A method and device for controlling an inspection robot based on digital twin technology

Abstract

This invention discloses a method and device for controlling an inspection robot based on digital twin technology. The method includes: establishing a digital twin virtual model of the inspection robot and a digital twin virtual scene of the inspected building; receiving a virtual inspection path generated in the digital twin virtual scene and converting it into a real inspection path; sending the real inspection path to the inspection robot, causing the robot to follow the real inspection path; determining whether the inspection robot has reached the inspection equipment location; and when it is determined that the inspection equipment location has been reached, obtaining the data of the corresponding inspection equipment from the system integrated in the inspected building and displaying the data of the corresponding inspection equipment in a pop-up window in the digital twin virtual scene. This invention enables the direct acquisition of data from the reached inspection equipment from the system integrated in the building, avoiding the problem of the inspection robot being unable to read meters due to the limited location of the inspection equipment, and enabling meter reading completely independently.

Description

Technical Field

[0001] This application relates to the field of digital twin technology, and in particular to a control method and apparatus for an inspection robot based on digital twin technology. Background Technology

[0002] The building energy system, including the heating, ventilation and air conditioning system, power distribution system, lighting system, and elevator system, is a large and complex system composed of various equipment, pipelines, and terminal facilities.

[0003] Traditionally, building inspections are conducted manually at set times. This method suffers from drawbacks such as high difficulty, time and labor costs, increased manpower, and a tendency to miss inspections. Furthermore, human labor cannot work continuously for extended periods, leading to potential lapses in attention. To improve the intelligence of building inspections, inspection robots have emerged in the market. These robots inspect buildings and remotely monitor environmental information within the buildings.

[0004] However, this inspection method using inspection robots often only allows the acquisition of data collected by the sensors, cameras, and other equipment carried by the inspection robot itself. Many devices in buildings that require meter reading to obtain operational data may not be able to be clearly photographed due to their location or other reasons, making it impossible to use inspection robots to directly read the data from the outside by taking pictures. In such cases, it is still unavoidable to rely on manual meter reading.

[0005] In addition, the current method of using inspection robots for inspection cannot display the robot's specific inspection location or progress in the building in a real-time, intuitive and clear manner. Summary of the Invention

[0006] Based on this, and in response to the aforementioned technical problems, a method and apparatus for controlling an inspection robot based on digital twin technology are provided to solve the technical problem that current inspection robots cannot avoid relying on manual meter reading.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] Firstly, a control method for an inspection robot based on digital twin technology includes:

[0009] Establish communication connections with the systems integrated within the inspected buildings;

[0010] Using digital twin technology, a digital twin virtual model of the physical inspection robot and a digital twin virtual scene of the inspected building are established.

[0011] Based on the actual location of the physical inspection robot in the inspected building, the digital twin virtual model of the robot is mapped onto the digital twin virtual scene;

[0012] Receive the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component, obtain the virtual inspection path node data, and convert the virtual inspection path node data to obtain the real inspection path.

[0013] The actual inspection path is sent to the physical inspection robot, so that the physical inspection robot walks according to the actual inspection path, and the mapping position of the robot's digital twin virtual model in the digital twin virtual scene is updated in real time according to the actual position of the physical inspection robot in the inspected building.

[0014] Based on the real location of the physical inspection robot in the inspected building and / or the mapped position of the robot's digital twin virtual model in the digital twin virtual scene, it is determined in real time whether the physical inspection robot has reached the inspection equipment location;

[0015] When it is determined that the physical inspection robot has reached the inspection equipment location, the system obtains the data of the corresponding inspection equipment from the system integrated in the inspection building; a stop walking command is sent to the physical inspection robot to make the physical inspection robot stop walking, and a pop-up action command is sent to the human-computer interaction component to make the human-computer interaction component display the data of the corresponding inspection equipment through a pop-up window in the digital twin virtual scene.

[0016] After the pop-up window on the human-computer interaction component is closed, a "continue walking" command is sent to the physical inspection robot, causing the physical inspection robot to continue walking along the actual inspection path until it reaches the destination.

[0017] Optionally, the integrated system in the inspected building includes at least one of the following: a cold and heat source system, an air conditioning terminal system, a water supply system, a drainage system, a power distribution detection system, a DDC building control system, a video surveillance system, an access control system, an elevator management system, an environmental quality system, and a lighting system.

[0018] Optionally, receiving the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component includes:

[0019] The human-computer interaction components present the digital twin virtual scene mapped with the robot's digital twin virtual model;

[0020] Detecting user contact with the human-computer interaction component;

[0021] Based on the contact, identify the movement path of the digital twin virtual model corresponding to the physical inspection robot in the digital twin virtual scene corresponding to the inspected building;

[0022] In response to the user's confirmation action, the movement path is used as a virtual inspection path.

[0023] Optionally, the method further includes:

[0024] After receiving the virtual inspection path, the human-computer interaction component dynamically previews the flow effect of the virtual inspection path in the digital twin virtual scene.

[0025] Optionally, determining whether the physical inspection robot has reached the inspection equipment location includes:

[0026] Based on the actual location of the physical inspection robot in the inspected building and / or the mapping position of the robot's digital twin virtual model in the digital twin virtual scene, determine whether the physical inspection robot is currently facing a certain inspection device.

[0027] When it is determined that the physical inspection robot is currently facing a certain inspection device, based on the actual position of the physical inspection robot in the inspected building and / or the mapping position of the robot's digital twin virtual model in the digital twin virtual scene, it is determined whether the distance and / or angle between the physical inspection robot and the inspection device is within a preset threshold.

[0028] If it is determined that the distance and / or angle between the physical inspection robot and the inspection equipment is within a preset threshold, then it is determined that the physical inspection robot has reached the inspection equipment location.

[0029] Optionally, the method further includes:

[0030] The monitoring data collected by the physical inspection robot is acquired in real time, and the human-computer interaction component displays the monitoring data in the digital twin virtual scene.

[0031] Receive device parameters and / or device control commands input through the human-machine interaction component, and send the device parameters and / or device control commands to the physical inspection robot and / or the system integrated in the inspected building.

[0032] Alternatively, the monitoring data may include video surveillance data, infrared surveillance data, and air quality monitoring data.

[0033] Secondly, a control device for an inspection robot based on digital twin technology includes:

[0034] The communication establishment module is used to establish communication connections with the integrated systems in the inspected buildings.

[0035] The digital twin module is used to establish a virtual digital twin model of the physical inspection robot and a virtual digital twin scene of the inspected building using digital twin technology.

[0036] The mapping module is used to map the digital twin virtual model of the robot onto the digital twin virtual scene based on the actual location of the physical inspection robot in the inspected building;

[0037] The inspection path generation module is used to receive the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component, obtain the virtual inspection path node data, and convert the virtual inspection path node data to obtain the real inspection path.

[0038] The inspection path sending module is used to send the real inspection path to the physical inspection robot, so that the physical inspection robot walks according to the real inspection path, and updates the mapping position of the robot digital twin virtual model in the digital twin virtual scene in real time according to the real position of the physical inspection robot in the inspected building.

[0039] The inspection equipment location judgment module is used to determine in real time whether the physical inspection robot has reached the inspection equipment location based on the actual location of the physical inspection robot in the inspected building and / or the mapping position of the robot's digital twin virtual model in the digital twin virtual scene.

[0040] The pop-up action module is used to obtain the data of the corresponding inspection equipment from the system integrated in the building when it is determined that the physical inspection robot has arrived at the inspection equipment location; send a pause walking command to the physical inspection robot to make the physical inspection robot stop walking; and send a pop-up action command to the human-computer interaction component to make the human-computer interaction component display the data of the corresponding inspection equipment through a pop-up window in the digital twin virtual scene.

[0041] The inspection continuation module is used to send a continue walking command to the physical inspection robot after the pop-up window on the human-computer interaction component is closed, so that the physical inspection robot continues to walk according to the actual inspection path until it reaches the destination.

[0042] Thirdly, a computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described in any one of the first aspects.

[0043] Fourthly, a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0044] The present invention has at least the following beneficial effects:

[0045] This invention provides a method for controlling an inspection robot based on digital twin technology. On one hand, digital twin technology is used to establish a virtual digital twin model of the physical inspection robot and a virtual digital twin scene of the inspected building in a virtual space. The robot's virtual digital twin model is then mapped onto the virtual digital twin scene. On the other hand, by integrating systems within the building, when the physical inspection robot arrives at the inspection equipment location based on its actual location within the building and / or the mapped location of its virtual digital twin model in the virtual digital twin scene, the system can directly obtain data from the integrated system within the building and display it in a pop-up window. This eliminates the need for meter reading via photographs by the inspection robot, thus avoiding the problem of the inspection robot being unable to read meters due to limitations in the location of the inspection equipment. Meter reading can be performed entirely without manual intervention.

[0046] The method provided by the embodiments of the present invention can also update the specific location of the robot's digital twin virtual model in real time in the digital twin virtual scene during the movement of the physical inspection robot, so that users can intuitively and clearly understand the specific inspection location, inspection status or inspection progress of the inspection robot in the building.

[0047] This invention also provides a method for visually editing inspection paths, which enables the visualization and editing of virtual inspection paths of a robot's digital twin virtual model in a digital twin virtual scene, thereby controlling the physical inspection robot to walk along the corresponding path. Attached Figure Description

[0048] Figure 1 A flowchart illustrating a control method for an inspection robot based on digital twin technology, provided as an embodiment of the present invention;

[0049] Figure 2 A block diagram of the module architecture of an inspection robot control device based on digital twin technology is provided in one embodiment of the present invention;

[0050] Figure 3 This is an internal structural diagram of a computer device provided in one embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] In one embodiment, such as Figure 1 As shown, a control method for an inspection robot based on digital twin technology is provided, including the following steps:

[0053] S1 establishes a communication connection with the integrated system in the inspected building.

[0054] The systems integrated into the buildings being inspected include at least one of the following: cold and heat source system, air conditioning terminal system, water supply system, drainage system, power distribution detection, DDC building control system, video surveillance, access control system, elevator management system, environmental quality system, and lighting system.

[0055] S2 utilizes digital twin technology to establish a digital twin virtual model of the physical inspection robot and a digital twin virtual scene of the inspected building.

[0056] When creating a digital twin virtual scene, the systems integrated in the inspection building are faithfully integrated into the digital twin virtual scene. In other words, the digital twin virtual scene contains the location settings of all inspection equipment in the systems integrated in the inspection building.

[0057] S3 maps the robot's digital twin virtual model into the digital twin virtual scene based on the actual location of the physical inspection robot in the inspected building.

[0058] S4 receives the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component, obtains the virtual inspection path node data, and transforms the virtual inspection path node data to obtain the real inspection path.

[0059] Furthermore, receiving the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component includes:

[0060] This enables the human-computer interaction components to present a digital twin virtual scene mapped with a robot's digital twin virtual model;

[0061] Detects user interaction with human-computer interaction components;

[0062] Based on contact, identify the movement path of the digital twin virtual model corresponding to the physical inspection robot in the digital twin virtual scene corresponding to the inspected building;

[0063] In response to the user's confirmation action, the movement path is used as the virtual inspection path.

[0064] Furthermore, the method also includes:

[0065] After receiving the virtual inspection path, the human-computer interaction component dynamically previews the flow effect of the virtual inspection path in the digital twin virtual scene.

[0066] In other words, step S4 above provides a visual tool for editing robot inspection paths. This tool is primarily for use in physical inspection robot scenarios where a route needs to be defined as the robot's inspection path. This route is generated from the robot itself, with the robot's coordinates serving as the starting point; no specific starting point needs to be defined. The route is drawn forward by dragging, and new inspection path nodes are generated by clicking twice. After drawing, a flow effect is generated through the preview mode.

[0067] S5 sends the real inspection path to the physical inspection robot, enabling the physical inspection robot to walk according to the real inspection path, and updates the mapping position of the robot's digital twin virtual model in the digital twin virtual scene in real time based on the actual position of the physical inspection robot in the inspected building.

[0068] By editing the robot's inspection path in the editor of the human-computer interaction component, the inspection path node data is obtained. Then, the node data is transformed with the coordinates of the real scene to obtain the real scene data, which is sent to the data platform server via the HTTP protocol. There is an encryption protocol between the data platform server and the robot, and the data is then sent to the physical inspection robot via the encryption protocol. Finally, the physical inspection robot is started to carry out the inspection route.

[0069] S6 determines in real time whether the physical inspection robot has reached the inspection equipment location based on the actual location of the physical inspection robot in the inspected building and / or the mapped location of the robot's digital twin virtual model in the digital twin virtual scene.

[0070] Furthermore, determining whether the physical inspection robot has reached the inspection equipment location includes:

[0071] Based on the actual location of the physical inspection robot in the inspected building and / or the mapped location of the robot's digital twin virtual model in the digital twin virtual scene, determine whether the physical inspection robot is currently facing a certain inspection device.

[0072] When it is determined that a physical inspection robot is currently facing a certain inspection device, based on the actual position of the physical inspection robot in the inspected building and / or the mapping position of the robot's digital twin virtual model in the digital twin virtual scene, it is determined whether the distance and / or angle between the physical inspection robot and the inspection device are within a preset threshold.

[0073] If the distance and / or angle between the physical inspection robot and the inspection equipment is determined to be within a preset threshold, then the physical inspection robot is determined to have reached the inspection equipment location.

[0074] Optionally, since the digital twin virtual scene contains the location of all inspection equipment in the integrated system of the building, the mapping location of the digital twin virtual model in the digital twin virtual scene can be used to synchronously determine which inspection equipment the physical inspection robot is currently near and whether it is facing that inspection equipment.

[0075] In other words, the real robot continuously sends coordinate information to the digital twin system while moving. By merging this coordinate information with the virtual scene of the digital twin system, the system can determine which machine the physical inspection robot is currently near. If it is facing a machine directly, the system will determine whether a pop-up window is needed based on the distance and angle of its coordinates, and then trigger an alarm as required.

[0076] S7. When it is determined that the physical inspection robot has reached the inspection equipment location, the corresponding inspection equipment data is obtained from the system integrated in the inspection building; a pause walking command is sent to the physical inspection robot to make the physical inspection robot stop walking, and a pop-up action command is sent to the human-computer interaction component to make the human-computer interaction component display the corresponding inspection equipment data through a pop-up window in the digital twin virtual scene.

[0077] If it is determined that the physical inspection robot has not reached the inspection equipment location, there is no need to send instructions to the physical inspection robot. The physical inspection robot can simply carry out the inspection process according to the prescribed route.

[0078] In other words, by adding a judgment to determine whether to perform a pop-up action on the object: the script detects whether the maintenance object point has been reached; if yes, stop and display the object pop-up data information; if no, perform the inspection process according to the prescribed route.

[0079] S8, after the pop-up window on the human-computer interaction component is closed, sends a continue walking command to the physical inspection robot, so that the physical inspection robot continues to walk according to the real inspection path until it reaches the destination.

[0080] The pop-up window can be closed manually or set to close automatically after a preset time interval. In other words, once the data panel pop-up window is manually / automatically closed, the inspection process continues along the route.

[0081] In other words, steps S6-S8 provide a visual interactive script editing tool used when the robot inspection reaches the corresponding inspection equipment location; through the visual script editing tool, the event script node can be reached through the provided inspection point, and the corresponding control logic can be started, such as displaying the interface, etc. The interactive script editing tool provides all the basic functions of programmatic logic judgment and can complete more complex logic judgments and calculations.

[0082] Furthermore, the method also includes:

[0083] Real-time acquisition of monitoring data collected by physical inspection robots enables human-computer interaction components to display the monitoring data in a digital twin virtual scene;

[0084] Receive device parameters and / or device control commands input through the human-machine interface component, and send the device parameters and / or device control commands to the physical inspection robot and / or the system integrated in the inspection building.

[0085] The monitoring data includes video surveillance data, infrared surveillance data, and air quality monitoring data.

[0086] In other words, this step provides a visual robot inspection status monitoring tool, which provides real-time information such as video monitoring, infrared monitoring, and air quality monitoring of the robot in the preview state. The tool can also be used to set and control the height and angle of the pan-tilt unit, the robot inspection status information, and to set the on / off status of the equipment included in the integrated system in the inspected building.

[0087] The aforementioned inspection robot control method based on digital twin technology utilizes digital twin technology. Digital twins fully leverage data such as physical models, sensor updates, and operational history to integrate multi-disciplinary, multi-physical, multi-scale, and multi-probabilistic simulation processes, completing mapping in virtual space to reflect the entire lifecycle of the corresponding physical equipment. Digital twins are a concept that transcends reality; they can be viewed as digital mapping systems of one or more important, interdependent equipment systems.

[0088] The method provided in the above embodiments, on the one hand, uses digital twin technology to establish a virtual digital twin model of the physical inspection robot and a virtual digital twin scene of the inspected building in virtual space, and maps the virtual digital twin model of the robot into the virtual digital twin scene. On the other hand, by integrating the systems in the building, when the physical inspection robot arrives at the inspection equipment location based on the real location of the physical inspection robot in the inspected building and / or the mapped location of the virtual digital twin model of the robot in the virtual digital twin scene, the data of the inspection equipment arrived at by the physical inspection robot can be directly obtained from the system integrated in the building and displayed in a pop-up window. There is no need to use the inspection robot to take pictures for meter reading, so there is no problem that the inspection robot cannot read meters due to the limited setting location of the inspection equipment, and meter reading can be performed completely independently.

[0089] The above embodiments also provide a method for visually editing inspection paths, which can edit the virtual inspection path of the robot's digital twin virtual model in a digital twin virtual scene, thereby controlling the physical inspection robot to walk according to the corresponding path.

[0090] Meanwhile, the method provided in the above embodiments can also update the specific location of the robot's digital twin virtual model in real time in the digital twin virtual scene during the movement of the physical inspection robot, so that users can intuitively and clearly understand the specific inspection location, inspection status or inspection progress of the inspection robot in the building.

[0091] The method provided in the above embodiments successfully solves the problem of manpower conflict. By utilizing robots, digital twin technology, and Internet of Things (IoT) technology, it enables robots to perform scheduled inspections, reducing manpower and allowing real-time monitoring of equipment status at any time. Furthermore, this method allows for the direct configuration of a robot inspection system with data and operational interaction without the need for coding. This reduces the development cost of robot inspection systems, facilitates rapid replication, and makes them easy for non-technical personnel to use, thus expanding the scope of application.

[0092] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0093] In one embodiment, such as Figure 2 As shown, a control device for an inspection robot based on digital twin technology is provided, including the following program modules:

[0094] The communication establishment module 201 is used to establish a communication connection with the system integrated in the inspected building.

[0095] The digital twin module 202 is used to establish a digital twin virtual model of the physical inspection robot and a digital twin virtual scene of the inspected building using digital twin technology.

[0096] The mapping module 203 is used to map the robot's digital twin virtual model onto the digital twin virtual scene based on the actual location of the physical inspection robot in the inspected building;

[0097] The inspection path generation module 204 is used to receive the virtual inspection path generated in the digital twin virtual scene through the human-computer interaction component, obtain the virtual inspection path node data, and convert the virtual inspection path node data to obtain the real inspection path.

[0098] The inspection path sending module 205 is used to send the real inspection path to the physical inspection robot, so that the physical inspection robot can walk according to the real inspection path, and update the mapping position of the robot's digital twin virtual model in the digital twin virtual scene in real time according to the real position of the physical inspection robot in the inspected building.

[0099] The inspection equipment location judgment module 206 is used to determine in real time whether the physical inspection robot has reached the inspection equipment location based on the actual location of the physical inspection robot in the inspected building and / or the mapping position of the robot's digital twin virtual model in the digital twin virtual scene.

[0100] The pop-up action module 207 is used to obtain the data of the corresponding inspection equipment from the system integrated in the building when it is determined that the physical inspection robot has arrived at the inspection equipment location; send a pause walking command to the physical inspection robot to make the physical inspection robot stop walking; and send a pop-up action command to the human-computer interaction component to make the human-computer interaction component display the data of the corresponding inspection equipment through a pop-up window in the digital twin virtual scene.

[0101] The inspection continuation module 208 is used to send a continue walking command to the physical inspection robot after the pop-up window on the human-machine interaction component is closed, so that the physical inspection robot continues to walk along the real inspection path until it reaches the destination.

[0102] For specific limitations regarding the control device for an inspection robot based on digital twin technology, please refer to the limitations of the control method for an inspection robot based on digital twin technology mentioned above, which will not be repeated here. Each module in the aforementioned visualization and editing device for a robot inspection system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0103] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for an inspection robot based on digital twin technology.

[0104] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0105] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program relating to all or part of the processes in the methods of the above embodiments.

[0106] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon relating to all or part of the processes in the methods of the above embodiments.

[0107] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling an inspection robot based on digital twin technology, characterized in that, The method comprises: establishing a communication connection with a system integrated in a building under inspection, wherein the system integrated in the building under inspection comprises at least one of a cold and heat source system, an air conditioning terminal system, a water supply system, a drainage system, power distribution detection, a DDC building control system, video monitoring, an access control system, an elevator management system, an environmental quality system, and a lighting system; establishing a robot digital twin virtual model corresponding to the physical inspection robot by using a digital twin technology, and establishing a digital twin virtual scene corresponding to the building under inspection; mapping the robot digital twin virtual model into the digital twin virtual scene according to a real position of the physical inspection robot in the building under inspection; receiving a virtual inspection path generated in the digital twin virtual scene by a human-computer interaction component, obtaining virtual inspection path node data, converting the virtual inspection path node data, and obtaining a real inspection path; sending the real inspection path to the physical inspection robot, so that the physical inspection robot walks according to the real inspection path, and updating a mapping position of the robot digital twin virtual model in the digital twin virtual scene in real time according to a real position of the physical inspection robot in the building under inspection; judging whether the physical inspection robot reaches an inspection equipment point according to the real position of the physical inspection robot in the building under inspection and / or the mapping position of the robot digital twin virtual model in the digital twin virtual scene in real time; when it is judged that the physical inspection robot reaches the inspection equipment point, obtaining data of a corresponding inspection equipment from the system integrated in the building under inspection, sending a walking pause instruction to the physical inspection robot to make the physical inspection robot pause walking, and sending a pop-up action instruction to the human-computer interaction component to make the human-computer interaction component display the data of the corresponding inspection equipment in the digital twin virtual scene through a pop-up window; after the pop-up window on the human-computer interaction component is closed, sending a walking continuation instruction to the physical inspection robot to make the physical inspection robot continue walking according to the real inspection path until the physical inspection robot walks to an end point.

2. The method of claim 1, wherein, The receiving of the virtual inspection path generated in the digital twin virtual scene by the human-computer interaction component comprises: making the human-computer interaction component present the digital twin virtual scene in which the robot digital twin virtual model is mapped; detecting contact of a user with the human-computer interaction component; according to the contact, identifying a movement path of the digital twin virtual model corresponding to the physical inspection robot in the digital twin virtual scene corresponding to the building under inspection; in response to a confirmation action of the user, taking the movement path as the virtual inspection path. 3.The method of claim 1, wherein, The method further comprises: after receiving the virtual inspection path, making the human-computer interaction component dynamically preview a flow effect of the virtual inspection path in the digital twin virtual scene.

4. The method of claim 1, wherein the method further comprises: The judging of whether the physical inspection robot reaches the inspection equipment point comprises: According to the real position of the entity inspection robot in the inspection building and / or the mapping position of the robot digital twin virtual model in the digital twin virtual scene, it is judged whether the entity inspection robot is currently facing a certain inspection device; When it is determined that the entity inspection robot is currently facing a certain inspection device, according to the real position of the entity inspection robot in the inspection building and / or the mapping position of the robot digital twin virtual model in the digital twin virtual scene, it is judged whether the distance and / or angle of the entity inspection robot from the inspection device is within a preset threshold; If it is determined that the distance and / or angle of the entity inspection robot from the inspection device is within a preset threshold, it is determined that the entity inspection robot has reached the inspection device point.

5. The method of claim 1, wherein, The method further comprises: Real-time acquisition of monitoring data collected by the entity inspection robot, so that the man-machine interaction component displays the monitoring data in the digital twin virtual scene; Receiving device parameters and / or device control instructions input through the man-machine interaction component, and sending the device parameters and / or device control instructions to the entity inspection robot and / or the system integrated in the inspection building.

6. The method of claim 5, wherein the method further comprises: The monitoring data includes video monitoring data, infrared monitoring data and air quality monitoring data.

7. A digital-twin technology-based inspection robot control device, characterized by, Comprise: The communication establishment module is used for establishing communication connection with the system integrated in the inspection building; wherein the system integrated in the inspection building comprises at least one of cold and heat source system, air conditioning terminal system, water supply system, drainage system, power distribution detection, DDC building control system, video monitoring, access control system, elevator management system, environmental quality system and lighting system; The digital twin module is used for establishing the robot digital twin virtual model corresponding to the entity inspection robot by using digital twin technology, and establishing the digital twin virtual scene corresponding to the inspection building; The mapping module is used for mapping the robot digital twin virtual model into the digital twin virtual scene according to the real position of the entity inspection robot in the inspection building; The inspection path generation module is used for receiving the virtual inspection path generated in the digital twin virtual scene through the man-machine interaction component, obtaining virtual inspection path node data, converting the virtual inspection path node data to obtain a real inspection path; The inspection path sending module is used for sending the real inspection path to the entity inspection robot, so that the entity inspection robot walks according to the real inspection path, and updates the mapping position of the robot digital twin virtual model in the digital twin virtual scene according to the real position of the entity inspection robot in the inspection building in real time; The inspection device point judgment module is used for judging whether the entity inspection robot has reached the inspection device point according to the real position of the entity inspection robot in the inspection building and / or the mapping position of the robot digital twin virtual model in the digital twin virtual scene in real time; The pop-up action module is configured to: when it is determined that the entity inspection robot reaches an inspection equipment point, obtain data of a corresponding inspection equipment from a system integrated in the inspection building; send a walking pause instruction to the entity inspection robot, so that the entity inspection robot pauses walking; and send a pop-up action instruction to the human-computer interaction component, so that the human-computer interaction component displays the data of the corresponding inspection equipment through a pop-up window in the digital twin virtual scene. The inspection continuation module is configured to: after the pop-up window on the human-computer interaction component is closed, send a walking continuation instruction to the entity inspection robot, so that the entity inspection robot continues to walk according to the real inspection path until reaching the end point.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6.

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