CN115686014B - Subway inspection robot based on BIM model - Google Patents
Subway inspection robot based on BIM model Download PDFInfo
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- CN115686014B CN115686014B CN202211354402.2A CN202211354402A CN115686014B CN 115686014 B CN115686014 B CN 115686014B CN 202211354402 A CN202211354402 A CN 202211354402A CN 115686014 B CN115686014 B CN 115686014B
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Abstract
The application relates to the technical field of rail transit inspection, in particular to a subway inspection robot based on a BIM model, wherein a processor is arranged in the inspection robot and is used for executing the following steps: acquiring a current time stamp; matching the distribution situation of regional personnel; acquiring a detection area of the a-th inspection; generating an a-th inspection direction; determining an a-th starting area and an a-th end area according to the a-th inspection direction and the a-th inspection detection area; controlling the inspection robot to reach an a-th starting area; acquiring the current coordinate of the inspection robot as an initial coordinate; generating an a-th route; controlling the inspection robot to reach an a-th terminal area; judging whether the equipment to be inspected which is not inspected exists or not; if yes, executing a=a+1, and repeating the steps S3-S10; if not, finishing the inspection and uploading the acquired parameter information to be inspected of each device to be inspected to the cloud platform. The intelligent inspection robot has the effect of enabling the intelligent inspection robot to conduct inspection at multiple angles.
Description
Technical Field
The application relates to the technical field of rail transit inspection, in particular to a subway inspection robot based on a BIM model.
Background
With the development of electrification and intellectualization in the track industry, the requirements of automation and intellectualization of a traction substation are continuously increased, and the requirements of unattended and accurate inspection of traction change become the important development direction of the track traffic industry. Under the background, each railway bureau and urban subway company provide comprehensive test point robot automatic inspection requirements for a traction substation.
The substation inspection robot adopts an outdoor mobile platform, carries various sensor acquisition devices, acquires and analyzes various running condition parameters in a substation on the premise of not changing the existing equipment of the substation, and is connected into a substation management background system to collect and analyze data, so that the unattended technical level of the substation is improved.
The current intelligent inspection robot has the following functions: autonomous navigation and positioning technology, image recognition, signal analysis and pattern recognition technology, robot detection signal data, image wireless transmission technology, a plurality of detection equipment universal carrying platforms, safe and reliable batteries, intelligent energy management, efficient and safe charging technology, and robot obstacle crossing, obstacle avoidance and self-protection technology.
The existing intelligent inspection robot is fixed in inspection route, cannot inspect the transformer substation at multiple angles, and therefore needs to be improved.
Disclosure of Invention
In order to enable the intelligent inspection robot to conduct inspection at multiple angles, the application provides a subway inspection robot based on a BIM model.
The first object of the present application is achieved by the following technical solutions:
a subway inspection robot based on a BIM model, comprising:
the inspection robot is internally provided with a processor, the processor is internally provided with an inspection area mapping the real world, a plurality of equipment to be inspected in the inspection area and BIM models of detection areas of the equipment to be inspected, the detection areas of the equipment to be inspected are different, and the detection areas of the equipment to be inspected refer to an inspection area coordinate set in which the inspection robot can collect information to be inspected of the equipment to be inspected;
the processor is used for executing the following steps:
s1, acquiring a current time stamp;
s2, matching the regional personnel distribution situation in a regional historical personnel distribution-time relation library according to the current timestamp;
s3, acquiring a detection area of equipment to be inspected, which is not currently inspected, as a detection area of an a-th inspection, wherein an initial value of a is 1;
s4, generating an a-th inspection direction according to the current personnel distribution situation of the area and the detection area of the a-th inspection;
s5, determining an a-th initial area and an a-th end area according to the a-th inspection direction and the a-th inspection detection area;
s6, controlling the inspection robot to reach an a-th initial area, and acquiring parameter information to be inspected of equipment to be inspected corresponding to a detection area once when the inspection robot enters the detection area in the driving process;
s7, under the condition that the inspection robot reaches an a-th initial area, acquiring the current coordinate of the inspection robot as an initial coordinate;
s8, generating an a-th route according to the initial coordinates and the a-th inspection direction;
s9, controlling the inspection robot to reach an a-th destination area according to an a-th route;
s10, judging whether equipment to be inspected which is not inspected exists or not;
s11, if yes, calculating a+1, reassigning the calculation result of the a+1 to the parameter a, and repeating the steps S3-S10; and S12, if not, ending the inspection and uploading the acquired parameter information to be inspected of each device to be inspected to the cloud platform.
By adopting the technical scheme, before each inspection, the personnel distribution condition in the area is acquired through the current time stamp, then the inspection direction is generated according to the personnel distribution condition and the position of the equipment to be inspected in the area, then the first route is generated according to the inspection direction for inspection, after the inspection is finished, the second route is regenerated according to the position of the equipment to be inspected which is not inspected currently, and the inspection is continued until all the equipment to be inspected are detected, so that each route is at different angles, and the corresponding equipment to be inspected can be detected once when entering the detection area, thereby improving the inspected times of the part of equipment to be inspected in one patrol and detecting the corresponding parameters at different angles, and further improving the accuracy.
The present application may be further configured in a preferred example to: the step S2 comprises the following steps:
s21, storing the distribution coordinates of personnel in the conventional inspection area, a historical timestamp and a mapping relation between the distribution coordinates and the historical timestamp in the area historical personnel distribution-time relation library;
s22, screening out a daily starting time stamp from a regional historical personnel distribution-time relation library, and then presetting distribution coordinates of personnel in a patrol area in a time period as distribution coordinates to be processed, wherein the starting time stamp corresponds to a current time stamp;
s23, aggregating the distribution coordinates to be processed to obtain a plurality of personnel distribution sub-areas serving as personnel distribution conditions.
By adopting the technical scheme, the general distribution condition of the personnel in the next time period is obtained through the history information, so that the path planning is guided, the influence on the personnel is reduced, and the influence on the path obstacle of the inspection is also reduced.
The present application may be further configured in a preferred example to: s4 comprises the following steps:
s421, taking the central points of all the detection areas of the a-th inspection as base points;
s412, calculating the number n of detection areas of the a-th inspection passing through each path direction, wherein the path direction passes through the base point;
s413, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
s414, calculating to obtain a priority value q of each path direction according to the number n of detection areas of the a-th inspection passing through each path direction and the number p of the plurality of personnel distribution subareas passing through each path direction;
s415, taking the path direction with the highest priority value q as the a-th inspection direction.
By adopting the technical scheme, the priority ranking is carried out according to the number n of the detection areas of the a-th inspection passing through each path direction and the number p of the personnel distribution subareas passing through the a-th inspection, so that the priority of each path direction can be obtained, the preference is further selected, and the detection efficiency and the detection times of each device are improved.
The present application may be further configured in a preferred example to: s4 comprises the following steps:
s421, taking the central points of all the detection areas of the a-th inspection as base points;
s422, calculating the distance d between a first detection area and a tail detection area, which are passed by each path direction in all detection areas of the a-th inspection, wherein the path direction passes through the base point;
s423, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
s424, calculating to obtain a priority value q of each path direction according to the distance d between the head detection area and the tail detection area, which are passed by each path direction, and the number p of the passed personnel distribution subareas;
s425, taking the path direction with the highest priority value q as the a-th inspection direction.
By adopting the technical scheme, the priority ranking is performed according to the distance d between the first detection area and the tail detection area which are passed by each path direction and the number p of the plurality of personnel distribution subareas which are passed by each path direction, so that the priority of each path direction with respect to the length and the personnel condition can be obtained, the preference is further selected, the method is suitable for detecting equipment as much as possible, and the detection times of the equipment are improved.
The present application may be further configured in a preferred example to: the angle between each path direction is 15 °.
By adopting the technical scheme, the generation of multiple path directions is realized.
The present application may be further configured in a preferred example to: if two path directions exist at the same time and can be used as an a-th inspection direction, the path direction with the smallest included angle with the a-1-th inspection direction is used as the a-th inspection direction.
By adopting the technical scheme, the inspection times of the same equipment can be further increased.
The present application may be further configured in a preferred example to: s5 comprises the following steps:
s51, calculating a head detection area and a tail detection area which pass through in all detection areas of the a-th inspection in the a-th inspection direction;
s52, taking the first detection area as an a-th initial area and the tail detection area as an a-th end area.
The present application may be further configured in a preferred example to: when the inspection robot acquires the parameter information to be inspected of the equipment to be inspected corresponding to the detection area, the acquired parameter information to be inspected is sent to the processor;
the processor is further used for associating the acquired time stamp and the acquired coordinates with the acquired parameter information to be detected;
the judging whether the equipment to be inspected exists which is not inspected comprises the following steps:
judging whether the equipment to be inspected which is not inspected exists or not according to the acquired parameter information to be inspected, the associated acquisition time stamp and the acquisition coordinates.
By adopting the technical scheme, whether the equipment is detected or not is judged according to the collected data, so that all the equipment can be ensured to be detected.
In summary, the present application includes at least one of the following beneficial technical effects:
1. before each inspection, acquiring personnel distribution conditions in the area through a current time stamp, generating an inspection direction according to the personnel distribution conditions and the positions of equipment to be inspected in the area, generating a first route according to the inspection direction for inspection, and regenerating a second route according to the positions of the equipment to be inspected which is not inspected currently after inspection is finished for continuing inspection until all the equipment to be inspected are detected, wherein each route is of a different angle, and the corresponding equipment to be inspected is detected once when each route enters the detection area, so that the inspected times of partial equipment in one inspection and the corresponding parameters detected by different angles are improved, and the accuracy is improved;
2. according to the distance d between the first detection area and the tail detection area which are passed by each path direction and the number p of the plurality of passed personnel distribution subareas, priority ranking is carried out, so that the priority of each path direction with respect to the length and personnel condition can be obtained, the preference is further selected, the equipment is detected as much as possible, and the detection times of the equipment are improved; 3. it is determined whether or not it is detected based on the collected data, and it can be ensured that all devices are detected.
Drawings
FIG. 1 is a schematic diagram illustrating steps performed by a processor according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing steps executed by the processor S2 according to an embodiment of the present application;
FIG. 3 is a schematic diagram showing steps executed by the processor S4 according to an embodiment of the present application;
fig. 4 is a schematic diagram showing steps executed by the processor S4 according to another embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
The subway inspection robot based on the BIM comprises an inspection robot, wherein the inspection robot can adopt a four-foot inspection robot, a wheel-type inspection robot and the like, the inspection robot adopts front laser navigation, the inspection robot is provided with a proximity type anti-collision sensor safety radar, a visible light camera and an infrared detection camera, a night illumination mechanism, a rain shielding device and the like, and a detection device of the inspection robot can be installed through equipment parameters of an actual detection scene, such as an audio pick-up, a gas sensor and the like;
the inspection robot is internally provided with a processor, the processor is internally provided with an inspection area mapping the real world, a plurality of equipment to be inspected in the inspection area and BIM models of detection areas of the equipment to be inspected, each coordinate of the BIM models corresponds to the real world coordinate of the inspection area one by one, the detection areas among the equipment to be inspected are different, for example, the inspection area is a certain substation area of rail traffic, and the equipment to be inspected is equipment and devices which need parameter inspection in the substation area. Each device to be detected is provided with a corresponding detection area, the detection area of the device to be detected refers to a coordinate set of the inspection area, the inspection robot can collect information to be detected of the device to be detected, the detection area refers to a parameter to be detected of the device to be detected, which can be detected by the inspection robot at any position in the area, the detection area can be a sector, a circle or other areas with regular or irregular shapes, and the detection area is determined according to the position set, which can be detected by the inspection robot to correspond to the parameter to be detected, after the device is actually installed.
When the inspection robot acquires the parameter information to be inspected of the equipment to be inspected corresponding to the detection area through the detection device carried and installed by the inspection robot, the acquired parameter information to be inspected is sent to the processor; the processor associates the acquired time stamp and the acquired coordinates with the acquired parameter information to be checked so as to facilitate subsequent checking and analysis.
The processor is internally provided with a regional historical personnel distribution-time relation library, or the regional historical personnel distribution-time relation library can be positioned in a database of the cloud platform, and the regional historical personnel distribution-time relation library is acquired through calling and stores the distribution coordinates of personnel in a previous inspection area, a historical timestamp and the mapping relation between the two, for example, an imaging device is arranged in the inspection area, image information of the inspection area is acquired in real time, pixel coordinates of each personnel in the image information are acquired, the pixel coordinates correspond to real world coordinates, and then the real world coordinates can be converted into model coordinates; the seat board and the time stamp are mapped in an associated mode, and then the distribution coordinates of personnel in the conventional inspection area, the historical time stamp and the mapping relation between the two are obtained;
FIG. 1 is a schematic diagram of the steps performed by a processor in an embodiment of the present application, the processor being configured to perform the following steps:
s1, acquiring a current time stamp;
the current timestamp may be obtained by using date. Now () static method, for example, the current timestamp is 2022, 9, 27, 17:26:52.
S2, matching the regional personnel distribution situation in a regional historical personnel distribution-time relation library according to the current timestamp; referring to fig. 2, the S2 includes:
s21, screening out a daily starting time stamp from a regional historical personnel distribution-time relation library, and then presetting distribution coordinates of personnel in a patrol area in a time period as distribution coordinates to be processed, wherein the starting time stamp corresponds to a current time stamp;
s22, aggregating the distribution coordinates to be processed to obtain a plurality of personnel distribution sub-areas serving as personnel distribution conditions.
The preset time period is determined according to the total time required by the actual inspection robot to finish one time, and the total inspection time is slightly longer than the total inspection time, wherein the total inspection time refers to the time required by detecting all equipment to be inspected in an inspection area once. And aggregating all the distribution coordinates in the period of time to further obtain distribution subregions of a plurality of people, wherein each subregion comprises at least one coordinate.
S3, acquiring a detection area of equipment to be inspected, which is not currently inspected, as a detection area of an a-th inspection, wherein an initial value of a is 1;
it can be understood that the device to be inspected which is not inspected at present can be obtained by comparing the obtained data (the obtained timestamp, the obtained coordinates and the obtained parameter information to be inspected associated with the processor) with a preset detection device table and a preset parameter information table of the detection device, and the corresponding parameter information of the coordinates in the corresponding area is not acquired and is regarded as the equipment to be inspected which is not inspected, and then the detection areas of the equipment to be inspected which is not inspected are taken as the detection areas of the inspection for the a-th time.
S4, generating an a-th inspection direction according to the current personnel distribution situation of the area and the detection area of the a-th inspection;
referring to fig. 3, in one embodiment, S4 includes:
s411, taking the central points of all the detection areas of the a-th inspection as base points;
it is worth to say that, the center point of the detection area of the a-th inspection refers to the center of a circumcircle of all detection areas of the a-th inspection, and the circumcircle includes all detection areas of the a-th inspection and is tangent to at least two detection areas in the detection areas of the a-th inspection; if the detection area of the a-th inspection has only one detection area, the circle center of the circumscribing circle of the detection area is the base point.
S412, calculating the number n of detection areas of the a-th inspection passing through each path direction, wherein the path direction passes through the base point;
the number of the path directions may be set according to the included angle, for example, the included angle between each path direction may be set to 15 °, and then the number of the path directions may be 24, and the number of the detection areas of the a-th inspection, through which the line segment in the inspection area of the model corresponding to the path direction passes, may be calculated.
S413, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
it can be understood that the number of the personnel distribution subareas passing by the line segment in the inspection area of the model corresponding to the path direction can be calculated.
S414, calculating to obtain a priority value q of each path direction according to the number n of detection areas of the a-th inspection passing through each path direction and the number p of the plurality of personnel distribution subareas passing through each path direction;
wherein q=8n-2 p, and further, the path directions may be integrally sorted according to the number of the passing a-th inspection detection areas n, and the number of the passing multiple personnel distribution sub-areas p.
S415, taking the path direction with the highest priority value q as the a-th inspection direction.
If two path directions exist at the same time and can be used as an a-th inspection direction, the path direction with the smallest included angle with the a-1-th inspection direction is used as the a-th inspection direction, and then secondary detection is carried out on equipment detected in the a-1-th inspection direction as far as possible, and the difference between the angle of the secondary detection and the angle of the primary detection is larger.
Referring to fig. 4, in one embodiment, S4 includes:
s421, taking the central points of all the detection areas of the a-th inspection as base points;
s422, calculating the distance d between a first detection area and a tail detection area, which are passed by each path direction in all detection areas of the a-th inspection, wherein the path direction passes through the base point;
the number of the path directions may be set according to the included angle, for example, the included angle between each path direction may be set to 15 °, and then the number of the path directions may be 24, and the number of the detection areas of the a-th inspection, through which the line segment in the inspection area of the model corresponding to the path direction passes, may be calculated.
S423, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
s424, calculating to obtain a priority value q of each path direction according to the distance d between the head detection area and the tail detection area, which are passed by each path direction, and the number p of the passed personnel distribution subareas;
s425, taking the path direction with the highest priority value q as the a-th inspection direction.
Wherein q= (d+0.2p)/d.p, the priority value of the path direction of the larger number p of the plurality of personnel distribution subareas passing through can be made smaller, the priority value of the path direction of the larger distance d between the first detection area and the tail detection area passing through is made larger, further a fine patrol mode can be provided, a longer patrol path can be provided, and in one total patrol, each device is checked at multiple angles for multiple times, and the accuracy is improved. Further, if two path directions exist at the same time and can be used as the a-th inspection direction, the path direction with the smallest included angle with the a-1-th inspection direction is used as the a-th inspection direction, and by combining the above modes, the inspection times of the same equipment can be further increased.
S5, determining an a-th initial area and an a-th end area according to the a-th inspection direction and the a-th inspection detection area; specifically, S5 includes:
s51, calculating a head detection area and a tail detection area which pass through in all detection areas of the a-th inspection in the a-th inspection direction;
s52, taking the first detection area as an a-th initial area and the tail detection area as an a-th end area.
The first detection area refers to a detection area passing through along the a-th inspection direction for the first time, and the last detection area refers to a detection area passing through along the a-th inspection direction for the last time.
S6, controlling the inspection robot to reach an a-th initial area, and acquiring parameter information to be inspected of equipment to be inspected corresponding to a detection area once when the inspection robot enters the detection area in the driving process;
parameter information to be detected, such as temperature information, instrument information, humidity information, decibel information and the like, can be obtained through corresponding sensors or image recognition devices.
S7, under the condition that the inspection robot reaches an a-th initial area, acquiring the current coordinate of the inspection robot as an initial coordinate;
the inspection robot stops and acquires the current coordinates as the initial coordinates after automatically reaching the a-th initial area according to the instruction, and the parameter information to be inspected is acquired for the corresponding equipment in the a-th initial area.
S8, generating an a-th route according to the initial coordinates and the a-th inspection direction;
specifically, a patrol straight-line path is generated with the start coordinate and the a-th patrol direction.
S9, controlling the inspection robot to reach an a-th destination area according to an a-th route;
it can be understood that the inspection robot has an automatic obstacle avoidance function, automatically bypasses when encountering personnel or obstacles, and returns to the original patrol straight-line path after bypassing the obstacles.
S10, judging whether equipment to be inspected which is not inspected exists or not;
s10 comprises the following steps:
judging whether the equipment to be inspected which is not inspected exists or not according to the acquired parameter information to be inspected, the associated acquisition time stamp and the acquisition coordinates.
S11, if yes, calculating a+1, reassigning the calculation result of the a+1 to the parameter a, and repeating the steps S3-S10;
and S12, if not, ending the inspection and uploading the acquired parameter information to be inspected of each device to be inspected to the cloud platform.
Therefore, all the equipment to be inspected in the patrol area is detected, and the corresponding equipment to be inspected can be detected once when entering the detection area every time, so that the number of times of detecting part of equipment in one patrol is increased, corresponding parameters are detected at different angles, and the accuracy is further improved.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (8)
1. BIM model-based subway inspection robot, its characterized in that includes:
the inspection robot is internally provided with a processor, the processor is internally provided with an inspection area mapping the real world, a plurality of equipment to be inspected in the inspection area and BIM models of detection areas of the equipment to be inspected, the detection areas of the equipment to be inspected are different, and the detection areas of the equipment to be inspected refer to an inspection area coordinate set in which the inspection robot can collect information to be inspected of the equipment to be inspected;
the processor is used for executing the following steps:
s1, acquiring a current time stamp;
s2, matching the regional personnel distribution situation in a regional historical personnel distribution-time relation library according to the current timestamp;
s3, acquiring a detection area of equipment to be inspected, which is not currently inspected, as a detection area of an a-th inspection, wherein an initial value of a is 1;
s4, generating an a-th inspection direction according to the current personnel distribution situation of the area and the detection area of the a-th inspection;
s5, determining an a-th initial area and an a-th end area according to the a-th inspection direction and the a-th inspection detection area;
s6, controlling the inspection robot to reach an a-th initial area, and acquiring parameter information to be inspected of equipment to be inspected corresponding to a detection area once when the inspection robot enters the detection area in the driving process;
s7, under the condition that the inspection robot reaches an a-th initial area, acquiring the current coordinate of the inspection robot as an initial coordinate;
s8, generating an a-th route according to the initial coordinates and the a-th inspection direction;
s9, controlling the inspection robot to reach an a-th destination area according to an a-th route;
s10, judging whether equipment to be inspected which is not inspected exists or not;
s11, if yes, calculating a+1, reassigning the calculation result of the a+1 to the parameter a, and repeating the steps S3-S10;
and S12, if not, ending the inspection and uploading the acquired parameter information to be inspected of each device to be inspected to the cloud platform.
2. The subway inspection robot based on the BIM model as set forth in claim 1, wherein the regional historic personnel distribution-time relation library stores the distribution coordinates of personnel in the past inspection region, the historic time stamp and the mapping relation between the two;
the step S2 comprises the following steps:
s21, screening out a daily starting time stamp from a regional historical personnel distribution-time relation library, and then presetting distribution coordinates of personnel in a patrol area in a time period as distribution coordinates to be processed, wherein the starting time stamp corresponds to a current time stamp;
s22, aggregating the distribution coordinates to be processed to obtain a plurality of personnel distribution sub-areas serving as personnel distribution conditions.
3. The BIM model-based subway inspection robot of claim 2, wherein S4 includes:
s411, taking the central points of all the detection areas of the a-th inspection as base points;
s412, calculating the number n of detection areas of the a-th inspection passing through each path direction, wherein the path direction passes through the base point;
s413, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
s414, calculating to obtain a priority value q of each path direction according to the number n of detection areas of the a-th inspection passing through each path direction and the number p of the plurality of personnel distribution subareas passing through each path direction;
s415, taking the path direction with the highest priority value q as the a-th inspection direction.
4. The BIM model-based subway inspection robot of claim 2, wherein S4 includes:
s421, taking the central points of all the detection areas of the a-th inspection as base points;
s422, calculating the distance d between a first detection area and a tail detection area, which are passed by each path direction in all detection areas of the a-th inspection, wherein the path direction passes through the base point;
s423, calculating the number p of a plurality of personnel distribution subareas passing through each path direction;
s424, calculating to obtain a priority value q of each path direction according to the distance d between the head detection area and the tail detection area, which are passed by each path direction, and the number p of the passed personnel distribution subareas;
s425, taking the path direction with the highest priority value q as the a-th inspection direction.
5. A BIM model based subway inspection robot according to any one of claims 3 or 4, wherein the angle between each path direction is 15 °.
6. The BIM model based subway inspection robot of claim 5, wherein if two path directions exist simultaneously as the a-th inspection direction, the path direction having the smallest included angle with the a-1-th inspection direction is the a-th inspection direction.
7. The BIM model based subway inspection robot of claim 5, wherein S5 includes:
s51, calculating a head detection area and a tail detection area which pass through in all detection areas of the a-th inspection in the a-th inspection direction;
s52, taking the first detection area as an a-th initial area and the tail detection area as an a-th end area.
8. The subway inspection robot based on the BIM model as set forth in claim 1, wherein the inspection robot sends the acquired parameter information to be inspected to the processor when acquiring the parameter information to be inspected of the equipment to be inspected corresponding to the detection area;
the processor is further used for associating the acquired time stamp and the acquired coordinates with the acquired parameter information to be detected;
the judging whether the equipment to be inspected exists which is not inspected comprises the following steps:
judging whether the equipment to be inspected which is not inspected exists or not according to the acquired parameter information to be inspected, the associated acquisition time stamp and the acquisition coordinates.
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