Robot-based inspection method, device, equipment, and storage medium

Abstract

The embodiment of the present application discloses a robot-based inspection method and device, equipment, and storage medium. The method is applied to the ROS system, including: receiving instruction information, the instruction information includes a preset inspection path containing a specified position; controlling the robot to move according to the preset inspection path; if the robot is detected to move to the specified position, sending an inspection task execution instruction to the designated component corresponding to the robot to generate inspection information, and closely relating the designated position to the inspection task execution instruction to ensure that the designated component generates inspection information related to the designated position, thereby improving the accuracy of the inspection information; the ROS system in the robot, as the execution subject, sends the inspection information to the industrial computer, so that the robot and the industrial computer can interact with data in a timely manner, thereby improving the timeliness of data transmission.

Description

Technical Field

[0001] The present application relates to the field of robots, and specifically to a robot-based inspection method and device, equipment, and storage medium. Background Art

[0002] Computer room inspection is an indispensable part of daily work to ensure the normal and stable operation of the computer room. Currently, most inspections are performed manually. With the development of artificial intelligence and robots, the inspection process can gradually change from assisting manual work to replacing manpower and working completely autonomously. However, there is currently a lack of highly adaptable computer room inspection robots, and the inspection tasks cannot be accurately performed during the actual inspection process, resulting in low accuracy of the generated inspection information. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application respectively provide a robot-based inspection method and apparatus, equipment, and computer-readable storage medium to generate highly accurate inspection information and improve the accuracy of inspection tasks.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a robot-based inspection method is provided, which is applied to a ROS system contained in a robot, and the method includes: receiving instruction information, the instruction information including a preset inspection path containing a specified position; controlling the robot to move according to the preset inspection path; if it is detected that the robot moves to the specified position, sending an inspection task execution instruction to a designated component corresponding to the robot to generate inspection information; wherein the inspection task execution instruction is used to instruct the designated component to perform an inspection task related to the specified position; and sending the inspection information to an industrial computer.

[0006] According to one aspect of an embodiment of the present application, a robot-based inspection device is provided, which is applied to a ROS system contained in the robot, and the device includes: a receiving module, configured to receive instruction information, wherein the instruction information includes a preset inspection path containing a specified position; a control module, configured to control the robot to move according to the preset inspection path; a generating module, configured to send an inspection task execution instruction to a designated component corresponding to the robot to generate inspection information if it is detected that the robot moves to the specified position; wherein the inspection task execution instruction is used to instruct the designated component to perform an inspection task related to the specified position; and a sending module, configured to send the inspection information to an industrial computer.

[0007] In another exemplary embodiment, the designated component includes a temperature and humidity sensing component; the control module includes: a temperature and humidity sensing component control unit, configured to send an inspection task execution instruction including collecting the temperature and / or humidity information of the designated location to the temperature and humidity sensing component, so as to generate inspection information including the temperature and / or humidity information of the designated location.

[0008] In another exemplary embodiment, the designated component also includes an image acquisition component; the control module also includes: an image acquisition component control unit, configured to send an inspection task execution instruction including acquiring an image frame of the designated position to the image acquisition component to generate inspection information including the image frame of the designated position.

[0009] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes: an automatic inspection module, configured to control the robot to turn on the image acquisition component to automatically inspect the target area, and record an initial inspection path and multiple image frames; an initial data sending module, configured to send the initial inspection path and multiple image frames to the industrial computer, so that the industrial computer constructs the preset inspection path based on the regional image frames captured by the camera device in the target area, the regional temperature and / or humidity captured by the temperature and humidity sensor in the target area, the initial inspection path and multiple image frames.

[0010] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes: an obstacle detection module, configured to detect whether there is an obstacle in the current moving path based on the real-time image frames acquired by the image acquisition component; a moving direction changing module, configured to control the robot to change the current moving direction to avoid the obstacle if the obstacle is detected in the current path; a position information recording and sending module, configured to record and send the position information of the obstacle in the preset path to the industrial computer, so that the industrial computer updates the preset path according to the position information of the obstacle to obtain updated preset path information.

[0011] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes: a new instruction information detection module, configured to detect whether new instruction information is received during the process of controlling the robot to move according to the preset inspection path; a current position determination module, configured to determine the current position of the robot according to the image frame collected by the image acquisition component at the current moment if the new instruction information is detected to be received; an adjacent position determination module, configured to take the position in the new preset inspection path in the new instruction information that is shortest to the current position as the adjacent position; a new preset path control module, configured to control the robot to move to the adjacent position, and control the robot to move according to the new preset inspection path.

[0012] In another exemplary embodiment, the current position determination module includes: a positioning information acquisition unit, configured to control the image acquisition component to acquire the image frame at the current moment, and acquire the posture information of the robot at the current moment; a current position determination unit, configured to determine the current position of the robot based on the image frame at the current moment and the posture information.

[0013] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the above-mentioned robot-based inspection method.

[0014] According to one aspect of an embodiment of the present application, a computer-readable storage medium is also provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned robot-based inspection method.

[0015] According to one aspect of the embodiments of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned robot-based inspection method.

[0016] In the technical solution provided in the embodiments of the present application, instruction information is received by the ROS system in the robot, and the instruction information includes a preset inspection path containing a specified position; the robot is controlled to move according to the preset inspection path; if it is detected that the robot moves to the specified position, an inspection task execution instruction is sent to the designated component corresponding to the robot to generate inspection information, and the designated position is closely related to the inspection task execution instruction to ensure that the designated component generates inspection information related to the designated position, thereby improving the accuracy of the inspection information; the ROS system in the robot acts as the execution subject to send the inspection information to the industrial computer, so that the robot and the industrial computer can exchange data in a timely manner, thereby improving the timeliness of data transmission.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 It is a schematic diagram of an implementation environment involved in this application;

[0020] Figure 2 is a flow chart of a robot-based inspection method shown in an exemplary embodiment of the present application;

[0021] Figure 3 is based on Figure 2 A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0022] Figure 4 is based on Figure 3 A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0023] Figure 5 is based on Figure 2 A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0024] Figure 6 is based on Figure 2 A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0025] Figure 7 is based on Figure 2A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0026] Figure 8 is based on Figure 7 A flow chart of another robot-based inspection method proposed in the illustrated embodiment;

[0027] Fig. 9 is a schematic diagram of a robot-based inspection scene shown in an exemplary embodiment of the present application;

[0028] Fig.10 is a schematic structural diagram of a robot-based inspection device according to an exemplary embodiment of the present application;

[0029] Fig.11 It is a schematic diagram of the structure of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0032] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0033] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0034] First see Figure 1 , Figure 1: is a schematic diagram of an implementation environment involved in the present application. The implementation environment includes a robot 100, a ROS system 200 and an industrial computer 300. Among them, the ROS system 200 is placed in the robot 100; the robot 100, the ROS system 200 and the industrial computer 300 communicate through a wired or wireless network, such as a cable, WiFi, 5G or other connection methods.

[0035] The robot 100 includes designated components that can be used to perform inspection tasks, such as an image acquisition component for acquiring image frames, an opening component for opening a machine room door, a temperature and humidity sensing component for acquiring surrounding temperature and humidity, etc. In addition, the robot 100 also includes moving components for movement, such as moving wheels, moving mechanical feet, etc., which are not specifically limited in this application. Exemplarily, the robot 100 is a quadruped robot that moves via four legs. Compared with the existing more mature wheeled robots, the quadruped robot has better ground adaptability and can walk on uneven ground, sloping ground, and can also go up and down stairs. At the same time, the quadruped robot is smaller in size, so it has better passability and can adapt to more inspection scenarios.

[0036] The ROS system 200 receives instruction information, which includes a preset inspection path containing a specified position; controls the robot to move according to the preset inspection path; if the ROS system 200 detects that the robot 100 moves to the specified position, it sends an inspection task execution instruction to the designated component corresponding to the robot 100 to generate inspection information; wherein the inspection task execution instruction is used to instruct the designated component to execute the inspection task related to the specified position; the ROS system 200 sends the inspection information to the industrial computer 300.

[0037] The hardware integration of the industrial computer 300 includes temperature and humidity sensors, RTC (Real time communication) modules, analog-to-digital conversion modules, etc. The industrial computer 300 sends command information to the ROS system 200 and can receive inspection information sent by the ROS system 200.

[0038] In some other implementation environments, a monitoring screen operation terminal and a Web server backend are also involved. The user can observe the real-time inspection process of the robot 100 through the monitoring screen operation terminal, and can trigger the corresponding command information through the monitoring screen operation terminal to call the Web server backend interface, such as clicking, touching, sensing the screen, or voice-controlled triggering, so that the corresponding command information is transmitted to the industrial computer 300, and then the industrial computer 300 sends the command information to the industrial computer interface of the robot 100, and transmits the command information to the ROS system 200; similarly, after the industrial computer 300 receives the inspection information sent by the ROS system 200, it sends it to the Web server backend for analysis and processing, and then updates the display data of the monitoring screen operation terminal.

[0039] See also Figure 2 , Figure 2 is a flowchart of a robot-based inspection method shown in an exemplary embodiment of the present application. The method can be Figure 1 The ROS system 200 in the implementation environment shown is specifically implemented. Of course, the method can also be applied to other implementation environments and executed by server devices in other implementation environments, and this embodiment is not limited to this. Figure 2 As shown, the method at least includes S210 to S240, which are described in detail as follows:

[0040] S210: receiving instruction information, wherein the instruction information includes a preset inspection path including a designated location.

[0041] The command information may be information sent by the industrial computer to the industrial computer interface of the robot and then received by the ROS system in the robot.

[0042] The designated position is a position marked in the preset inspection path, which is different from other positions in the preset inspection path, and the designated position is associated with an inspection task. The preset inspection path is a pre-set robot inspection route, which includes at least one designated position.

[0043] S220: Control the robot to move according to the preset inspection path.

[0044] Control the robot to move along the preset inspection path.

[0045] S230: If it is detected that the robot moves to the designated position, an inspection task execution instruction is sent to the designated component corresponding to the robot to generate inspection information; wherein the inspection task execution instruction is used to instruct the designated component to execute the inspection task related to the designated position.

[0046] The designated component is a component corresponding to the designated position, such as a temperature and humidity sensing component, an image frame acquisition component, etc. Different types of sensing components can perform different inspection tasks.

[0047] S240: Send the inspection information to the industrial computer.

[0048] After the ROS system in the robot generates inspection information, it sends it to the industrial computer.

[0049] This embodiment receives instruction information through the ROS system in the robot, and the instruction information includes a preset inspection path containing a specified position; the robot is controlled to move according to the preset inspection path; if it is detected that the robot moves to the specified position, an inspection task execution instruction is sent to the designated component corresponding to the robot to generate inspection information, and the designated position is closely related to the inspection task execution instruction to ensure that the designated component generates inspection information related to the designated position, thereby improving the accuracy of the inspection information; the ROS system in the robot, as the execution subject, sends the inspection information to the industrial computer, so that the robot and the industrial computer can exchange data in a timely manner, thereby improving the timeliness of data transmission.

[0050] See also Figure 3 , Figure 3 is based on Figure 2 The flowchart of another robot-based inspection method proposed in the embodiment shown in the figure. The specified component includes a temperature and humidity sensing component; the method Figure 2 The S230 shown includes S310, which is described in detail below:

[0051] S310: Sending an inspection task execution instruction including collecting temperature and / or humidity information of a designated location to the temperature and humidity sensing component to generate inspection information including the temperature and / or humidity information of the designated location.

[0052] Exemplarily, the inspection task corresponding to the designated position A is to collect the temperature and / or humidity information of the designated position A. When the robot moves to the designated position A, the ROS system sends an inspection task execution instruction to the temperature and humidity sensing component to collect the ambient temperature and / or humidity information, thereby generating inspection information including the temperature and / or humidity information of the designated position A.

[0053] In another exemplary embodiment, the inspection task corresponding to the designated position includes multiple execution actions. When the robot moves to the designated position, the multiple execution actions are executed. For details, please refer to Figure 4 , Figure 4 is based on Figure 3 The flowchart of another robot-based inspection method proposed in the embodiment shown in the figure. The specified component also includes an image acquisition component; the method also includes S410 in S230, which is described in detail below:

[0054] S410: Sending an inspection task execution instruction including acquiring an image frame at a specified position to an image acquisition component to generate inspection information including the image frame at the specified position.

[0055] Exemplarily, the inspection task corresponding to the designated position B is to collect the temperature and / or humidity information of the designated position B, and to obtain the environment image frame of the designated position B. When the robot moves to the designated position B, the ROS system sends an inspection task execution instruction for collecting the environment temperature and / or humidity information of the designated position B, and collecting the environment image frame of the designated position B to the temperature and humidity sensing component, thereby generating inspection information including the temperature and / or humidity information of the designated position B, and the environment image frame of the designated position B.

[0056] The present embodiment does not limit the specific execution order of collecting the ambient temperature and / or humidity information and collecting the ambient image frames. The two can be performed simultaneously or in steps.

[0057] This embodiment further illustrates specific types of designated components, and illustrates that different types of designated components can be enabled at the same time, and corresponding data information can be collected at the same time and summarized in the inspection information, so that the robot can complete the data collection work quickly and efficiently at the designated location.

[0058] See also Figure 5 , Figure 5 is based on Figure 2 The flowchart of another robot-based inspection method proposed in the embodiment shown in FIG. The robot includes an image acquisition component; the method is as follows: Figure 2 The S210 shown includes S510 to S520, which are described in detail below:

[0059] S510: Control the robot to start the image acquisition component to automatically inspect the target area, and record an initial inspection path and multiple image frames.

[0060] The initial inspection path is the path information recorded by the robot image acquisition device.

[0061] When the robot automatically inspects in the target area, the image acquisition component is kept turned on to collect environmental image frames at various locations in the target area, and the initial inspection path can be recorded.

[0062] S520: Send the initial inspection path and multiple image frames to the industrial computer, so that the industrial computer constructs a preset inspection path based on the regional image frames collected by the camera device in the target area, the regional temperature and / or humidity collected by the temperature and humidity sensor in the target area, the initial inspection path and the multiple image frames.

[0063] The ROS system sends the initial inspection path and multiple image frames to the industrial computer for processing and analysis to construct a preset inspection path, which also involves the regional image frames collected by the camera device set in the target area, and the regional temperature and / or humidity collected by the temperature and humidity sensor in the target area.

[0064] This embodiment illustrates how the industrial computer constructs a preset inspection path, and quickly constructs the preset inspection path by receiving the initial inspection path and multiple image frames from the ROS system, the regional image frames collected by the camera device set in the target area, and the regional temperature and / or humidity collected by the temperature and humidity sensor in the target area. Among them, the initial inspection path and multiple image frames are data obtained by the dynamic movement of the robot, and the regional image frames and regional temperature and / or humidity are data collected statically by a fixed position device, that is, in the process of constructing the preset inspection path, dynamic and static data are involved, so that the constructed preset inspection path is more accurate.

[0065] When the robot moves along the preset inspection path, if there is an obstacle on the road, the robot will only move mechanically along the preset inspection path, which may cause the robot to run into the obstacle. Figure 6 , Figure 6 is based on Figure 2 The flowchart of another robot-based inspection method proposed in the embodiment shown in the figure. The robot includes an image acquisition component; the method also includes S610 to S630, which are described in detail below:

[0066] S610: Detect whether there are obstacles on the current moving path according to the real-time image frames collected by the image collection component.

[0067] When the robot moves according to the preset inspection path, the image acquisition component is kept turned on, so that multiple real-time image frames can be collected, so that it can detect whether there are obstacles in the current moving path through the real-time image frames.

[0068] S620: If an obstacle is detected in the current path, the robot is controlled to change the current moving direction to avoid the obstacle.

[0069] For example, if an obstacle is detected in the current path, the robot is controlled to turn 45° to 90° to the left / right and move a certain distance to bypass the obstacle, prevent the robot from colliding with the obstacle, and avoid safety accidents.

[0070] S630: Record and send the position information of the obstacle in the preset path to the industrial computer, so that the industrial computer updates the preset path according to the position information of the obstacle to obtain updated preset path information.

[0071] After the location information of the obstacle is sent to the industrial computer, if the robot needs to be controlled to pass through the preset path where the obstacle is located again within a short period of time, the industrial computer will update the preset path after receiving the location information of the obstacle to obtain an updated preset path, thereby controlling the robot to move according to the updated preset path to avoid the obstacle position.

[0072] This embodiment illustrates that when the robot moves according to a preset inspection path, it can flexibly and automatically avoid obstacles and send the location information of obstacles to the industrial computer, so that the industrial computer updates the preset inspection path according to the location information of the obstacles to quickly obtain the updated preset path information.

[0073] See also Figure 7 , Figure 7 is based on Figure 2 The flowchart of another robot-based inspection method proposed in the embodiment shown in the figure. The robot includes an image acquisition component; the method also includes S710 to S740, which are described in detail below:

[0074] S710: In the process of controlling the robot to move according to the preset inspection path, detecting whether new instruction information is received.

[0075] S720: If it is detected that new instruction information is received, the current position of the robot is determined according to the image frame collected by the image collection component at the current moment.

[0076] S730: The position in the new preset inspection path in the new instruction information that is shortest to the current position is used as the adjacent position.

[0077] S740: Control the robot to move to a nearby position, and control the robot to move according to a new preset inspection path.

[0078] This embodiment is exemplified as follows: when the robot is moving along a preset inspection path, if new instruction information is received at a certain position, the image acquisition component is controlled to acquire the image frame of the position, and the current position is determined to be position C based on the image frame, and the new instruction information carrying the new preset inspection path is obtained, and position C and position D with the shortest distance in the new preset inspection path are taken as adjacent positions; the robot is controlled to move from position C to position D, so that the robot makes subsequent movements according to the new preset inspection path.

[0079] This embodiment further illustrates how to adjust the position of the robot according to new instruction information, which carries a new preset inspection path; determine the current position of the robot through image frames, and obtain the adjacent position of the current position in the new preset inspection path, so as to quickly control the robot to move to the adjacent position, and control the robot to move according to the new preset inspection path.

[0080] In S720, if the current position information of the robot is determined only by the image frames collected by the image acquisition component, the reference factor is relatively single, which may easily lead to inaccurate position information. For this reason, in another exemplary embodiment of the present application, relevant improvements are made to this, for details, please refer to Figure 8 , Figure 8 is based on Figure 7 The flowchart of another robot-based inspection method proposed in the embodiment shown in FIG. Figure 7 The S720 shown also includes S810 to S820, which are described in detail below:

[0081] S810: Control the image acquisition component to acquire the image frame at the current moment, and obtain the position and posture information of the robot at the current moment.

[0082] Posture information is information obtained through analysis and processing by the robot's own sensing module, which includes but is not limited to the robot's body shape information, posture information, robot head elevation angle information, etc.

[0083] S820: Determine the current position of the robot based on the image frame and posture information at the current moment.

[0084] Exemplarily, an initial position is determined according to an image frame at a current moment, and the initial position is corrected using the posture information to obtain the current position of the robot.

[0085] In another exemplary embodiment, the posture of the robot is adjusted according to the posture information at the current moment, and then the image acquisition device is controlled to acquire image frames, so as to determine the current position of the robot according to the image frames.

[0086] Because the posture information can represent the body information of the robot at the current moment, etc., it can play an auxiliary role in positioning to a certain extent, so that the current position of the robot can be determined more accurately.

[0087] Computer room inspection is an indispensable part of daily work to ensure the normal and stable operation of the computer room. At present, most of the work is done manually, but this work is highly repetitive and boring in the long term. With the development of artificial intelligence and robots, it can gradually move from assisting manual work to replacing manpower and working completely independently. However, there is currently a lack of highly adaptable computer room inspection robots, and the inspection tasks cannot be accurately performed during the actual inspection process, resulting in low accuracy of the generated inspection information.

[0088] To this end, an exemplary embodiment of the present application uses a quadruped robot to inspect the machine room. For details, please refer to Fig. 9 , Fig. 9 It is a schematic diagram of a robot-based inspection scene shown in an exemplary embodiment of the present application. Among them, the scene includes a regional camera device 910, a regional temperature and humidity / smoke sensor 920, a quadruped robot 930, an industrial computer 940 and a 5G network card 950. Among them, the regional camera device 910, the regional temperature and humidity / smoke sensor 920 and the quadruped robot 930 are respectively connected to the industrial computer 940 through a wireless network. The quadruped robot 930 includes designated components such as an image acquisition component and a temperature and humidity sensing component. The industrial computer 940 and the 5G network card 950 are connected via USB so that the industrial computer 940 is connected to the intranet via 5G.

[0089] The regional camera device 910 is a fixed device set in the target inspection area, which is used to collect image frames in the target inspection area. There are certain differences between the image frames and the image frames collected by the image acquisition component in the quadruped robot 930, because the image acquisition component collects image frames during the dynamic movement of the quadruped robot 930, which are obviously different from the image frames in the target inspection area collected by the regional camera device 910, such as shooting angle and image frame pixels. It is worth noting that the number of regional camera devices 910 can be adjusted according to the actual area of ​​the target inspection area, and this embodiment does not limit its specific number.

[0090] The regional temperature and humidity / smoke sensing device 920 is a fixed device set in the target inspection area, which is used to collect temperature and humidity / gas concentration in the target inspection area. It is data collected at a fixed position, while the temperature and humidity sensing components in the quadruped robot 930 can collect data at different positions, so there is a certain difference between the two. Similarly, the regional temperature and humidity / smoke sensing device 920 can adjust the number of regional temperature and humidity / smoke sensing devices 920 according to the actual area of ​​the target inspection area, and this embodiment does not limit its specific number.

[0091] The ROS system in the quadruped robot 930 receives command information sent by the industrial computer 940, which includes a preset inspection path containing a specified position; the quadruped robot 930 is controlled to move according to the preset inspection path; if it is detected that the quadruped robot 930 moves to the specified position, an inspection task execution instruction is sent to the designated component corresponding to the quadruped robot 930 to generate inspection information; wherein the inspection task execution instruction is used to instruct the designated component to execute the inspection task related to the designated position; and the inspection information is sent to the industrial computer 940.

[0092] The industrial computer 940 includes a temperature and humidity sensor, an RTC module, an analog-to-digital conversion module, etc. The industrial computer 940 can send and receive relevant data to the regional camera device 910, the regional temperature and humidity / smoke sensor 920, and the quadruped robot 930, respectively, and the industrial computer 940 can be connected to the intranet through the 5G network to quickly complete the data transmission.

[0093] The quadruped robot and the industrial computer in this embodiment can exchange data in a timely manner to improve the timeliness of data transmission. The industrial computer can more accurately analyze the real scene data in the target area based on the data collected by the relevant fixed-point devices in the target area and the data collected by the quadruped robot during movement.

[0094] Another aspect of the present application also provides a robot-based inspection device, such as Fig.10 As shown, Fig.10 : is a schematic diagram of a robot-based inspection device according to an exemplary embodiment of the present application. The robot-based inspection device is applied to a ROS system contained in the robot, and includes:

[0095] The receiving module 1010 is configured to receive instruction information, wherein the instruction information includes a preset inspection path containing a designated location.

[0096] The control module 1030 is configured to control the robot to move according to a preset inspection path.

[0097] The generation module 1050 is configured to send an inspection task execution instruction to the designated component corresponding to the robot to generate inspection information if it is detected that the robot moves to the designated position; wherein the inspection task execution instruction is used to instruct the designated component to execute the inspection task related to the designated position.

[0098] The sending module 1070 is configured to send the inspection information to the industrial computer.

[0099] In another exemplary embodiment, the designated component includes a temperature and humidity sensing component; the control module 1030 includes:

[0100] The temperature and humidity sensing component control unit is configured to send an inspection task execution instruction including collecting temperature and / or humidity information of a specified location to the temperature and humidity sensing component to generate inspection information including temperature and / or humidity information of the specified location.

[0101] In another exemplary embodiment, the designated component further includes an image acquisition component; and the control module 1030 further includes:

[0102] The image acquisition component control unit is configured to send an inspection task execution instruction including acquiring an image frame at a specified position to the image acquisition component to generate inspection information including the image frame at the specified position.

[0103] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes:

[0104] The automatic inspection module is configured to control the robot to start the image acquisition component to automatically inspect the target area, and record the initial inspection path and multiple image frames.

[0105] The initial data sending module is configured to send the initial inspection path and multiple image frames to the industrial computer, so that the industrial computer can construct a preset inspection path based on the regional image frames collected by the camera device in the target area, the regional temperature and / or humidity collected by the temperature and humidity sensor in the target area, the initial inspection path and multiple image frames.

[0106] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes:

[0107] The obstacle detection module is configured to detect whether there is an obstacle in the current moving path according to the real-time image frames collected by the image acquisition component.

[0108] The moving direction changing module is configured to control the robot to change the current moving direction to avoid the obstacle if an obstacle is detected in the current path.

[0109] The position information recording and sending module is configured to record and send the position information of the obstacle in the preset path to the industrial computer, so that the industrial computer updates the preset path according to the position information of the obstacle to obtain the updated preset path information.

[0110] In another exemplary embodiment, the robot includes an image acquisition component; the device also includes:

[0111] The new instruction information detection module is configured to detect whether new instruction information is received during the process of controlling the robot to move according to a preset inspection path.

[0112] The current position determination module is configured to determine the current position of the robot according to the image frames collected by the image acquisition component at the current moment if new instruction information is detected and received.

[0113] The adjacent position determination module is configured to take the position in the new preset inspection path in the new instruction information that is shortest to the current position as the adjacent position.

[0114] The new preset path control module is configured to control the robot to move to an adjacent position and control the robot to move according to the new preset inspection path.

[0115] In another exemplary embodiment, the current location determination module includes:

[0116] The positioning information acquisition unit is configured to control the image acquisition component to acquire the image frame at the current moment and obtain the position and posture information of the robot at the current moment.

[0117] The current position determination unit is configured to determine the current position of the robot according to the image frame and posture information at the current moment.

[0118] It should be noted that the robot-based inspection device provided in the above embodiment and the robot-based inspection method provided in the aforementioned embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0119] Another aspect of the present application also provides an electronic device, including: a controller; a memory for storing one or more programs, when the one or more programs are executed by the controller, to perform the above-mentioned robot-based inspection method.

[0120] See also Fig.11 , Fig.11 1 is a schematic diagram of the structure of a computer system of an electronic device shown in an exemplary embodiment of the present application, which shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing an embodiment of the present application.

[0121] It should be noted that Fig.11 The computer system 1100 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0122] like Fig.11As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage part 1108 to the random access memory (RAM) 1103, such as executing the method in the above embodiment. In the RAM 1103, various programs and data required for system operation are also stored. The CPU 1101, the ROM 1102 and the RAM 1103 are connected to each other through the bus 1104. The input / output (I / O) interface 1105 is also connected to the bus 1104.

[0123] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0124] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1109, and / or installed from a removable medium 1111. When the computer program is executed by a central processing unit (CPU) 1101, various functions defined in the system of the present application are executed.

[0125] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0126] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0127] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0128] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the robot-based inspection method as described above when the computer program is executed by a processor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0129] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the robot-based inspection method provided in each of the above embodiments.

[0130] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0131] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0132] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A robot-based inspection method, characterized in that: Applied to a ROS system contained in a robot, the robot includes an image acquisition component, and the method includes: Receiving instruction information, wherein the instruction information includes a preset inspection path including a specified location; Controlling the robot to move according to the preset inspection path; If it is detected that the robot moves to the designated position, an inspection task execution instruction is sent to the designated component corresponding to the robot to generate inspection information; wherein the inspection task execution instruction is used to instruct the designated component to perform the inspection task related to the designated position; Sending the inspection information to an industrial computer; Before receiving the instruction information, the method further includes: Controlling the robot to start the image acquisition component to automatically inspect the target area, and recording an initial inspection path and multiple image frames; The initial inspection path and multiple image frames are sent to the industrial computer, so that the industrial computer constructs the preset inspection path according to the regional image frames collected by the camera device in the target area, the regional temperature and / or humidity collected by the temperature and humidity sensor in the target area, the initial inspection path and the multiple image frames, wherein the initial inspection path and the multiple image frames are data obtained by dynamic movement of the robot, and the regional image frames and the regional temperature and / or humidity are data statically collected by a fixed position device.

2. The method according to claim 1, characterized in that The designated component includes a temperature and humidity sensing component; the sending of an inspection task execution instruction to the designated component corresponding to the robot to generate inspection information includes: An inspection task execution instruction including collecting the temperature and / or humidity information of the designated location is sent to the temperature and humidity sensing component to generate inspection information including the temperature and / or humidity information of the designated location.

3. The method according to claim 2, characterized in that The designated component also includes an image acquisition component; the method also includes: An inspection task execution instruction including acquiring the image frame of the designated position is sent to the image acquisition component to generate inspection information including the image frame of the designated position.

4. The method according to claim 1, characterized in that The robot includes an image acquisition component; the method further includes: Detecting whether there are obstacles in the current moving path according to the real-time image frames collected by the image collection component; If it is detected that the obstacle exists in the current path, the robot is controlled to change the current moving direction to avoid the obstacle; The position information of the obstacle in the preset inspection path is recorded and sent to the industrial computer, so that the industrial computer updates the preset inspection path according to the position information of the obstacle to obtain updated preset inspection path information.

5. The method according to claim 1, characterized in that The robot includes an image acquisition component; the method further includes: In the process of controlling the robot to move according to the preset inspection path, detecting whether new instruction information is received; If the new instruction information is detected and received, the current position of the robot is determined according to the image frame collected by the image collection component at the current moment; The position in the new preset inspection path in the new instruction information that is shortest to the current position is used as the adjacent position; The robot is controlled to move to the adjacent position, and the robot is controlled to move according to the new preset inspection path.

6. The method according to claim 5, characterized in that Determining the current position of the robot according to the image frame collected by the image collection component at the current moment includes: Controlling the image acquisition component to acquire the image frame at the current moment, and obtaining the position and posture information of the robot at the current moment; The current position of the robot is determined according to the image frame at the current moment and the posture information.

7. A robot-based inspection device, characterized in that: Applied to a ROS system contained in a robot, the robot includes an image acquisition component, and the device includes: A receiving module is configured to receive instruction information, wherein the instruction information includes a preset inspection path containing a specified location; A control module, configured to control the robot to move according to the preset inspection path; A generation module is configured to send an inspection task execution instruction to a designated component corresponding to the robot to generate inspection information if it is detected that the robot moves to the designated position; wherein the inspection task execution instruction is used to instruct the designated component to perform an inspection task related to the designated position; A sending module, configured to send the inspection information to an industrial computer; Wherein, the device also includes an automatic inspection module and an initial data sending module, and the automatic inspection module is configured to control the robot to turn on the image acquisition component to automatically inspect the target area, and record the initial inspection path and multiple image frames; the initial data sending module is configured to send the initial inspection path and multiple image frames to the industrial computer, so that the industrial computer constructs the preset inspection path based on the regional image frames captured by the camera device in the target area, the regional temperature and / or humidity captured by the temperature and humidity sensor in the target area, the initial inspection path and multiple image frames, wherein the initial inspection path and multiple image frames are data obtained by the dynamic movement of the robot, and the regional image frames and regional temperature and / or humidity are data statically collected by a fixed position device.

8. An electronic device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the robot-based inspection method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the robot-based inspection method according to any one of claims 1 to 6.

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