An In-Orbit Unit Fault Replacement Method and Device

Abstract

The present invention discloses a method and device for fault replacement of on-orbit units. The method includes: when a fault of a certain on-orbit unit is detected, calculating the missing ratio of the inspection field of view of the inspection area where the on-orbit unit is located, and synchronously sending a replacement request; when it is detected that the missing ratio exceeds a predefined replenishment threshold, responding to the replacement request, globally searching for inspection areas where the redundant configuration ratio is greater than the fluctuation threshold, and transferring the on-orbit units in the inspection area to supplement the missing positions; the transferred on-orbit units are used to inherit the inspection tasks of the failed on-orbit unit; obtaining the starting point of the transferred on-orbit unit and the target inspection area, formulating an operation route according to the feasible route of the inspection orbit, and the transferred on-orbit unit executes the operation route to the target inspection area.

Description

Technical Field

[0001] The present application relates to the technical field of inspection of suspension lines, and in particular to a method and device for replacing a faulty on-track unit. Background Art

[0002] In the hanging production system, in order to achieve global and ideal monitoring of the hanging production line set up indoors, an inspection track is generally set up on the roof, and the inspection unit running on the track is used to monitor and supervise the hanging production line.

[0003] Due to the large and complex process flow of the hanging production line, a large number of inspection units are often set up to collect and obtain a more comprehensive monitoring image; however, the power supply and data transmission of the inspection units are mostly realized by sliding contact, which is prone to failure after long-term operation, such as unclear images, distorted data, insufficient voltage, reduced driving force and other problems; in order to maintain the normal implementation of the inspection task, a method that can effectively replace the faulty inspection unit to perform the inspection task is urgently needed. Summary of the Invention

[0004] In order to solve the above problems, an embodiment of the present application provides a method and device for replacing an on-rail unit failure, replacing the faulty on-rail unit with a redundantly configured on-rail unit, inheriting its inspection task, and ensuring that the inspection tasks on the entire production line can be effectively completed.

[0005] In a first aspect, an embodiment of the present application provides a method for replacing an on-orbit unit failure, the method comprising:

[0006] When a fault is detected in an on-orbit unit, the missing ratio of the inspection field of view of the inspection domain where the on-orbit unit is located is calculated, and a replacement request is sent synchronously;

[0007] When it is detected that the missing ratio exceeds a predefined supplement threshold, in response to the replacement request, a global search is conducted for an inspection domain whose redundant configuration ratio is greater than a fluctuation threshold, and an on-orbit unit in the inspection domain is deployed to supplement the missing position; the deployed on-orbit unit is used to inherit the inspection task of the failed on-orbit unit;

[0008] The starting point and target inspection area of the selected on-track unit are obtained, an operation route is formulated according to the feasible route of the inspection track, and the selected on-track unit executes the operation route to the target inspection area.

[0009] Preferably, when any of the following situations occurs, the corresponding on-orbit unit is defined as a fault: data acquisition failure, on-orbit operation failure; the data acquisition failure at least includes data acquisition interruption, image loss / distortion; the on-orbit operation failure at least includes abnormal stop, operation rate failure / synchronization.

[0010] Preferably, the step of "calculating the missing ratio of the inspection field of view of the on-orbit unit in the inspection area and synchronously sending a replacement request" specifically includes:

[0011] Obtaining the requirement standard of the inspection field of view of the current inspection area, calculating the sum of the inspection field of views of the on-orbit units in the normal state in the current inspection area, and comparing the requirement standard to calculate the missing ratio;

[0012] Generating the replacement request based on the missing ratio, the information of the failed on-orbit unit, and the information of the affiliated inspection area, and sending it to the server.

[0013] Preferably, the step of "when it is detected that the missing ratio exceeds the predefined replenishment threshold" specifically includes:

[0014] Predefining the replenishment threshold for each inspection area;

[0015] According to the inspection area where the on-orbit unit is located, retrieving the corresponding replenishment threshold and comparing it with the missing ratio:

[0016] If the missing ratio is not greater than the replenishment threshold, the replacement request is not responded to;

[0017] If the missing ratio is greater than the replenishment threshold, the replacement request is responded to.

[0018] Preferably, responding to the replacement request specifically includes:

[0019] Globally searching for on-orbit units accessing the inspection orbit and querying for on-orbit units in the idle state:

[0020] If any, directly invoking the on-orbit unit in the idle state to supplement the missing position;

[0021] If not, transferring on-orbit units that are in operation in other inspection areas to supplement the missing position;

[0022] Obtaining the redundancy configuration ratio when allocating the on-orbit unit to the inspection area to perform the inspection task, and obtaining the predefined fluctuation threshold of the current inspection area, where the fluctuation threshold is applicable to the calculation and comparison when transferring a single on-orbit unit;

[0023] Extracting all inspection areas where the redundancy configuration ratio is greater than the fluctuation threshold, and selecting the inspection area with the largest redundancy configuration ratio for transferring on-orbit units;

[0024] Clearing the existing inspection tasks of the transferred on-orbit unit and inheriting the inspection tasks of the failed on-orbit unit;

[0025] Adjusting the inspection operation parameters of other on-orbit units in the inspected area where the transfer occurs to balance the distribution of the inspection field of view caused by the transfer.

[0026] Preferably, after the "synchronous sending of replacement request", the following steps are further included:

[0027] When receiving the replacement request, brake the faulty on-rail unit and define the inspection track in its section as an impassable section;

[0028] The determined length of the impassable section is greater than the occupied length of the on-rail unit on the inspection track; preferably, the determined length is twice the occupied length;

[0029] Adjust the operation mode of other on-rail units in the inspection area to which the faulty on-rail unit belongs, from the cyclic inspection mode to the reciprocating inspection mode;

[0030] Based on the position of the impassable section on the inspection track, eliminate the corresponding section on the inspection routes of other on-rail units in this inspection area, so that other on-rail units do not collide with it.

[0031] Preferably, when the on-rail unit to be transferred is an on-rail unit that is working in other inspection areas:

[0032] Take the exit of the inspection track of the inspection area where the on-rail unit to be transferred is located as the starting point, and the inspection area of the faulty on-rail unit as the target inspection area;

[0033] According to the feasible routes of the inspection tracks erected between the inspection areas, formulate an operation route from the starting point to the target inspection area;

[0034] Send a guiding instruction to the on-rail unit to be transferred, guiding the on-rail unit to be transferred to execute the operation route after reaching the starting point, so that the on-rail unit to be transferred can run to the target inspection area.

[0035] Preferably, when the on-rail unit to be transferred is an idle on-rail unit:

[0036] Obtain the docking information of the on-rail unit, define the docking position of the on-rail unit as the starting point, and the inspection area of the faulty on-rail unit as the target inspection area;

[0037] According to the feasible routes of the inspection tracks erected between the inspection areas, formulate an operation route from the starting point to the target inspection area;

[0038] Start the idle on-rail unit to make it run to the starting point; after the on-rail unit to be transferred reaches the starting point, execute the operation route, so that the on-rail unit to be transferred can run to the target inspection area.

[0039] In a second aspect, an on-orbit unit fault replacement device is provided in an embodiment of the present application. The device includes:

[0040] A fault detection module that, when detecting that a certain on-orbit unit fails, calculates the missing ratio of the inspection field of view of the inspection domain where the on-orbit unit is located and synchronously sends a replacement request.

[0041] An inspection extraction module that, when detecting that the missing ratio exceeds a predefined replenishment threshold, responds to the replacement request, globally searches for an inspection domain with a redundancy configuration ratio greater than the fluctuation threshold, and extracts an on-orbit unit in the inspection domain to supplement the missing position; the extracted on-orbit unit is used to inherit the inspection task of the failed on-orbit unit.

[0042] A route determination module that obtains the starting point and the target inspection domain of the extracted on-orbit unit, determines an operation route according to the feasible route of the inspection orbit, and the extracted on-orbit unit executes the operation route to the target inspection domain.

[0043] In a third aspect, an electronic device is provided in an embodiment of the present application, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation manner of the first aspect are implemented.

[0044] In a fourth aspect, a computer-readable storage medium is provided in an embodiment of the present application, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0045] The beneficial effects of the present invention are as follows:

[0046] The present invention provides a method and device for replacing a failed on-orbit unit, which replaces the failed on-orbit unit with the redundant configuration of the on-orbit unit in the inspection system, enables the inspection tasks in each inspection domain to be effectively implemented, ensures that the inspection tasks on the entire production line can be normally implemented, and effectively monitors the product quality.

[0047] The present invention globally coordinates the on-orbit units in the inspection system, can effectively make up for the short board of local monitoring, can effectively balance the inspection monitoring data density of the whole production line, and homogenize the sampling density. Description of the Drawings

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 It is a schematic flow chart of a method for replacing on-orbit unit faults provided by an embodiment of the present application;

[0050] Figure 2 It is a schematic structural diagram of a device for replacing on-orbit unit faults provided by an embodiment of the present application;

[0051] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0053] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following content.

[0054] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Each example can appropriately omit, substitute, or add various processes or components. For example, the described method can be executed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described in some examples can be combined into other examples.

[0055] First, the structural layout of the inspection orbit of the present application should be introduced. The inspection orbit is laid based on the area where the process flow of the hanging production line is located, so that the inspection unit running on the inspection orbit can effectively monitor each process node of the production line, achieving effects such as overall operation control and process supervision.

[0056] In this application, the inspection track mainly includes three parts: a relatively independent circulating operation track based on the regional setting, an access rail for connecting multiple circulating operation tracks, and a docking warehouse for docking the inspection unit. The access rail has the largest coverage and can be laid based on the entire production line. A bridge-type track is also set up to reach each regional circulating operation track; the docking warehouse can be set based on the boundary area of the access rail and is used for centralized docking and management of inspection units. One inspection domain in this application corresponds to one circulating operation track, and the circulating operation track is set according to the partitioning of the process flow.

[0057] See also Figure 1 , Figure 1 : This is a flow chart of a method for replacing an on-orbit unit failure provided in an embodiment of the present application. In this embodiment of the present application, the method includes:

[0058] S101. When a fault is detected in an on-track unit, the missing ratio of the inspection field of the inspection area where the on-track unit is located is calculated, and a replacement request is sent synchronously.

[0059] The execution subject of this application can be an inspection system and an inspection unit (on-track unit), wherein the inspection system can be used to set up a sub-control center in accordance with the regional division of the production line to complete regional inspection operations. It can be understood that the inspection unit is mostly composed of a hanging trolley and a data acquisition device. The data acquisition device can be a high-definition camera, a sensor, etc. Since the inspection unit runs on the inspection track, in order not to be limited to the conventional mounting and coordination mode, this application uses the on-track unit to replace the inspection unit and the faulty unit to replace the faulty on-track unit for explanation.

[0060] In this application, when allocating on-orbit units for inspection tasks in each inspection domain, a certain redundancy configuration can be provided. A corresponding number of on-orbit units are allocated according to the monitoring field of view requirements within each inspection domain. The purpose is to meet the requirements. The redundant configuration provides more intensive sampling data and provides a favorable basic condition for coordination when faulty units are generated later. Furthermore, a standby redundant configuration can be set up, that is, on-orbit units in an idle state are ready to be put into use at any time.

[0061] In one possible implementation, when any of the following situations occurs, the corresponding on-orbit unit is defined as having a fault: data acquisition failure, on-orbit operation failure; illustratively, the data acquisition failure includes at least data acquisition interruption, image loss / distortion; the on-orbit operation failure includes at least abnormal stop, substandard operation rate / synchronization.

[0062] It can be understood that when there are multiple on-orbit units in an inspection area, the relative running speed is stable. However, when the running speed of a certain on-orbit unit is out of sync, a collision risk will occur, and the monitoring field of view overlaps greatly, which is not conducive to carrying out effective inspections. When there is only one on-orbit unit in an inspection area, if its running speed does not meet the standard, the data sampling frequency is low, which is likely to cause monitoring loopholes.

[0063] In the embodiment of the present application, when calculating the missing ratio of the inspection field of view of the inspection area where the on-orbit unit is located, it is calculated based on the actual demand standard and the actual inspection field of view. Due to the existence of redundant configuration, when a faulty unit appears, the actual inspection field of view may still meet the actual demand standard. Therefore, the present application predefines a supplementary threshold for the actual demand of each inspection area to determine whether the current actual inspection field of view meets the requirements.

[0064] In a specific embodiment, the "calculate the missing ratio of the inspection field of view of the inspection area where the on-orbit unit is located and synchronously send a replacement request" specifically includes:

[0065] Obtain the demand standard of the inspection field of view of the current inspection area, calculate the sum of the inspection fields of view of the on-orbit units in the normal state in the current inspection area, and calculate the missing ratio by comparing the demand standard;

[0066] Generate the replacement request according to the missing ratio, the information of the faulty on-orbit unit, and the information of the affiliated inspection area, and send it to the server.

[0067] Exemplarily, if there are three on-orbit units in the inspection area, after there is one faulty unit, the inspection fields of view of the remaining two on-orbit units are two-thirds of the original. However, for the actual demand standard, the missing ratio may deviate from two-thirds. If the redundant configuration is large when the on-orbit units are previously assigned to enter the inspection area, the missing ratio is less than two-thirds; otherwise, it is greater.

[0068] In the embodiment of the present application, for the inspection area with a faulty unit, the automatic processing of the faulty unit is to brake and stop it on the inspection track, but this will affect the cyclic operation of other on-orbit units. Therefore, two operating modes are set for the on-orbit units in the present application. One is the cyclic inspection mode based on the closed-loop track, and the other is the reciprocating inspection mode based on the open-loop track. Among them, in the cyclic inspection mode, the on-orbit unit circulates in the cyclic operation track, and in the reciprocating inspection mode, the on-orbit unit reciprocates back and forth with the two sides of the non-passable section as the cut-off points, but the running track never exceeds the cut-off points.

[0069] In an implementable manner, after "synchronously send a replacement request", it further includes:

[0070] When receiving the replacement request, brake the faulty on-orbit unit and define the inspection track section where it is located as a non-passable section;

[0071] The determined length of the non-passable section is greater than the occupied length of the on-orbit unit on the inspection track; preferably, the determined length is twice the occupied length;

[0072] Adjust the operation mode of other on-orbit units within the inspection domain to which the faulty on-orbit unit belongs, from the cyclic inspection mode to the reciprocating inspection mode;

[0073] Based on the position of the non-passable section on the inspection track, remove the corresponding section from the inspection routes of other on-orbit units within this inspection domain, so that other on-orbit units do not collide with it.

[0074] It can be understood that by adjusting the operation mode, the inspection domain with faulty units can be made not affected by the braking of the faulty units and continue to perform the inspection task.

[0075] S102. When it is detected that the missing ratio exceeds the predefined replenishment threshold, in response to the replacement request, globally search for inspection domains with a redundant configuration ratio greater than the fluctuation threshold, and transfer on-orbit units in these inspection domains to supplement the missing positions; the transferred on-orbit units are used to inherit the inspection tasks of the faulty on-orbit unit.

[0076] After calculating the missing ratio, compare it with the replenishment threshold to determine whether to respond to the replacement request. Specifically, it includes:

[0077] Predefine the replenishment threshold for each inspection domain;

[0078] According to the inspection domain where the on-orbit unit is located, retrieve the corresponding replenishment threshold and compare it with the missing ratio:

[0079] If the missing ratio is not greater than the replenishment threshold, do not respond to the replacement request;

[0080] If the missing ratio is greater than the replenishment threshold, respond to the replacement request.

[0081] In this application, the comparison between the missing ratio and the replenishment threshold directly determines whether the server responds to the request of the inspection domain to replace the faulty unit, and the response method is also necessarily related to the actual redundant configuration of the on-orbit units. In one implementable manner, responding to the replacement request specifically includes:

[0082] Globally search for on-orbit units accessing the inspection track and query for on-orbit units in the idle state:

[0083] If there is any, directly call the on-orbit unit in the idle state to supplement the missing position;

[0084] If not, transfer the on-orbit unit that is currently operating in other inspection areas to supplement the missing position;

[0085] Obtain the redundancy configuration ratio when allocating the on-orbit unit to perform the inspection task in the inspection area, and obtain the predefined fluctuation threshold of the current inspection area. The fluctuation threshold is applicable to the calculation and comparison when transferring a single on-orbit unit;

[0086] Extract all inspection areas that meet the condition that the redundancy configuration ratio is greater than the fluctuation threshold, and select the inspection area with the largest redundancy configuration ratio to transfer the on-orbit unit;

[0087] Clear the existing inspection tasks of the transferred on-orbit unit, and inherit the inspection tasks of the failed on-orbit unit;

[0088] Adjust the inspection operation parameters of other on-orbit units in the transferred inspection area to balance the inspection vision distribution caused by the transfer.

[0089] In the embodiment of the present application, after transferring the on-orbit unit, the synchronous operation of the remaining on-orbit units in the inspection area can be appropriately adjusted to balance the inspection vision distribution, so as to obtain a relatively uniform sampling frequency.

[0090] It should be noted that the transfer of on-orbit units is carried out individually. Therefore, the predefined fluctuation threshold for each inspection area is also only applicable to the calculation and comparison when transferring a single on-orbit unit, so as to ensure that the inspection area after the transfer can still maintain a good inspection vision coverage rate.

[0091] S103. Obtain the starting point and the target inspection area of the transferred on-orbit unit, formulate an operation route according to the feasible route of the inspection orbit, and the transferred on-orbit unit executes the operation route to the target inspection area.

[0092] In the embodiment of the present application, the sources of the transferred on-orbit units may include on-orbit units that are currently operating in other inspection areas and on-orbit units in the idle state. The transfers of the two different sources can be implemented separately to ensure that the on-orbit units can reach the corresponding positions smoothly.

[0093] As an implementable manner, when the transferred on-orbit unit is an on-orbit unit that is currently operating in other inspection areas:

[0094] Take the exit of the inspection orbit of the inspection area of the transferred on-orbit unit as the starting point, and take the inspection area of the failed on-orbit unit as the target inspection area;

[0095] Determine the operation route from the starting point to the target inspection area according to the feasible routes of the inspection tracks established between the inspection areas;

[0096] Send a guiding instruction to the on-orbit unit that has been requisitioned, guiding the on-orbit unit that has been requisitioned to execute the operation route after reaching the starting point, so that the on-orbit unit that has been requisitioned can operate to the target inspection area.

[0097] As another implementable manner, when the on-orbit unit that has been requisitioned is an idle on-orbit unit:

[0098] Obtain the docking information of the on-orbit unit, define the docking position of the on-orbit unit as the starting point, and use the inspection area of the failed on-orbit unit as the target inspection area;

[0099] Determine the operation route from the starting point to the target inspection area according to the feasible routes of the inspection tracks established between the inspection areas;

[0100] Start the idle on-orbit unit to make it run to the starting point; after the on-orbit unit that has been requisitioned reaches the starting point, execute the operation route, so that the on-orbit unit that has been requisitioned can operate to the target inspection area.

[0101] Preferably, the access point of the inspection track in the inspection area where the faulty unit is located can be used as the end point, corresponding to the starting point.

[0102] Next, in conjunction with the attached Figure 2 , the on-orbit unit fault replacement device provided in the embodiments of the present application will be introduced in detail. It should be noted that the on-orbit unit fault replacement device shown in the attached Figure 2 is used to execute the method of the embodiments of the present application. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the embodiments shown in the present application Figure 1 . Figure 1 shown in the embodiment.

[0103] Please refer to Figure 2 , Figure 2 is a schematic structural diagram of an on-orbit unit fault replacement device provided in an embodiment of the present application. As shown in Figure 2 , the device includes:

[0104] A fault detection module 201, configured to obtain the workflow information of the production work to be supervised when detecting the production work to be supervised;

[0105] An inspection requisition module 202, configured to select a target terminal based on the workflow information, construct a risk challenge management group based on each target terminal, send the workflow information to the risk challenge management group, and execute a risk challenge process;

[0106] A circuit formulation module 203, configured to receive the result information fed back by the risk challenge management group, and control the production work to be supervised based on the result information.

[0107] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "units" and "modules" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0108] Each processing unit and / or module of the embodiments of the present application can be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or can be implemented by software that executes the functions described in the embodiments of the present application.

[0109] See Figure 3 , which shows a schematic structural diagram of an electronic device involved in the embodiments of the present application. This electronic device can be used to implement Figure 1 the method in the illustrated embodiment. As Figure 3 shown, the electronic device 300 may include: at least one central processing unit 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0110] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0111] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0112] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0113] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 connects various parts within the entire electronic device 300 through various interfaces and circuits. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305, it executes various functions of the terminal 300 and processes data. Optionally, the central processing unit 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The central processing unit 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301 and may be implemented separately by a single chip.

[0114] Among them, the memory 305 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area can store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned central processing unit 301. As Figure 3 shown, the memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0115] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; and the central processing unit 301 can be used to call the on-orbit unit fault replacement application program stored in the memory 305 and specifically perform the following operations:

[0116] When it is detected that a certain on-orbit unit fails, calculate the missing ratio of the inspection field of view of the inspection area where the on-orbit unit is located, and synchronously send a replacement request;

[0117] When it is detected that the missing ratio exceeds a predefined replenishment threshold, respond to the replacement request, globally search for inspection areas with a redundant configuration ratio greater than the fluctuation threshold, and transfer the on-orbit units in the inspection area to supplement the missing positions; the transferred on-orbit units are used to inherit the inspection tasks of the failed on-orbit unit;

[0118] Obtain the starting point of the transferred on-orbit unit and the target inspection area, and formulate an operation route according to the feasible route of the inspection orbit. The transferred on-orbit unit executes the operation route to the target inspection area.

[0119] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical discs, DVDs, CD-ROMs, microdrives, and magneto-optical discs, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0120] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0121] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0123] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0124] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0125] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned memory includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical disks, etc., which can store program codes.

[0126] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks, etc.

[0127] The foregoing are only exemplary embodiments of the present disclosure, and thus cannot limit the scope of the present disclosure. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and embodiments are only to be regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for replacing on-orbit unit faults, characterized in that, The method comprises: When a fault is detected in an on-orbit unit, the missing ratio of the inspection field of view of the inspection domain where the on-orbit unit is located is calculated, and a replacement request is sent synchronously; When it is detected that the missing ratio exceeds a predefined supplement threshold, in response to the replacement request, a global search is conducted for an inspection domain whose redundant configuration ratio is greater than a fluctuation threshold, and an on-orbit unit in the inspection domain is deployed to supplement the missing position; the deployed on-orbit unit is used to inherit the inspection task of the failed on-orbit unit; Obtaining the starting point and target inspection area of the deployed on-track unit, formulating an operation route based on the feasible route of the inspection track, and having the deployed on-track unit execute the operation route to the target inspection area; Responding to the replacement request specifically includes: Perform a global search for on-track units connected to the inspection track and query on-track units that are in an idle state: If so, directly call the idle on-orbit unit to fill the missing position; If not, on-orbit units currently in operation in other inspection areas will be deployed to fill the missing positions; Obtaining a redundant configuration ratio when allocating on-orbit units to the inspection domain to perform inspection tasks, and obtaining a predefined fluctuation threshold for the inspection domain, wherein the fluctuation threshold is applicable to calculation and comparison when deploying a single on-orbit unit; Extract all inspection domains satisfying the requirement that the redundant configuration ratio is greater than the fluctuation threshold, and select the inspection domain with the largest redundant configuration ratio to perform the on-orbit unit deployment; Clear the existing inspection tasks of the withdrawn on-orbit unit and inherit the inspection tasks of the failed on-orbit unit; Adjust the inspection operation parameters of other on-orbit units in the inspection area that have been withdrawn to balance the inspection field distribution caused by the withdrawal.

2. The method according to claim 1, wherein When any of the following situations occurs, the corresponding on-orbit unit is defined as having a fault: data acquisition fault, on-orbit operation fault; the data acquisition fault includes at least data acquisition interruption, image loss / distortion; the on-orbit operation fault includes at least abnormal stop, operation speed failure / synchronization; The calculating of the missing ratio of the inspection field of view of the inspection area where the on-orbit unit is located and the synchronous sending of the replacement request specifically include: Obtaining the inspection field of view requirement standard of the current inspection domain, calculating the sum of the inspection fields of the on-orbit units in normal state within the current inspection domain, and calculating the missing ratio by comparing the above requirement standard; The replacement request is generated according to the missing ratio, the information of the failed on-orbit unit, and the information of the inspection domain to which it belongs, and is sent to the server.

3. The method according to claim 1, wherein When detecting that the missing ratio exceeds a predefined supplement threshold, the method specifically includes: Predefine supplementary thresholds for each inspection domain; According to the inspection domain where the on-orbit unit is located, the corresponding supplementary threshold is retrieved and compared with the missing ratio: If the missing ratio is not greater than the supplement threshold, not responding to the replacement request; If the missing ratio is greater than the supplement threshold, responding to the replacement request.

4. The method according to claim 1, wherein After the synchronous sending of the replacement request, the method further includes: When receiving the replacement request, the faulty on-track unit is stopped and the inspection track section where the faulty on-track unit is located is defined as an inaccessible section; The determination length of the impassable section is greater than the occupancy length of the on-rail unit on the inspection track; the determination length is twice the occupancy length; Adjust the operation mode of other on-rail units within the inspection area to which the failed on-rail unit belongs, from the cyclic inspection mode to the reciprocating inspection mode; Based on the position of the impassable section on the inspection track, eliminate the corresponding section on the inspection routes of other on-rail units within this inspection area, so that other on-rail units do not collide with it.

5. The method according to claim 3, characterized in that, When the on-rail unit being dispatched is an on-rail unit that is working in other inspection areas: Use the exit of the inspection track of the inspection area of the on-rail unit being dispatched as the starting point, and the inspection area of the failed on-rail unit as the target inspection area; Formulate the operation route from the starting point to the target inspection area according to the feasible routes of the inspection tracks erected between the inspection areas; Send a guiding instruction to the on-rail unit being dispatched, guiding the on-rail unit being dispatched to execute the operation route after reaching the starting point, so that the on-rail unit being dispatched can run to the target inspection area.

6. The method according to claim 3, characterized in that When the on-rail unit being dispatched is an idle on-rail unit: Obtain the docking information of the on-rail unit, define the docking position of the on-rail unit as the starting point, and the inspection area of the failed on-rail unit as the target inspection area; Formulate the operation route from the starting point to the target inspection area according to the feasible routes of the inspection tracks erected between the inspection areas; Start the on-rail unit in the idle state to make it run to the starting point; The on-rail unit being dispatched executes the operation route after reaching the starting point, so that the on-rail unit being dispatched can run to the target inspection area.

7. An on-orbit unit fault replacement device, characterized in that, Applicable to an on-rail unit fault replacement method as described in claim 1, the device includes: A fault detection module, when detecting that a certain on-rail unit fails, calculates the missing ratio of the inspection field of view of the inspection area where the on-rail unit is located, and synchronously sends a replacement request; An inspection dispatch module, when detecting that the missing ratio exceeds a predefined replenishment threshold, responds to the replacement request, globally searches for inspection areas with a redundant configuration ratio greater than the fluctuation threshold, and dispatches on-rail units in the inspection area to supplement the missing positions; the on-rail units being dispatched are used to inherit the inspection tasks of the failed on-rail unit; A route formulation module, obtains the starting point and the target inspection area of the on-rail unit being dispatched, and formulates the operation route according to the feasible routes of the inspection track, and the on-rail unit being dispatched executes the operation route to the target inspection area.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method as described in any one of claims 1-6.

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