspection task;
performing duplicate removal processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, wherein each routing inspection point in the first routing inspection point set corresponds to an earliest moment used for indicating that the routing inspection point is allowed to be detected, the earliest moment corresponding to each routing inspection point is determined according to the latest starting moment in the starting moments corresponding to the appointed routing inspection task, and the appointed routing inspection task is the routing inspection task including the routing inspection point in the merged 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 merged task.
2. The method according to claim 1, wherein the determining, based on the start time and the patrol point corresponding to each patrol task, patrol tasks whose execution times conflict with each other as a combined task specifically includes:
determining the 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 the 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 inspection tasks with overlapped execution time periods as inspection tasks with mutually conflicting execution times;
and taking the inspection tasks with mutually conflicting execution times as a group of combined tasks.
3. The method according to claim 1, wherein the determining a routing inspection path corresponding to the merged task based on the position information and the earliest time of each routing inspection point in the first routing inspection point set specifically includes:
determining an Nth inspection point in the inspection path in the following mode, wherein N is an integer not less than 1:
determining a threshold value of the activation time of the inspection point; when N is greater than 1, determining the patrol point activation time threshold based on the time of (N-1) patrol points before patrol;
adding a routing inspection point, the earliest time of which is not later than the threshold value of the activation time of the routing inspection point, in the first routing inspection point set as a candidate routing inspection point into a candidate routing inspection point set, and deleting routing inspection points, which are added into the candidate routing inspection point set, in the first routing 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 minimum distance value as the Nth inspection point of the inspection path, and deleting the candidate inspection point corresponding to the minimum distance value from the candidate inspection point set; wherein, 1 st point on the route of patrolling and examining is the initial position of patrolling and examining the robot, the Nth point on the route of patrolling and examining is the (N-1) th point of patrolling and examining the route.
4. The method according to claim 3, wherein the determining of the patrol point activation time threshold based on the time of (N-1) patrol points before the patrol is completed specifically comprises:
determining the predicted time t of the (N-1) inspection points before inspection based on the initial position of the inspection robot and the (N-1) inspection points before the inspection pathN-1Will predict time tN-1And the threshold value is used as the activation time threshold value of the routing inspection point.
5. The method according to any one of claims 1 to 4, further comprising:
and when the inspection of any inspection point contained in any inspection task in the merged tasks is finished, acquiring monitoring data corresponding to the inspection point contained in any inspection task, and outputting an inspection result corresponding to any inspection task based on the acquired monitoring data.
6. The method according to any one of claims 1 to 4, further comprising:
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 currently executed inspection task, acquiring an inspected inspection point in the inspection process;
determining a target patrol point belonging to the new patrol task from the patrol points which are patrolled;
acquiring the inspection time of a target inspection point;
judging the effectiveness of the monitoring data of the target inspection point on the new inspection task based on the inspection time of the target inspection point;
carrying out duplicate removal treatment on inspection points which are not inspected in the inspection process and the inspection points in the new inspection task to obtain a second inspection point set;
removing the inspection points with effective 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.
7. The method according to claim 6, wherein the determining the effectiveness of the monitoring data of the target inspection point on the new inspection task based on the inspection time of the target inspection point specifically comprises:
and if the difference value between the starting moment of the new inspection task and the inspection time of the target inspection point is smaller than the time validity threshold value, 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.
8. A task conflict processing device patrols and examines is characterized by 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 an inspection task, and the task information comprises a starting moment for executing the inspection task and at least one inspection point;
the conflict determination module is used for determining the routing inspection tasks with mutually conflicting execution times as a combined task based on the starting time and the routing inspection point corresponding to each routing inspection task;
the task merging module is used for performing duplicate removal processing on the routing inspection points of the merged task to obtain a first routing inspection point set corresponding to the merged task, wherein each routing inspection point in the first routing inspection point set corresponds to an earliest moment used for indicating that the routing inspection point is allowed to be detected, the earliest moment corresponding to each routing inspection point is determined according to the latest starting moment in the starting moments corresponding to the appointed routing inspection task, and the appointed routing inspection task is the routing inspection task which contains the routing inspection point in the merged 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.
9. 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 steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 7.
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