CN115951679A - Robot inspection planning method and device based on time window and electronic equipment - Google Patents
Robot inspection planning method and device based on time window and electronic equipment Download PDFInfo
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Abstract
The invention discloses a robot inspection planning scheme based on a time window, belonging to the technical field of intelligent hardware, and the method comprises the following steps: determining a robot routing inspection planning parameter; representing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task; determining a priority coefficient of each inspection task; aiming at each inspection task, determining deviation time of the robot for executing the inspection task according to actual execution time of the inspection task and an expected task execution time interval corresponding to the inspection task; inputting the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function; solving the objective function to obtain an inspection planning scheme of the robot, wherein the inspection planning scheme comprises the following steps: and (4) executing the polling tasks. The robot inspection planning scheme based on the time window can be used for generating an efficient and reliable robot inspection planning scheme.
Description
Technical Field
The invention relates to the technical field of intelligent hardware, in particular to a robot inspection planning method and device based on a time window and electronic equipment.
Background
The robot inspection planning problem is essentially a cost problem, and an inspection planning result is solved by minimizing inspection time or minimizing inspection distance.
In some inspection scenes, the inspection time of each inspection task is not limited, and in other inspection scenes, each inspection task is limited by the latest execution time, so that each inspection task needs to be ensured to be completed before the corresponding latest execution time when the optimal inspection planning result is solved. It is worth mentioning that in a partial time sensitive scenario, the completion time of the polling task is not only before the latest execution time but also after the earliest execution time.
Therefore, how to reasonably and reasonably schedule the inspection robot in the time-sensitive inspection scene is a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The embodiment of the invention aims to provide a robot inspection planning method and device based on a time window and electronic equipment, which can solve the problem that inspection planning cannot be performed on an inspection robot in a time-sensitive inspection scene at present.
In order to solve the technical problems, the invention provides the following technical scheme:
the embodiment of the invention provides a robot inspection planning method based on a time window, wherein the method comprises the following steps:
determining a robot inspection planning parameter, wherein the inspection planning parameter comprises: starting time of the robot at an initial position, position information of each inspection target, time consumption for completing each inspection task and moving speed of the robot, wherein one inspection target corresponds to one inspection task;
representing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task;
determining a priority coefficient of each routing inspection task;
for each inspection task, determining deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and an expected task execution time interval corresponding to the inspection task;
inputting a priority coefficient and deviation time corresponding to each inspection task into a pre-constructed objective function, wherein the objective function indicates that the deviation time of the robot for executing all inspection tasks is minimum under the condition of considering the priority of each inspection task;
solving the objective function to obtain an inspection planning scheme of the robot, wherein the inspection planning scheme comprises the following steps: and (5) executing the inspection tasks.
Optionally, the step of representing the actual execution time of each inspection task according to the inspection planning parameter and a preset actual execution time expression of the inspection task includes:
determining the distance between the polling targets based on the position information of the polling targets;
determining that the time consumed by the robot for reaching the next inspection target from the previous inspection target is long based on the moving speed of the robot and the distance between the inspection targets;
and representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot from the previous inspection target to the next inspection target and the starting time of the robot at the initial position.
Optionally, the step of determining, for each inspection task, a deviation time for the robot to execute the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task includes:
comparing the actual execution time of the inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task according to each inspection task;
determining a deviation time calculation formula of the inspection task according to the size relationship;
and calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
Optionally, the step of determining a deviation time calculation formula of the inspection task according to the size relationship includes:
under the condition that the actual execution time of the inspection task is larger than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
and under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task.
Optionally, the sum of products of corresponding priority coefficients and deviation time characterizing all the patrol tasks is the smallest.
The embodiment of the invention also provides a robot inspection planning device based on the time window, wherein the device comprises:
the first determining module is used for determining the patrol and inspection planning parameters of the robot, wherein the patrol and inspection planning parameters comprise: starting time of the robot at an initial position, position information of each inspection target, long time consumed for completing each inspection task and moving speed of the robot, wherein one inspection target corresponds to one inspection task;
the characterization module is used for characterizing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task;
the second determining module is used for determining the priority coefficient of each routing inspection task;
the third determining module is used for determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task;
the input module is used for inputting the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function, wherein the objective function indicates that the deviation time of the robot for executing all the inspection tasks is minimum under the condition of considering the priority of each inspection task;
and the solving module is used for solving the objective function to obtain an inspection planning scheme of the robot, wherein the inspection planning scheme comprises the following steps: and (5) executing the inspection tasks.
Optionally, the characterization module comprises:
the first sub-module is used for determining the distance between the routing inspection targets based on the position information of the routing inspection targets;
the second sub-module is used for determining that the time consumed by the robot for reaching the next routing inspection target from the previous routing inspection target is long based on the moving speed of the robot and the distance between the routing inspection targets;
and the third sub-module is used for representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot reaching the next inspection target from the previous inspection target and the starting time of the robot at the initial position.
Optionally, the third determining module includes:
the fourth sub-module is used for comparing the actual execution time of the inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task according to each inspection task;
the fifth sub-module is used for determining a deviation time calculation formula of the inspection task according to the size relation;
and the sixth submodule is used for calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
Optionally, the fifth sub-module is specifically configured to:
under the condition that the actual execution time of the inspection task is greater than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
and under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task.
The embodiment of the invention provides electronic equipment, which comprises a processor, a memory and a program or an instruction which is stored on the memory and can run on the processor, wherein when the program or the instruction is executed by the processor, the steps of any one of the robot inspection planning methods based on the time window are realized.
The embodiment of the invention provides a readable storage medium, wherein a program or an instruction is stored on the readable storage medium, and the program or the instruction is executed by a processor to realize the steps of any one robot inspection planning method based on the time window.
The robot inspection planning scheme based on the time window provided by the embodiment of the invention determines the robot inspection planning parameters; representing the actual execution time of each inspection task according to the inspection planning parameters and the actual execution time expression of the inspection tasks included in the preset inspection module; determining a priority coefficient of each inspection task; determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task; inputting the priority coefficient and the deviation time corresponding to each inspection task into a target function of a pre-constructed inspection planning model; and solving the objective function to obtain a routing inspection planning scheme of the robot. According to the robot routing inspection planning method provided by the embodiment of the invention, aiming at the characteristics of a time-sensitive scene, the robot routing inspection planning is carried out through the routing inspection planning model, and the execution time of each routing inspection target is ensured to fall within the corresponding expected task execution time interval, so that an efficient and reliable robot routing inspection planning scheme is obtained.
Drawings
Fig. 1 is a flowchart illustrating steps of a robot inspection planning method based on a time window according to an embodiment of the present application;
fig. 2 is a block diagram illustrating a configuration of a robot inspection planning apparatus based on a time window according to an embodiment of the present disclosure;
fig. 3 is a block diagram showing a configuration of an electronic device according to an embodiment of the present application.
Detailed Description
To make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The robot inspection planning scheme based on the time window provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
As shown in fig. 1, the robot inspection planning method based on the time window in the embodiment of the present application includes the following steps:
step 101: and determining the routing inspection planning parameters of the robot.
Wherein, patrol and examine planning parameter and include: the starting time of the robot at the initial position, the position information of each inspection target, the time consumption for completing each inspection task and the moving speed of the robot.
The time consumed for completing each inspection target is the time interval between the moment when the robot reaches the inspection target and starts to inspect the inspection target and the moment when the robot completes the inspection task of the inspection target.
The robot inspection planning method based on the time window is applied to electronic equipment, and the electronic equipment can be equipment with analysis functions, such as a server and a computer. A storage medium in the electronic equipment stores a robot inspection planning program based on a time window, and a processor of the electronic equipment runs the program in the storage medium to execute a robot inspection planning process based on the time window.
Step 102: and representing the actual execution time of each inspection task according to the inspection planning parameters and the preset actual execution time expression of the inspection tasks.
Wherein, an inspection target corresponds an inspection task, and the inspection of the inspection target is regarded as an inspection task.
The actual execution time expression of the inspection task is an important part of the inspection planning model, and the inspection planning model further comprises a target function. And when the robot is subjected to inspection planning, the actual execution time expression and the objective function are jointly solved, so that an inspection planning scheme of the robot can be obtained.
And the actual execution time expression of the routing inspection task is used for representing: the sum of the time consumed by the robot for the previous inspection target to reach the inspection target corresponding to the current inspection task and the time consumed by the robot for completing the inspection task. The time consumed by the previous patrol inspection target to reach the patrol inspection target corresponding to the current patrol inspection task can be determined by the distance between the two patrol inspection targets and the moving speed of the robot.
In an optional embodiment, according to the patrol planning parameters and the preset actual execution time expression of the patrol tasks, the mode of representing the actual execution time of each patrol task may be as follows:
firstly, determining the distance between the inspection targets based on the position information of the inspection targets;
since the position information of each routing inspection target is known, the distance between any two routing inspection targets can be determined, and of course, only the distance between adjacent routing inspection targets can be determined.
Secondly, determining that the time consumed for the robot to reach the next inspection target from the previous inspection target is long based on the moving speed of the robot and the distance between the inspection targets;
and thirdly, representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot from the previous inspection target to the next inspection target and the starting time of the robot at the initial position.
Step 103: and determining the priority coefficient of each inspection task.
And the priority coefficient of the inspection task is used as an important dimension parameter of the subsequent inspection task planning.
Step 104: and determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task.
The expected task execution time interval corresponding to the inspection task comprises an upper limit value and a lower limit value, the upper limit value indicates that the inspection task is executed before the time point represented by the upper limit value, and the lower limit value indicates that the inspection task is executed after the time point represented by the lower limit value.
For example: the expected task execution time interval of any task a, a epsilon A is [ t [ ] a 1 ,t a 2 ]Wherein t is a 1 ＜t a 2 I.e. may be expected at time t a 1 Thereafter, at time t a 2 Task a was previously performed.
In an optional embodiment, for each inspection task, the determining the deviation time of the robot to execute the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task includes:
firstly, comparing the actual execution time of each inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task;
secondly, determining a deviation time calculation formula of the inspection task according to the size relation;
in the actual implementation process, according to the size relationship, the deviation time calculation formula of the inspection task can be determined in the following way:
under the condition that the actual execution time of the inspection task is greater than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task;
in any case other than the above two cases, the deviation time of the polling task may be determined to be 0.
And thirdly, calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
Step 105: and inputting the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function.
The objective function indicates that the deviation time of the robot performing all patrol tasks is minimized in consideration of the priorities of the patrol tasks. An optional objective function characterization may be: the sum of the products of the corresponding priority coefficients and the deviation time of all the patrol tasks is the minimum.
For example: the objective function of the tour planning model may be set to: sigma min a∈A (α a ×ε a ). Wherein alpha is a Is the priority coefficient of task a, ε a The offset time of task a is performed for the robot.
Step 106: and solving the objective function to obtain a routing inspection planning scheme of the robot.
Wherein, it includes to patrol and examine planning scheme: and (5) executing the inspection tasks. Any suitable algorithm, for example, an ant colony algorithm, may be used in solving the objective function, and the specific solving algorithm in the embodiment of the present application is not particularly limited.
For example: the final planned routing inspection planning scheme is L, L = { L = s ,l 1 ,...,l i ,...,l n In which l s Is the starting position of the robot, /) 1 For the first object of the robot to be inspected, in turn,/ i For the ith object to be inspected of the robot, l n Is the nth target to be inspected of the robot.
The robot inspection planning method based on the time window determines robot inspection planning parameters; representing the actual execution time of each inspection task according to the inspection planning parameters and the actual execution time expression of the inspection tasks in the preset inspection planning model; determining a priority coefficient of each inspection task; determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task; inputting the priority coefficient and the deviation time corresponding to each inspection task into a target function of a pre-constructed inspection planning model; and solving the objective function to obtain a routing inspection planning scheme of the robot. According to the robot routing inspection planning method provided by the embodiment of the invention, aiming at the characteristics of a time-sensitive scene, the robot routing inspection planning is carried out through the routing inspection planning model, and the execution time of each routing inspection target is ensured to fall within the corresponding expected task execution time interval, so that an efficient and reliable robot routing inspection planning scheme is obtained.
The following describes a robot inspection planning method based on a time window, taking a specific example as an example.
The specific embodiment focuses on the characteristics of the actual inspection task, fully considers the constraint conditions of the time sensitive scene, and constructs an inspection planning model. And selecting an ant colony algorithm as a solving algorithm of the model according to the characteristics of the established model and the routing inspection planning problem, and finally obtaining an efficient and reliable robot routing inspection planning scheme. In the specific example, routing inspection path planning is performed on a single robot each time, firstly, the system environment is known, namely the robot to be currently subjected to routing inspection planning is known, and a plurality of targets to be inspected are known, and the inspection work of the robot on each target to be inspected is called an inspection task in the specific example. The purpose of routing inspection planning on the robot based on the time window is to determine the optimal routing inspection sequence of all targets to be routed under a time sensitive scene, and correspondingly obtain the optimal routing inspection path of the robot to be used as a routing inspection planning result.
The robot inspection planning method based on the time window in the specific example comprises the following steps:
firstly, an objective function of the routing inspection planning model is constructed.
Forming a task set A by the n tasks to be executed;
the expected task execution time interval of any task a, a epsilon A is
Wherein->
I.e. it is desirable to be able to pick up at time->
Then, at a time>
Previously executing task a;
the actual time that the robot performs task a is denoted as T a ；
The deviation time of the robot for executing the task a is epsilon a ；
The priority coefficient of the task a is alpha a ；
Therefore, the objective function of the whole routing inspection planning model is as follows: sigma min a∈A (α a ×ε a )。
And secondly, constructing an expression of actual time for the robot to execute any task in the routing inspection planning model.
The starting time of the robot at the starting position is
The time spent on the completion of the patrol inspection work at the ith patrol inspection target is->
(ii) a The distance from the ith inspection target to the (i + 1) th inspection target is d i,i+1 The moving speed of the robot is v from the ithThe distance from the routing inspection target to the (i + 1) th routing inspection target is based on the time->
Thus->
The actual time for the robot to execute the task of the ith inspection target is T i The following:
if the task of the ith routing inspection target is task a, T a ＝T i 。
And thirdly, solving the routing inspection planning model by using an ant colony algorithm, namely solving the results of the previous two steps to obtain an optimal routing inspection planning scheme of the robot.
The final planned inspection scheme is L, L = { L = s ,l 1 ,...,l i ,...,l n In which l s Is the starting position of the robot, /) 1 For the first target of the robot to be inspected, in turn,/ i For the ith object to be inspected of the robot, l n Is the nth target to be inspected of the robot.
According to the robot inspection planning method based on the time window, aiming at the characteristics of a time sensitive scene, the inspection planning model is used for ensuring that the execution time of each inspection target falls into an expected task execution time interval, and the execution time is punished too early or too late, so that an efficient and reliable robot inspection planning scheme is obtained.
Fig. 2 is a block diagram of a robot inspection planning device based on a time window according to an embodiment of the present disclosure.
The robot inspection planning device based on the time window comprises the following functional modules:
a first determining module 201, configured to determine inspection planning parameters of the robot, where the inspection planning parameters include: starting time of the robot at an initial position, position information of each inspection target, long time consumed for completing each inspection task and moving speed of the robot, wherein one inspection target corresponds to one inspection task;
the representation module 202 is used for representing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task;
a second determining module 203, configured to determine a priority coefficient of each inspection task;
a third determining module 204, configured to determine, for each inspection task, a deviation time for the robot to execute the inspection task according to an actual execution time of the inspection task and an expected task execution time interval corresponding to the inspection task;
an input module 205, configured to input the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function, where the objective function indicates that the deviation time for the robot to execute all inspection tasks is minimum in consideration of the priority of each inspection task;
a solving module 206, configured to solve the objective function to obtain an inspection planning scheme of the robot, where the inspection planning scheme includes: and (5) executing the inspection tasks.
Optionally, the characterization module comprises:
the first sub-module is used for determining the distance between the routing inspection targets based on the position information of the routing inspection targets;
the second sub-module is used for determining that the time consumed by the robot for reaching the next routing inspection target from the previous routing inspection target is long based on the moving speed of the robot and the distance between the routing inspection targets;
and the third sub-module is used for representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot from the previous inspection target to the next inspection target and the starting time of the robot at the initial position.
Optionally, the third determining module includes:
the fourth sub-module is used for comparing the actual execution time of the inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task according to each inspection task;
the fifth sub-module is used for determining a deviation time calculation formula of the inspection task according to the size relation;
and the sixth submodule is used for calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
Optionally, the fifth sub-module is specifically configured to:
under the condition that the actual execution time of the inspection task is greater than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
and under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task.
Optionally, the sum of the products of the corresponding priority coefficients and the deviation time characterizing all the patrol tasks is minimized by the objective function.
The robot inspection planning device based on the time window determines robot inspection planning parameters; representing the actual execution time of each inspection task according to the inspection planning parameters and the actual execution time expression of the inspection tasks in the preset inspection planning model; determining a priority coefficient of each inspection task; determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task; inputting the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function of an inspection planning model; and solving the objective function to obtain a routing inspection planning scheme of the robot. According to the robot routing inspection planning device provided by the embodiment of the invention, aiming at the characteristics of a time-sensitive scene, the robot routing inspection planning is carried out through the routing inspection planning model, and the execution time of each routing inspection target is ensured to fall into the corresponding expected task execution time interval, so that an efficient and reliable robot routing inspection planning scheme is obtained.
In the embodiment of the present application, the robot inspection planning device based on the time window shown in fig. 2 may be a device, or may be a component, an integrated circuit, or a chip in a server. The robot inspection planning device based on the time window shown in fig. 2 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which is not specifically limited in the embodiment of the present application.
The robot inspection planning device based on the time window shown in fig. 2 provided in the embodiment of the present application can implement each process implemented in the embodiment of the method shown in fig. 1, and is not described here again to avoid repetition.
Optionally, as shown in fig. 3, an electronic device 300 is further provided in this embodiment of the present application, and includes a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and capable of running on the processor 301, where the program or the instruction is executed by the processor 301 to implement each process of the foregoing robot inspection planning method based on a time window, and can achieve the same technical effect, and in order to avoid repetition, it is not described here again.
It should be noted that the electronic device in the embodiment of the present application includes the server described above.
The embodiment of the application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction realizes each process of the robot inspection planning method based on the time window, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface with the processor coupling, the processor is used for running programs or instructions, realizes each process of the robot patrol inspection planning method embodiment based on the time window, and can achieve the same technical effect, and for avoiding repetition, the details are not repeated here.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A robot inspection planning method based on a time window is characterized by comprising the following steps:
determining a robot inspection planning parameter, wherein the inspection planning parameter comprises: starting time of the robot at an initial position, position information of each inspection target, long time consumed for completing each inspection task and moving speed of the robot, wherein one inspection target corresponds to one inspection task;
representing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task;
determining a priority coefficient of each inspection task;
for each inspection task, determining deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task;
inputting a priority coefficient and deviation time corresponding to each inspection task into a pre-constructed objective function, wherein the objective function indicates that the deviation time of the robot for executing all inspection tasks is minimum under the condition of considering the priority of each inspection task;
solving the objective function to obtain an inspection planning scheme of the robot, wherein the inspection planning scheme comprises the following steps: and (5) executing the inspection tasks.
2. The method according to claim 1, wherein the step of representing the actual execution time of each inspection task according to the inspection planning parameters and the preset actual execution time expression of the inspection tasks comprises the following steps:
determining the distance between the polling targets based on the position information of the polling targets;
determining that the time consumed for the robot to reach the next inspection target from the previous inspection target is long based on the moving speed of the robot and the distance between the inspection targets;
and representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot from the previous inspection target to the next inspection target and the starting time of the robot at the initial position.
3. The method according to claim 1, wherein the step of determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task for each inspection task comprises the following steps:
comparing the actual execution time of the inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task according to each inspection task;
determining a deviation time calculation formula of the inspection task according to the size relationship;
and calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
4. The method according to claim 3, wherein the step of determining the deviation time calculation formula of the inspection task according to the magnitude relation comprises the following steps:
under the condition that the actual execution time of the inspection task is larger than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
and under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task.
5. The method of claim 1, wherein the objective function characterizes a minimum sum of products of corresponding priority coefficients and deviation times for all of the inspection tasks.
6. The utility model provides a planning device is patrolled and examined to robot based on time window which characterized in that, the device includes:
the first determining module is used for determining the patrol and inspection planning parameters of the robot, wherein the patrol and inspection planning parameters comprise: starting time of the robot at an initial position, position information of each inspection target, time consumption for completing each inspection task and moving speed of the robot, wherein one inspection target corresponds to one inspection task;
the characterization module is used for characterizing the actual execution time of each inspection task according to the inspection planning parameters and a preset actual execution time expression of the inspection task;
the second determining module is used for determining the priority coefficient of each routing inspection task;
the third determining module is used for determining the deviation time of the robot for executing the inspection task according to the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task aiming at each inspection task;
the input module is used for inputting the priority coefficient and the deviation time corresponding to each inspection task into a pre-constructed objective function, wherein the objective function indicates that the deviation time of the robot for executing all inspection tasks is minimum under the condition of considering the priority of each inspection task;
and the solving module is used for solving the objective function to obtain an inspection planning scheme of the robot, wherein the inspection planning scheme comprises the following steps: and (5) executing the inspection tasks.
7. The apparatus of claim 6, wherein the characterization module comprises:
the first sub-module is used for determining the distance between the routing inspection targets based on the position information of the routing inspection targets;
the second sub-module is used for determining that the time consumed by the robot for reaching the next routing inspection target from the previous routing inspection target is long based on the moving speed of the robot and the distance between the routing inspection targets;
and the third sub-module is used for representing the actual execution time of each inspection task according to the time spent on completing each inspection target, the time spent on the robot from the previous inspection target to the next inspection target and the starting time of the robot at the initial position.
8. The apparatus of claim 6, wherein the third determining module comprises:
the fourth sub-module is used for comparing the actual execution time of the inspection task with the upper limit value and the lower limit value of the expected task execution time interval corresponding to the inspection task according to each inspection task;
the fifth sub-module is used for determining a deviation time calculation formula of the inspection task according to the size relation;
and the sixth submodule is used for calculating the deviation time of the robot for executing the inspection task based on a deviation time calculation formula, the actual execution time of the inspection task and the expected task execution time interval corresponding to the inspection task.
9. The apparatus of claim 6, wherein the fifth submodule is specifically configured to:
under the condition that the actual execution time of the inspection task is greater than the upper limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the actual execution time and the upper limit value as the deviation time of the inspection task;
and under the condition that the actual execution time of the inspection task is smaller than the lower limit value of the expected task execution time interval corresponding to the inspection task, determining the difference between the lower limit value and the actual execution time as the deviation time of the inspection task.
10. An electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the time window based robot inspection planning method according to any one of claims 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117637136A (en) * | 2023-12-22 | 2024-03-01 | 南京天溯自动化控制系统有限公司 | Method and device for automatically inspecting medical equipment by robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117637136A (en) * | 2023-12-22 | 2024-03-01 | 南京天溯自动化控制系统有限公司 | Method and device for automatically inspecting medical equipment by robot |
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