CN117824665B - Routing inspection robot route planning system based on GIS - Google Patents
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Abstract
The invention belongs to the field of inspection robots, relates to a data analysis technology, and aims to solve the problem that an inspection robot route planning system in the prior art cannot consider inspection efficiency and coverage rate, and particularly relates to a GIS-based inspection robot route planning system, which comprises a route planning platform, wherein the route planning platform is in communication connection with a region dividing module, a safety analysis module, a route planning module and a storage module; the regional division module is used for dividing regions of the inspection area of the inspection robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the far position, and sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments; according to the invention, the region can be divided, the linear coefficient is obtained according to the distribution characteristics of the preset inspection points in the inspection region, the region division mode is marked by the linear coefficient, and the data acquisition accuracy in the safety analysis process is improved.
Description
Technical Field
The invention belongs to the field of inspection robots, relates to a data analysis technology, and particularly relates to a GIS-based inspection robot route planning system.
Background
When the inspection robot performs inspection work, an inspection area map and an inspection path are acquired, and then the moving direction of the inspection robot is determined according to the position of the inspection robot and the position relationship of the inspection path on the inspection area map so as to move according to the inspection path.
The routing system of the routing robot in the prior art can only plan the routing of the routing robot according to factors such as road conditions, weather and the like, but can not analyze routing coverage requirements in each area according to the security of the routing area, so that the routing of the routing robot can not consider routing efficiency and coverage rate.
The application provides a solution to the technical problem.
Disclosure of Invention
The invention aims to provide a routing system of a routing robot based on GIS, which is used for solving the problem that the routing system of the routing robot in the prior art cannot consider both routing efficiency and coverage rate;
The technical problems to be solved by the invention are as follows: how to provide a routing system of a GIS-based routing robot, which can consider routing efficiency and coverage rate.
The aim of the invention can be achieved by the following technical scheme:
The routing system of the inspection robot based on the GIS comprises a routing platform, wherein the routing platform is in communication connection with a region dividing module, a security analysis module, a routing module and a storage module;
The regional division module is used for dividing regions of the inspection area of the inspection robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the position from the near position to the far position, sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments, acquiring linear coefficients of an inspection region through the inspection line segments, marking a region division mode as a linear division mode or a point-by-point division mode through the linear coefficients, and dividing the inspection region into a plurality of inspection regions by adopting the linear division mode or the point-by-point division mode;
The safety analysis module is used for analyzing historical safety data of the inspection area and obtaining a safety sequence of the inspection area, the safety sequence is sent to the route planning platform, and the route planning platform sends the safety sequence to the route planning module after receiving the safety sequence;
And the route planning module is used for carrying out planning analysis on the inspection route of the inspection robot according to the safety sequence.
As a preferred embodiment of the present invention, the specific process of marking the area division mode of the patrol area includes: acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, acquiring a linear threshold value by a storage module, and comparing the linear coefficient with the linear threshold value: if the linear coefficient is smaller than the linear threshold, judging that preset inspection points of the inspection robot are in linear distribution, and carrying out region division on an inspection region by adopting a linear division mode; if the linear coefficient is greater than or equal to the linear threshold, judging that preset inspection points of the inspection robot are randomly distributed, and carrying out region division on the inspection region by adopting a point-by-point division mode.
As a preferred embodiment of the invention, the specific process of carrying out region segmentation on the patrol area by adopting the linear segmentation mode comprises the following steps: connecting a preset inspection point with the minimum number value with a preset inspection point with the maximum number value to obtain a reference line segment, making all the preset inspection points into a vertical line to the reference line segment, simultaneously extending both sides of the vertical line until an extension line intersects with a boundary line of an inspection area, marking the obtained extension line segment as a segmentation line segment of the preset inspection point, and forming an inspection area by the adjacent segmentation line segments.
As a preferred embodiment of the invention, the specific process of carrying out region segmentation on the patrol area by adopting the point-by-point segmentation mode comprises the following steps: connecting a first preset inspection point with a second preset inspection point to obtain a first cross line segment, connecting a second preset inspection point with a third preset inspection point to obtain a second cross line segment, connecting the first cross line segment with the middle point of the second cross line segment to obtain a first center line segment, connecting the second preset inspection point with the middle point of the first center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line intersects with the border line of the inspection area, marking the obtained extension line as a first division line segment, forming a first inspection area by the first division line segment and the border line of the inspection area, connecting the third inspection point with a fourth inspection point to obtain a third cross line segment, connecting the second cross line segment with the middle point of the third cross line segment to obtain a second center line segment, connecting the third preset inspection point with the middle point of the second center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line segment intersects with the border line of the inspection area, marking the obtained extension line as a second division line segment, forming all the first division line segment, the second division line segment and the inspection area to finish all the inspection areas.
As a preferred embodiment of the present invention, the process of acquiring the security sequence of the patrol area includes: generating an analysis period, and acquiring security data AF and equipment data SB of a patrol area in the analysis period, wherein the security data AF is the number of times of security accidents of the patrol area in the analysis period, and the equipment data SB is the number of times of faults of equipment in the patrol area in the analysis period; the security coefficient AQ of the inspection area in the analysis period is obtained by carrying out numerical calculation on the security data AF and the equipment data SB; and arranging all the inspection areas according to the sequence from small to large of the safety coefficient AQ to obtain a safety sequence.
As a preferred embodiment of the present invention, the specific process of the route planning module for planning and analyzing the inspection route of the inspection robot includes: acquiring all routes between two preset inspection points in an inspection area, marking the routes as preselected routes, acquiring distance values of the preselected routes, arranging the preselected routes according to the sequence from the small distance values to the large distance values to obtain a route sequence, acquiring the number values of the inspection area in a safety sequence, and marking the preselected route with the largest distance value as a planned route when the route sequence does not have the corresponding number value; otherwise, marking the preselected route corresponding to the same number value in the route sequence as a planned route, sending the planned route to a route planning platform, and sending the planned route to a controller of the inspection robot after the route planning platform receives the planned route.
As a preferred embodiment of the present invention, the working method of the GIS-based routing inspection robot route planning system includes the following steps:
Step one: the method comprises the following steps of carrying out region segmentation on a patrol area of a patrol robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the far position, and sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments;
Step two: acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, and marking the region division mode as a linear division mode or a point-by-point division mode through the linear coefficient;
Step three: analyzing historical safety data of the patrol area: generating an analysis period, acquiring security data AF and equipment data SB of the inspection area in the analysis period, performing numerical calculation to obtain a security coefficient AQ, arranging all the inspection areas according to the sequence of the security coefficient AQ from small to large to obtain a security sequence, and transmitting the security sequence to a route planning module;
step four: planning and analyzing the inspection route of the inspection robot: all routes between two preset inspection points in the inspection area are obtained and marked as preselected routes, the distance values of the preselected routes are obtained, the preselected routes are arranged according to the sequence from the small distance values to the large distance values to obtain a route sequence, and the corresponding preselected routes are screened in the route sequence to serve as planning routes through the number values of the inspection area in the safety sequence.
The invention has the following beneficial effects:
The region division module can divide the inspection region of the inspection robot, linear coefficients are obtained according to the distribution characteristics of preset inspection points in the inspection region, then the region division modes are marked through the linear coefficients, the data acquisition accuracy in the safety analysis process is improved, and meanwhile, the region division modes of the two modes can divide the region with different preset inspection point distribution characteristics;
The historical safety data of the inspection area can be analyzed through the safety analysis module, each safety accident parameter of the inspection area is obtained in a periodical monitoring mode, then statistics and calculation are carried out to obtain a safety coefficient, the inspection coverage requirement of the inspection area is fed back according to the safety coefficient, and the planned route of the inspection area is analyzed on the basis of the safety coefficient;
The routing planning module can carry out planning analysis on the routing of the routing inspection robot, the routing inspection coverage degree of the preselected route is fed back according to the distance value, and then the sequence number of the routing inspection area in the safety sequence is combined to carry out planning route screening, so that the routing inspection efficiency of the routing inspection robot in the routing inspection area with higher historical safety is higher, and the routing inspection coverage of the routing inspection robot in the routing inspection area with lower historical safety is larger.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system block diagram of a first embodiment of the present invention;
fig. 2 is a flowchart of a method according to a second embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, a route planning system of a tour inspection robot based on a GIS includes a route planning platform, and the route planning platform is communicatively connected with a region dividing module, a security analysis module, a route planning module and a storage module.
The regional division module is used for dividing regions of the inspection area of the inspection robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the position from the near position to the far position, sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments, obtaining slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, obtaining a linear threshold through a storage module, and comparing the linear coefficient with the linear threshold: if the linear coefficient is smaller than the linear threshold, judging that preset inspection points of the inspection robot are in linear distribution, and carrying out region division on an inspection region by adopting a linear division mode; if the linear coefficient is greater than or equal to the linear threshold value, judging that preset inspection points of the inspection robot are randomly distributed, and carrying out region division on an inspection region by adopting a point-by-point division mode; the specific process of carrying out region segmentation on the patrol area by adopting the linear segmentation mode comprises the following steps: connecting a preset inspection point with the minimum number value with a preset inspection point with the maximum number value to obtain a reference line segment, making a perpendicular line from all the preset inspection points to the reference line segment, simultaneously extending both sides of the perpendicular line until an extension line intersects with a boundary line of an inspection area, marking the obtained extension line segment as a segmentation line segment of the preset inspection point, and forming an inspection area by adjacent segmentation line segments; the specific process for carrying out region segmentation on the patrol areas by adopting the point-by-point segmentation mode comprises the following steps: connecting a first preset inspection point with a second preset inspection point to obtain a first cross line segment, connecting a second preset inspection point with a third preset inspection point to obtain a second cross line segment, connecting the first cross line segment with the middle point of the second cross line segment to obtain a first center line segment, connecting the second preset inspection point with the middle point of the first center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line intersects with the border line of the inspection area, marking the obtained extension line as a first segmentation line segment, forming a first inspection area by the first segmentation line segment and the border line of the inspection area, connecting the third inspection point with a fourth inspection point to obtain a third cross line segment, connecting the second cross line segment with the middle point of the third cross line segment to obtain a second center line segment, connecting the third preset inspection point with the middle point of the second center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line segment intersects with the border line of the inspection area, marking the obtained extension line as a second segmentation line segment, and finishing all the first segmentation line segment, the second segmentation line segment and the second segmentation line segment are all the inspection area; the method comprises the steps of carrying out region segmentation on the patrol area of the patrol robot, obtaining a linear coefficient according to the distribution characteristics of preset patrol points in the patrol area, and then marking a region division mode through the linear coefficient, so that the data acquisition accuracy in the safety analysis process is improved, and meanwhile, region segmentation processing can be carried out on the regions with different preset patrol point distribution characteristics in the region division mode of the two modes.
The safety analysis module is used for analyzing historical safety data of the patrol area: generating an analysis period, and acquiring security data AF and equipment data SB of a patrol area in the analysis period, wherein the security data AF is the number of times of security accidents of the patrol area in the analysis period, and the equipment data SB is the number of times of faults of equipment in the patrol area in the analysis period; obtaining a safety coefficient AQ of the inspection area in an analysis period through a formula AQ=a1×AF+a2×SB, wherein α1 and α2 are proportionality coefficients, and α1 is larger than α2 and larger than 1; arranging all the inspection areas according to the sequence from small to large of the safety coefficient AQ to obtain a safety sequence, sending the safety sequence to a route planning platform, and sending the safety sequence to a route planning module after the route planning platform receives the safety sequence; and analyzing historical safety data of the inspection area, acquiring various safety accident parameters of the inspection area in a periodic monitoring mode, counting and calculating to obtain a safety coefficient, feeding back inspection coverage requirements of the inspection area according to the safety coefficient, and analyzing a planned route of the inspection area on the basis of the safety coefficient.
The route planning module is used for carrying out planning analysis on the inspection route of the inspection robot: acquiring all routes between two preset inspection points in an inspection area, marking the routes as preselected routes, acquiring distance values of the preselected routes, arranging the preselected routes according to the sequence from the small distance values to the large distance values to obtain a route sequence, acquiring the number values of the inspection area in a safety sequence, and marking the preselected route with the largest distance value as a planned route when the route sequence does not have the corresponding number value; otherwise, marking the preselected route corresponding to the same number value in the route sequence as a planned route, sending the planned route to a route planning platform, and sending the planned route to a controller of the inspection robot after the route planning platform receives the planned route; and carrying out planning analysis on the routing inspection route of the routing inspection robot, feeding back the routing inspection coverage degree of the preselected route according to the distance value, and then carrying out planning route screening by combining the serial numbers of the routing inspection area in the safety sequence, so that the routing inspection efficiency of the routing inspection robot in the routing inspection area with higher historical safety is higher, and the routing inspection coverage in the routing inspection area with lower historical safety is larger.
Example 2
As shown in fig. 2, a route planning method for a tour inspection robot based on a GIS includes the following steps:
Step one: the method comprises the following steps of carrying out region segmentation on a patrol area of a patrol robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the far position, and sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments;
Step two: acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, and marking the region division mode as a linear division mode or a point-by-point division mode through the linear coefficient;
Step three: analyzing historical safety data of the patrol area: generating an analysis period, acquiring security data AF and equipment data SB of the inspection area in the analysis period, performing numerical calculation to obtain a security coefficient AQ, arranging all the inspection areas according to the sequence of the security coefficient AQ from small to large to obtain a security sequence, and transmitting the security sequence to a route planning module;
step four: planning and analyzing the inspection route of the inspection robot: all routes between two preset inspection points in the inspection area are obtained and marked as preselected routes, the distance values of the preselected routes are obtained, the preselected routes are arranged according to the sequence from the small distance values to the large distance values to obtain a route sequence, and the corresponding preselected routes are screened in the route sequence to serve as planning routes through the number values of the inspection area in the safety sequence.
The routing planning system of the inspection robot based on the GIS is characterized in that when the routing planning system of the inspection robot based on the GIS works, preset inspection points of the inspection robot are numbered according to the sequence from the initial position of the inspection robot to the far position, and the preset inspection points are sequentially connected according to the numbers to obtain a plurality of inspection line segments; acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, and marking the region division mode as a linear division mode or a point-by-point division mode through the linear coefficient; generating an analysis period, acquiring security data AF and equipment data SB of the inspection area in the analysis period, performing numerical calculation to obtain a security coefficient AQ, arranging all the inspection areas according to the sequence of the security coefficient AQ from small to large to obtain a security sequence, and transmitting the security sequence to a route planning module; all routes between two preset inspection points in the inspection area are obtained and marked as preselected routes, the distance values of the preselected routes are obtained, the preselected routes are arranged according to the sequence from the small distance values to the large distance values to obtain a route sequence, and the corresponding preselected routes are screened in the route sequence to serve as planning routes through the number values of the inspection area in the safety sequence.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
The formulas are all formulas obtained by collecting a large amount of data for software simulation and selecting a formula close to a true value, and coefficients in the formulas are set by a person skilled in the art according to actual conditions; such as: the formula aq=α1×af+α2×sb; collecting a plurality of groups of sample data by a person skilled in the art and setting a corresponding safety coefficient for each group of sample data; substituting the set safety coefficient and the acquired sample data into a formula, forming a ternary one-time equation set by any three formulas, screening the calculated coefficient, and taking an average value to obtain values of alpha 1 and alpha 2 which are respectively 3.43 and 2.86;
the size of the coefficient is a specific numerical value obtained by quantizing each parameter, so that the subsequent comparison is convenient, and the size of the coefficient depends on the number of sample data and the corresponding safety coefficient is preliminarily set for each group of sample data by a person skilled in the art; as long as the proportional relation between the parameter and the quantized value is not affected, for example, the safety coefficient is in direct proportion to the value of the security data.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. The routing system of the inspection robot based on the GIS is characterized by comprising a routing platform, wherein the routing platform is in communication connection with a region dividing module, a safety analysis module, a routing module and a storage module;
The regional division module is used for dividing regions of the inspection area of the inspection robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the position from the near position to the far position, sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments, acquiring linear coefficients of an inspection region through the inspection line segments, marking a region division mode as a linear division mode or a point-by-point division mode through the linear coefficients, and dividing the inspection region into a plurality of inspection regions by adopting the linear division mode or the point-by-point division mode;
The safety analysis module is used for analyzing historical safety data of the inspection area and obtaining a safety sequence of the inspection area, the safety sequence is sent to the route planning platform, and the route planning platform sends the safety sequence to the route planning module after receiving the safety sequence;
The route planning module is used for carrying out planning analysis on the inspection route of the inspection robot according to the safety sequence;
the specific process for marking the regional division mode of the patrol area comprises the following steps: acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, acquiring a linear threshold value by a storage module, and comparing the linear coefficient with the linear threshold value: if the linear coefficient is smaller than the linear threshold, judging that preset inspection points of the inspection robot are in linear distribution, and carrying out region division on an inspection region by adopting a linear division mode; if the linear coefficient is greater than or equal to the linear threshold value, judging that preset inspection points of the inspection robot are randomly distributed, and carrying out region division on an inspection region by adopting a point-by-point division mode;
The specific process of carrying out region segmentation on the patrol area by adopting the linear segmentation mode comprises the following steps: connecting a preset inspection point with the minimum number value with a preset inspection point with the maximum number value to obtain a reference line segment, making a perpendicular line from all the preset inspection points to the reference line segment, simultaneously extending both sides of the perpendicular line until an extension line intersects with a boundary line of an inspection area, marking the obtained extension line segment as a segmentation line segment of the preset inspection point, and forming an inspection area by adjacent segmentation line segments;
The specific process for carrying out region segmentation on the patrol areas by adopting the point-by-point segmentation mode comprises the following steps: connecting a first preset inspection point with a second preset inspection point to obtain a first cross line segment, connecting a second preset inspection point with a third preset inspection point to obtain a second cross line segment, connecting the first cross line segment with the middle point of the second cross line segment to obtain a first center line segment, connecting the second preset inspection point with the middle point of the first center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line intersects with the border line of the inspection area, marking the obtained extension line as a first division line segment, forming a first inspection area by the first division line segment and the border line of the inspection area, connecting the third inspection point with a fourth inspection point to obtain a third cross line segment, connecting the second cross line segment with the middle point of the third cross line segment to obtain a second center line segment, connecting the third preset inspection point with the middle point of the second center line segment, extending the two ends of the obtained line segment to two sides respectively until the extension line segment intersects with the border line of the inspection area, marking the obtained extension line as a second division line segment, forming all the first division line segment, the second division line segment and the inspection area to finish all the inspection areas.
2. The route planning system of a GIS-based inspection robot according to claim 1, wherein the process of acquiring the security sequence of the inspection area comprises: generating an analysis period, and acquiring security data AF and equipment data SB of a patrol area in the analysis period, wherein the security data AF is the number of times of security accidents of the patrol area in the analysis period, and the equipment data SB is the number of times of faults of equipment in the patrol area in the analysis period; the security coefficient AQ of the inspection area in the analysis period is obtained by carrying out numerical calculation on the security data AF and the equipment data SB; and arranging all the inspection areas according to the sequence from small to large of the safety coefficient AQ to obtain a safety sequence.
3. The system for planning a route for a inspection robot based on GIS according to claim 2, wherein the specific process of the route planning module for planning and analyzing the inspection route for the inspection robot comprises: acquiring all routes between two preset inspection points in an inspection area, marking the routes as preselected routes, acquiring distance values of the preselected routes, arranging the preselected routes according to the sequence from the small distance values to the large distance values to obtain a route sequence, acquiring the number values of the inspection area in a safety sequence, and marking the preselected route with the largest distance value as a planned route when the route sequence does not have the corresponding number value; otherwise, marking the preselected route corresponding to the same number value in the route sequence as a planned route, sending the planned route to a route planning platform, and sending the planned route to a controller of the inspection robot after the route planning platform receives the planned route.
4. A GIS-based inspection robot route planning system according to any one of claims 1-3, characterized in that the working method of the GIS-based inspection robot route planning system comprises the steps of:
Step one: the method comprises the following steps of carrying out region segmentation on a patrol area of a patrol robot: numbering preset inspection points of the inspection robot according to the sequence from the initial position of the inspection robot to the far position, and sequentially connecting the preset inspection points according to the numbers to obtain a plurality of inspection line segments;
Step two: acquiring slope values of the inspection line segments, forming an inclined set by the slope values of all the inspection line segments, performing variance calculation on the inclined set to obtain a linear coefficient, and marking the region division mode as a linear division mode or a point-by-point division mode through the linear coefficient;
Step three: analyzing historical safety data of the patrol area: generating an analysis period, acquiring security data AF and equipment data SB of the inspection area in the analysis period, performing numerical calculation to obtain a security coefficient AQ, arranging all the inspection areas according to the sequence of the security coefficient AQ from small to large to obtain a security sequence, and transmitting the security sequence to a route planning module;
step four: planning and analyzing the inspection route of the inspection robot: all routes between two preset inspection points in the inspection area are obtained and marked as preselected routes, the distance values of the preselected routes are obtained, the preselected routes are arranged according to the sequence from the small distance values to the large distance values to obtain a route sequence, and the corresponding preselected routes are screened in the route sequence to serve as planning routes through the number values of the inspection area in the safety sequence.
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