CN113570241A - Power transmission line inspection robot task optimal allocation method and device - Google Patents
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Abstract
The application discloses a method and a device for optimizing and distributing tasks of a power transmission line inspection robot, wherein the method comprises the following steps: acquiring the residual electric quantity of the power transmission line inspection robot; acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task; sequencing each task; calculating a first energy sum of the first N tasks; calculating a second energy sum of the first N +1 tasks; and when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the first N tasks. The method and the system ensure that the inspection robot utilizes limited electric quantity and processes distributed tasks as much as possible.
Description
Technical Field
The application relates to the technical field of power inspection, in particular to a task optimal distribution method and device for a power transmission line inspection robot.
Background
The power transmission line inspection robot is a robot which can be applied to inspection of power transmission lines, is often used for processing scenes which are difficult to inspect artificially and can reduce labor burden. However, in the existing inspection process, a plurality of processing tasks are often distributed to the inspection robot, but the inspection robot has insufficient power to process the tasks, and at this time, the problem of how to distribute the tasks to ensure that the robot processes the tasks reasonably occurs.
Disclosure of Invention
The embodiment of the application provides a method and a device for optimizing and distributing tasks of a power transmission line inspection robot, so that the inspection robot can utilize limited electric quantity to process the distributed tasks as much as possible.
In view of this, a first aspect of the present application provides a method for optimally allocating tasks to a power transmission line inspection robot, where the method includes:
acquiring the residual electric quantity of the power transmission line inspection robot;
acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task;
sequencing each task;
calculating a first energy sum of the first N tasks;
calculating a second energy sum of the first N +1 tasks;
and when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the previous N tasks.
Optionally, the method further includes:
and acquiring the electric quantity required by the return journey of the inspection robot.
Optionally, when the remaining capacity of the inspection robot is greater than the sum of the first energy and less than the sum of the second energy, the inspection robot performs the first N tasks, further including:
and when the sum of the residual electric quantity and the electric quantity required by the return trip of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the previous N tasks.
Optionally, the sorting each task includes:
sequencing according to the energy value required by each task;
or, sorting each task according to the priority value.
Optionally, before obtaining the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task, the method further includes:
counting the required energy values of a plurality of inspection robots for processing the same task in historical data;
and taking the average value of the energy values required for processing the same task as the actually required energy value of the processing task, and establishing a corresponding relation between the task and the actually required energy value.
Optionally, the calculating the first energy sum of the first N tasks specifically includes:
acquiring the actual required energy values corresponding to the first N tasks;
and accumulating the actually required energy values of the first N tasks to obtain the first energy sum of the first N tasks.
The second aspect of the application provides a transmission line patrols and examines robot task optimization distributor, the device includes:
the first acquisition unit is used for acquiring the residual electric quantity of the power transmission line inspection robot;
the second acquisition unit is used for acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task;
the sequencing unit is used for sequencing each task;
the first calculation unit is used for calculating first energy sums of the first N tasks;
the second calculation unit is used for calculating second energy sums of the first N +1 tasks;
and the task execution unit is used for executing the first N tasks by the inspection robot when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum.
Optionally, the method further includes:
the statistical unit is used for counting the energy values required by the inspection robots to process the same task in historical data;
and the corresponding relation establishing unit is used for taking the average value of the energy values required by processing the same task as the actually required energy value of the processing task and establishing the corresponding relation between the task and the actually required energy value.
The third aspect of the application provides a task optimization distribution device of a power transmission line inspection robot, the device comprises a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the steps of the power transmission line inspection robot task optimization allocation method according to the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for performing the method of the first aspect.
According to the technical scheme, the method has the following advantages:
the application provides a task optimization allocation method for a power transmission line inspection robot, and the method comprises the following steps: acquiring the residual electric quantity of the power transmission line inspection robot; acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task; sequencing each task; calculating a first energy sum of the first N tasks; calculating a second energy sum of the first N +1 tasks; and when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the first N tasks.
This application is through comparing the residual capacity of patrolling and examining the robot with the required electric quantity of task to confirm to patrol and examine the task quantity that the robot residual capacity can solve, thereby guarantee to guarantee the execution of guaranteeing the task as far as on current energy basis.
Drawings
Fig. 1 is a flowchart of a method in an embodiment of a task optimization allocation method for a power transmission line inspection robot according to the present application;
fig. 2 is a device structure diagram of an embodiment of the task optimization allocation device for the power transmission line inspection robot according to the present application;
fig. 3 is a schematic structural diagram of an embodiment of the task optimization distribution equipment for the power transmission line inspection robot.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a method of an embodiment of a task optimization allocation method for a power transmission line inspection robot according to the present application, as shown in fig. 1, where fig. 1 includes:
101. acquiring the residual electric quantity of the power transmission line inspection robot;
it should be noted that, the residual electric quantity of the power transmission line inspection robot can be directly obtained, and the residual electric quantity is converted into a specific energy value. Of course, the total energy of the power supply of the power transmission line inspection robot and the output energy of the power supply of the power transmission line inspection robot can be obtained, and the residual energy can be calculated according to the total energy and the output energy. Specifically, obtaining the output energy of the power supply of the power transmission line inspection robot comprises the following steps: acquiring real-time output power of a power supply; acquiring the working time of a power supply; and calculating the accumulated sum of the real-time output power and the working time length.
102. Acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task;
it should be noted that, the remaining tasks of the inspection robot can be obtained through the task list, and the actually required energy value corresponding to each task is obtained.
Specifically, the method for acquiring the actually required energy value corresponding to each task includes:
counting the energy values required by a plurality of inspection robots to process the same task in historical data;
and taking the average value of the energy values required for processing the same task as the actual required energy value of the processing task, and establishing a corresponding relation between the task and the actual required energy value.
103. Sequencing each task;
it should be noted that, in the present application, each task may be sorted, the tasks may be sorted from large to small according to the actually required energy value, or may be sorted by other sorting methods.
In a specific embodiment, the application sequences each task, specifically:
sequencing according to the energy value required by each task;
alternatively, each task is ordered according to priority.
It should be noted that, the present application may be sorted according to the size of the energy value required by each task; alternatively, each task is ordered according to priority. Of course, the tasks that need to be processed with priority may be ranked first according to the priority value, and then ranked according to the energy value required by each of the remaining tasks, so that the tasks that need to be processed with priority perform priority processing.
104. Calculating a first energy sum of the first N tasks;
it should be noted that after the sorting is completed, the priority processing may be performed on the task list after the sorting is completed, and first, a first energy sum required for processing the first N tasks may be calculated.
In a specific embodiment, the application calculates a first energy sum of the first N tasks, specifically:
acquiring actual required energy values corresponding to the first N tasks;
and accumulating the actually required energy values of the first N tasks to obtain a first energy sum of the first N tasks.
105. Calculating a second energy sum of the first N +1 tasks;
it should be noted that, after the first energy required by the first N tasks is calculated, the actual required energy values corresponding to the first N +1 tasks can be obtained; and accumulating the actually required energy values of the first N +1 tasks to obtain a second energy sum of the first N +1 tasks.
106. And when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the first N tasks.
It should be noted that, because the remaining power is limited, tasks that can be processed in an emergency and remaining power range need to be processed preferentially, so the remaining power of the inspection robot and the first energy sum may be compared with each other, and when the remaining power of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the first N tasks.
This application is through comparing the residual capacity of patrolling and examining the robot with the required electric quantity of task to confirm to patrol and examine the task quantity that the robot residual capacity can solve, thereby guarantee to guarantee the execution of guaranteeing the task as far as on current energy basis.
In a specific embodiment, the present application further comprises:
acquiring the electric quantity required by the return journey of the inspection robot;
and when the sum of the remaining electric quantity of the inspection robot and the electric quantity required by the return journey is larger than the first energy sum and smaller than the second energy sum, the inspection robot executes the first N tasks.
It should be noted that, this application is for making patrolling and examining the robot and in time retrieving, avoid losing, and this application can also acquire patrolling and examining the robot and return the required electric quantity of journey to when patrolling and examining the value of the remaining capacity of robot and the required electric quantity sum of journey of returning, be greater than first energy and be less than the second energy sum, then patrol and examine the robot and carry out N tasks before. The inspection robot can execute the remaining tasks as much as possible and can return in time, and the loss of the inspection robot is avoided.
The application also provides an embodiment of the task optimization distribution device of the power transmission line inspection robot, as shown in fig. 2, the task optimization distribution device of the power transmission line inspection robot comprises the following components in fig. 2:
the first obtaining unit 201 is used for obtaining the residual electric quantity of the power transmission line inspection robot;
the second obtaining unit 202 is configured to obtain the remaining tasks of the power transmission line inspection robot and an actually required energy value of each task;
a sorting unit 203 for sorting each task;
a first calculating unit 204, configured to calculate a first energy sum of the first N tasks;
a second calculating unit 205, configured to calculate a second energy sum of the first N +1 tasks;
and the task execution unit 206 is configured to, when the remaining power of the inspection robot is greater than the first energy sum and less than the second energy sum, execute the first N tasks by the inspection robot.
In a specific embodiment, the method further comprises the following steps:
the statistical unit is used for counting the energy values required by the inspection robots to process the same task in the historical data;
and the corresponding relation establishing unit is used for taking the average value of the energy values required by processing the same task as the actual required energy value of the processing task and establishing the corresponding relation between the task and the actual required energy value.
The application also provides an embodiment of task optimization distribution equipment of the power transmission line inspection robot, and as shown in fig. 3, the equipment comprises a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the embodiment of the task optimization allocation method of the power transmission line inspection robot according to the instructions in the program codes.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes 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 steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A task optimization allocation method for a power transmission line inspection robot is characterized by comprising the following steps:
acquiring the residual electric quantity of the power transmission line inspection robot;
acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task;
sequencing each task;
calculating a first energy sum of the first N tasks;
calculating a second energy sum of the first N +1 tasks;
and when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the previous N tasks.
2. The power transmission line inspection robot task optimal allocation method according to claim 1, further comprising:
and acquiring the electric quantity required by the return journey of the inspection robot.
3. The power transmission line inspection robot task optimal allocation method according to claim 2, wherein when the value of the remaining power of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the first N tasks, further comprising:
and when the sum of the residual electric quantity and the electric quantity required by the return trip of the inspection robot is greater than the first energy sum and less than the second energy sum, the inspection robot executes the previous N tasks.
4. The power transmission line inspection robot task optimal allocation method according to claim 1, wherein the sorting each task comprises:
sequencing according to the energy value required by each task;
or, sorting each task according to the priority value.
5. The power transmission line inspection robot task optimal allocation method according to claim 1, wherein before the obtaining of the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task, the method further comprises:
counting the required energy values of a plurality of inspection robots for processing the same task in historical data;
and taking the average value of the energy values required for processing the same task as the actually required energy value of the processing task, and establishing a corresponding relation between the task and the actually required energy value.
6. The power transmission line inspection robot task optimal allocation method according to claim 1, wherein the calculating of the first energy sum of the first N tasks specifically comprises:
acquiring the actual required energy values corresponding to the first N tasks;
and accumulating the actually required energy values of the first N tasks to obtain the first energy sum of the first N tasks.
7. The utility model provides a transmission line patrols and examines robot task optimization distributor which characterized in that includes:
the first acquisition unit is used for acquiring the residual electric quantity of the power transmission line inspection robot;
the second acquisition unit is used for acquiring the remaining tasks of the power transmission line inspection robot and the actually required energy value of each task;
the sequencing unit is used for sequencing each task;
the first calculation unit is used for calculating first energy sums of the first N tasks;
the second calculation unit is used for calculating second energy sums of the first N +1 tasks;
and the task execution unit is used for executing the first N tasks by the inspection robot when the value of the residual electric quantity of the inspection robot is greater than the first energy sum and less than the second energy sum.
8. The electric transmission line inspection robot task optimizing and distributing device of claim 7, further comprising:
the statistical unit is used for counting the energy values required by the inspection robots to process the same task in historical data;
and the corresponding relation establishing unit is used for taking the average value of the energy values required by processing the same task as the actually required energy value of the processing task and establishing the corresponding relation between the task and the actually required energy value.
9. The utility model provides a transmission line patrols and examines robot task optimization distribution equipment which characterized in that, equipment includes treater and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the power transmission line inspection robot task optimization allocation method according to any one of claims 1 to 6 according to instructions in the program codes.
10. A computer-readable storage medium for storing program code for executing the power transmission line inspection robot task optimal allocation method according to any one of claims 1 to 6.
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| CN202110849639.7A CN113570241A (en) | 2021-07-27 | 2021-07-27 | Power transmission line inspection robot task optimal allocation method and device |
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| CN202110849639.7A CN113570241A (en) | 2021-07-27 | 2021-07-27 | Power transmission line inspection robot task optimal allocation method and device |
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| CN115685975A (en) * | 2022-09-14 | 2023-02-03 | 国家电网公司西南分部 | No-signal off-line operation method and system for power transmission line inspection robot |
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