Inspection methods, devices, storage media and electronic equipment for robots

Abstract

This invention discloses a robot inspection method, apparatus, storage medium, and electronic device, relating to the field of artificial intelligence technology. The method includes: acquiring an inspection task, wherein the inspection task includes: the number of devices to be inspected; determining a target robot to perform the inspection task based on the number of devices; inspecting the devices to be inspected on a target guide rail by the target robot, obtaining a first inspection result set, wherein the target guide rail is a closed loop track, and the first inspection result set includes: the inspection results of all devices to be inspected; if there are inspection results indicating device abnormalities in the first inspection result set, re-inspecting the devices to be inspected associated with the abnormal inspection results, obtaining a second inspection result set. This invention solves the technical problem in related technologies where robots use a single-threaded inspection method to perform inspection tasks, resulting in poor inspection effectiveness.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and more specifically, to a robot inspection method, apparatus, storage medium, and electronic device. Background Technology

[0002] In related technologies, rail-mounted robots for equipment inspection generally adopt a single-rail design, with a clearly defined start and end point. A robot is suspended on the rail and moves horizontally along it. Vertical movement is achieved through the robot's own lifting mechanism, allowing it to sequentially inspect the equipment according to programmed logic. Figure 1 This is a schematic diagram of a robot inspection based on existing technology, such as... Figure 1 As shown, the inspection robot 4 moves along the guide rail 5, sequentially inspecting the monitored devices 123 (i.e., the inspected devices), and returns to the starting point of the guide rail after completion. However, problems exist during the inspection process, including:

[0003] (1) Single-track single-robot inspection can only be carried out in a single thread. A single inspection of a 500-square-meter power distribution room takes more than 1 hour, which is slow.

[0004] (2) If this robot malfunctions, it will be completely unable to perform the inspection task. Moreover, the failure rate of robots on the market is relatively high, which will seriously affect the inspection process.

[0005] (3) If the guide rail is divided into sections, with one robot per section, the monitored equipment covered by the section of the guide rail to which the faulty robot belongs will be unable to be inspected.

[0006] There is currently no effective solution to the above problems. Summary of the Invention

[0007] This invention provides a robot inspection method, apparatus, storage medium, and electronic device to at least solve the technical problem in related technologies where robots perform inspection tasks using a single-threaded inspection method, resulting in poor inspection performance.

[0008] According to one aspect of the present invention, a robot inspection method is provided, comprising: acquiring an inspection task, wherein the inspection task includes: a number of devices to be inspected; determining a target robot to perform the inspection task based on the number of devices; inspecting the devices to be inspected on a target guide rail by the target robot performing the inspection task, thereby obtaining a first inspection result set, wherein the target guide rail is a closed loop track, and the first inspection result set includes: inspection results of all devices to be inspected; and, if there is an inspection result indicating a device abnormality in the first inspection result set, re-inspecting the devices to be inspected associated with the inspection result indicating the device abnormality, thereby obtaining a second inspection result set.

[0009] Further, the step of determining the target robot to perform the inspection task based on the number of devices includes: obtaining the self-inspection results of each robot on the target guide rail; determining M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and determining the target robot to perform the inspection task based on the number of devices and the M normal robots.

[0010] Further, the step of determining the target robot to perform the inspection task based on the number of devices and M normal robots includes: when the number of normal robots M is 1, using that normal robot as the target robot to perform the inspection task; when the number of devices is a preset number, determining the target robot to perform the inspection task based on the distance between the device to be inspected and each normal robot; when the number of devices is greater than the preset number, determining the target robot to perform the inspection task based on M normal robots.

[0011] Further, when the preset quantity is 1, the step of determining the target robot to perform the inspection task based on the distance between the device to be inspected and each of the normal robots when the number of devices is the preset quantity includes: when the number of devices to be inspected is 1, comparing the distance between the device to be inspected and each of the normal robots to obtain a comparison result; based on the comparison result, determining the normal robot among the M normal robots that is closest to the device to be inspected; and taking the normal robot among the M normal robots that is closest to the device to be inspected as the target robot to perform the inspection task, wherein when the number of devices to be inspected is 1, the number of target robots is 1.

[0012] Further, the step of inspecting the equipment to be inspected by the target robot performing the inspection task on the target guide rail to obtain the first inspection result includes: when the number of normal robots M is 1, or when the number of equipment is 1, one target robot inspects the equipment to be inspected to obtain the first inspection result; when the number of equipment is greater than the preset number, N target robots inspect the equipment to be inspected to obtain the first inspection result, wherein N is an integer greater than 1 and N is less than or equal to M.

[0013] Further, where N is 2, when the number of devices is greater than the preset number, the step of having N target robots inspect the devices to be inspected and obtaining the first inspection result includes: two target robots moving in opposite directions on the target guide rail to inspect the devices to be inspected; Step 1, moving two target robots on the target guide rail, and recording the inspection result of the device to be inspected when each target robot has inspected one device; Step 2, decrementing the number of devices to be inspected by 1; repeating steps 1 to 2 until the number of devices is 0; and forming the first inspection result set from the inspection results of each device to be inspected.

[0014] Further, the preset quantity is 1. When there is an inspection result indicating an abnormality in the first inspection result set, the step of re-inspecting the equipment to be inspected associated with the abnormal inspection result to obtain a second inspection result includes: when the number of equipment is 1 and the number of normal robots M is greater than 1, using a first re-inspection robot to re-inspect the equipment to be inspected associated with the abnormal inspection result to determine a second inspection result set, wherein the first re-inspection robot is a normal robot other than the target robot among the M normal robots; when the number of equipment is greater than 1 and the number of target robots is 2, using a second re-inspection robot to re-inspect the equipment to be inspected associated with the abnormal inspection result to determine a second inspection result set, wherein the second re-inspection robot is another target robot other than the target robot that detected the abnormal equipment among the two target robots.

[0015] Furthermore, power line carrier communication is used to power the robot on the target guide rail and provide signal transmission services.

[0016] According to another aspect of the present invention, a robot inspection device is also provided, comprising: an acquisition unit for acquiring an inspection task, wherein the inspection task includes: a number of devices to be inspected; a determination unit for determining a target robot to perform the inspection task based on the number of devices; an inspection unit for inspecting the devices to be inspected on a target guide rail by the target robot performing the inspection task, thereby obtaining a first inspection result set, wherein the target guide rail is a closed loop track, and the first inspection result set includes: inspection results of all devices to be inspected; and a re-inspection unit for re-inspecting the devices to be inspected associated with the inspection results indicating device abnormality in the first inspection result set, thereby obtaining a second inspection result set.

[0017] Further, the determining unit includes: an acquisition subunit, used to acquire the self-inspection results of each robot on the target guide rail; a first determining subunit, used to determine M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and a second determining subunit, used to determine the target robot for performing the inspection task based on the number of devices and the M normal robots.

[0018] Further, the second determining subunit includes: a first processing module, configured to, when the number M of normal robots is 1, designate the normal robot as the target robot for performing the inspection task; a first determining module, configured to, when the number of devices is a preset number, determine the target robot for performing the inspection task based on the distance between the device to be inspected and each of the normal robots; and a second determining module, configured to, when the number of devices is greater than the preset number, determine the target robot for performing the inspection task based on M of the normal robots.

[0019] Further, the preset quantity is 1, and the first determining module includes: a comparison submodule, used to compare the distance between the device to be inspected and each of the normal robots when the number of devices to be inspected is 1, and obtain a comparison result; a determining submodule, used to determine, based on the comparison result, the normal robot among the M normal robots that is closest to the device to be inspected; and a processing submodule, used to select the normal robot among the M normal robots that is closest to the device to be inspected as the target robot for performing the inspection task, wherein, when the number of devices to be inspected is 1, the number of target robots is 1.

[0020] Furthermore, the inspection unit includes: a first inspection subunit, used to inspect the device to be inspected by one target robot when the number of normal robots M is 1, or when the number of devices is 1, to obtain the first inspection result; and a second inspection subunit, used to inspect the device to be inspected by N target robots when the number of devices is greater than the preset number, to obtain the first inspection result, wherein N is an integer greater than 1, and N is less than or equal to M.

[0021] Further, N is 2, and the second inspection subunit includes: an inspection module, used by two target robots moving in opposite directions on the target guide rail to inspect the equipment to be inspected; a recording module, used in step 1, moving the two target robots on the target guide rail, and recording the inspection result of the equipment to be inspected when each target robot has inspected one of the equipment to be inspected; a second processing module, used in step 2, decrementing the number of equipment to be inspected by 1; an execution module, used to repeat steps 1 to 2 until the number of equipment is 0; and a third processing module, used to form the first inspection result set from the inspection results of each of the equipment to be inspected.

[0022] Further, the preset quantity is 1, and the re-inspection unit includes: a first re-inspection subunit, used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality through the first re-inspection robot when the number of devices is 1 and the number of normal robots M is greater than 1, to determine a second inspection result set, wherein the first re-inspection robot is a normal robot other than the target robot among the M normal robots; and a second re-inspection subunit, used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality through the second re-inspection robot when the number of devices is greater than 1 and the number of target robots is 2, to determine a second inspection result set, wherein the second re-inspection robot is another target robot other than the target robot that detected the equipment abnormality among the two target robots.

[0023] Furthermore, the robot's inspection device also includes a transmission unit, used to provide power and signal transmission services to the robot on the target guide rail using power line carrier communication.

[0024] According to another aspect of the present invention, an electronic device is also provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the inspection method of a robot according to any of the above-described embodiments by executing the executable instructions.

[0025] According to another aspect of the present invention, a computer-readable storage medium is also provided, which stores a computer program, wherein the computer program controls the device where the computer-readable storage medium is located to perform the inspection method of the robot described above when the computer program is running.

[0026] In this invention, an inspection task is obtained, comprising: the number of devices to be inspected; a target robot is determined based on the number of devices; the target robot performs the inspection task on a target guide rail, obtaining a first inspection result set, wherein the target guide rail is a closed loop track, and the first inspection result set includes: the inspection results of all devices to be inspected; if any inspection result in the first inspection result set indicates a device malfunction, the devices associated with the malfunctioning inspection results are re-inspected, resulting in a second inspection result set. This solves the technical problem in related technologies where robots use a single-threaded inspection method, leading to poor inspection results. In this invention, the robot on the target guide rail is determined based on the number of devices to be inspected, and the robot performs the inspection on the closed loop track. If malfunctioning devices are detected, further re-inspection is performed, avoiding the low accuracy and efficiency of single-threaded inspection by a single robot in related technologies. This achieves the technical effect of improving the robot's inspection efficiency and the accuracy of the inspection results. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This is a schematic diagram of a robot inspection based on existing technology;

[0029] Figure 2 This is a flowchart of an optional robot inspection method according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of an optional robot inspection according to an embodiment of the present invention;

[0031] Figure 4 This is a flowchart of an optional robot performing an inspection task according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of an optional robot inspection device according to an embodiment of the present invention;

[0033] Figure 6This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] It should be noted that the robot inspection method and device in this disclosure can be used for inspecting equipment in power distribution rooms in the field of artificial intelligence, or in any field other than fintech for inspecting equipment in power distribution rooms. This disclosure does not limit the application field of the robot inspection method and device.

[0037] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, device data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0038] Example 1

[0039] According to an embodiment of the present invention, an optional method embodiment for robot inspection is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] Figure 2 This is a flowchart of an optional robot inspection method according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0041] Step S201: Obtain the inspection task, wherein the inspection task includes: the number of devices to be inspected.

[0042] The aforementioned inspection task can be an inspection task for the equipment in the power distribution room, which can be the power distribution room of a financial institution. The aforementioned inspection task can include the number of equipment to be inspected and the location of the equipment to be inspected in the power distribution room.

[0043] Step S202: Based on the number of devices, determine the target robot to perform the inspection task.

[0044] The target robot for performing the inspection task mentioned above can be a robot that has undergone self-inspection and whose self-inspection result indicates that the robot's status is normal. The number of target robots for performing the inspection task can be determined by the number of devices. For example, if the number of devices to be inspected is 1, the target robot for performing the inspection task can be 1, and the inspection task can be performed by this target robot. If the number of devices to be inspected is greater than 1, the target robot for performing the inspection task can be multiple, and the inspection task can be performed by multiple target robots to improve the inspection efficiency of the devices to be inspected.

[0045] Step S203: On the target guide rail, the target robot performing the inspection task inspects the equipment to be inspected and obtains the first inspection result set. The target guide rail is a closed loop track, and the first inspection result set includes the inspection results of all equipment to be inspected.

[0046] To avoid the inefficiency of performing inspection tasks with a single monorail robot, in this embodiment, the target guide rail can be a guide rail for robot inspection. The target guide rail can be a closed loop track, on which multiple robots can be deployed, and the target robot for performing the inspection task can be selected from among the multiple robots.

[0047] Figure 3 This is a schematic diagram of an optional robot inspection according to an embodiment of the present invention, where the target guide rail is as follows: Figure 3 As shown in guide rail 6, multiple robots can be deployed on guide rail 6. Figure 6 The diagram only shows inspection robots 4 and 5 for illustration. "Guide rail 6" is a circular guide rail (corresponding to the closed-loop track mentioned above). The entire guide rail is connected to form a loop. Robots 4 and 5 are simultaneously mounted on the guide rail, and each robot can move freely along the entire guide rail according to the program logic requirements. The target robot, which performs the inspection task among multiple robots, performs the inspection task on the monitored equipment 123.

[0048] Step S204: If there is an inspection result indicating equipment abnormality in the first inspection result set, the equipment to be inspected associated with the inspection result of the equipment abnormality is re-inspected to obtain the second inspection result set.

[0049] In this embodiment, to avoid low inspection accuracy when a single robot performs inspections, if there is an abnormality in the inspection result execution device in the first inspection result set, the second inspection result set can be obtained by re-inspecting other robots with normal self-inspection results on the guide rail.

[0050] The aforementioned second inspection result set may include all re-inspection results. In this embodiment, after obtaining the re-inspection results, it is also possible to determine whether the equipment is abnormal based on the re-inspection results. If the re-inspection results of the re-inspected equipment still indicate that the equipment is abnormal, it can be determined that the re-inspected equipment is abnormal. If the re-inspection results indicate that the equipment is normal, it can be re-inspected again. Alternatively, the re-inspected equipment can be registered for management personnel to verify. It can also be added to the next inspection task for re-inspection. Alternatively, the re-inspection results can be directly used as the inspection results of the re-inspected equipment.

[0051] Through the above steps, in this embodiment, based on the number of devices to be inspected, the robot on the target guide rail is determined to perform the inspection task and inspects the devices on the closed-loop track. If abnormal devices are detected, further re-inspection is performed. This avoids the low accuracy and efficiency of single-threaded inspection by a single robot in related technologies, thereby improving the inspection efficiency and accuracy of the inspection results. Furthermore, it solves the technical problem of poor inspection results when robots perform inspection tasks using a single-threaded inspection method in related technologies.

[0052] Optionally, the step of determining the target robot to perform the inspection task based on the number of devices includes: obtaining the self-inspection results of each robot on the target guide rail; determining M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and determining the target robot to perform the inspection task based on the number of devices and the M normal robots.

[0053] To ensure the normal execution of inspection tasks and avoid robot malfunctions that could affect the accuracy of inspection results, in this embodiment, before executing the inspection task, the self-inspection results of each robot on the target guide rail can be obtained. Among the M normal robots whose self-inspection results indicate that the robot is in a normal state, the target robot for the inspection task is selected based on the number of devices to be inspected, thereby achieving the technical effect of improving the accuracy of inspection results.

[0054] Optionally, the step of determining the target robot for performing the inspection task based on the number of devices and M normal robots includes: when the number of normal robots M is 1, using that normal robot as the target robot for performing the inspection task; when the number of devices is a preset number, determining the target robot for performing the inspection task based on the distance between the device to be inspected and each normal robot; when the number of devices is greater than the preset number, determining the target robot for performing the inspection task based on M normal robots.

[0055] In this embodiment, if one robot is determined to be in normal condition based on the self-inspection results, that is, if the number of normal robots M is 1, then the normal robot can be used as the target robot for performing the inspection task. In this case, the number of target robots for performing the inspection task is 1.

[0056] If the number of devices to be inspected is the preset number, the target robot to perform the inspection task can be selected from M normal robots based on the distance between the device to be inspected and each normal robot. For example, if the preset number is 1, and the number of devices to be inspected is 1, the normal robot closest to the device to be inspected can be used as the target robot to perform the inspection task. In this case, the number of target robots to perform the inspection task is also 1.

[0057] If the number of devices to be inspected is greater than the preset number, N normal robots can be selected directly from M normal robots as the target robots to perform the inspection task. For example, if the preset number is 1, and the number of devices to be inspected is greater than 1, all M normal devices will be used as the target robots to perform the inspection task. Here, M can be 2, which achieves the technical effect of improving inspection efficiency.

[0058] Optionally, with a preset quantity of 1, the step of determining the target robot for performing the inspection task based on the distance between the device to be inspected and each normal robot when the number of devices is the preset quantity includes: when the number of devices to be inspected is 1, comparing the distance between the device to be inspected and each normal robot to obtain a comparison result; based on the comparison result, determining the normal robot among M normal robots that is closest to the device to be inspected; and taking the normal robot among M normal robots that is closest to the device to be inspected as the target robot for performing the inspection task, wherein when the number of devices to be inspected is 1, the number of target robots is 1.

[0059] If the preset quantity is 1, and the number of devices to be inspected is also 1, and the number of normal robots M is greater than 1, then the distance between the device to be inspected and each normal robot can be compared. The robot closest to the device to be inspected is selected as the target robot for the inspection task. The device to be inspected is then inspected by the normal robot closest to it. It should be noted that the distance between the device to be inspected and each normal robot is the distance that the normal robot moves from its current position along the target guide rail to the position where it will inspect the device. This achieves the technical effect of improving inspection efficiency.

[0060] Optionally, the step of inspecting the equipment to be inspected by the target robot performing the inspection task on the target guide rail to obtain the first inspection result includes: when the number of normal robots M is 1, or when the number of equipment is 1, one target robot inspects the equipment to be inspected to obtain the first inspection result; when the number of equipment is greater than a preset number, N target robots inspect the equipment to be inspected to obtain the first inspection result, where N is an integer greater than 1 and N is less than or equal to M.

[0061] In this embodiment, if there is only one normal robot on the target guide rail whose self-inspection result is normal, only that normal robot performs the inspection task and inspects the equipment to be inspected to obtain the first inspection result; if the number of equipment to be inspected is 1, that is, there is only one equipment to be inspected, the equipment to be inspected can also be inspected based on one target robot to obtain the first inspection result; if the number of equipment to be inspected is greater than 1 and the number of normal robots M is also greater than 1, the equipment to be inspected can be inspected by N target robots to obtain the first inspection result.

[0062] Figure 4 This is a flowchart of an optional robot performing an inspection task according to an embodiment of the present invention, which is described below in conjunction with... Figure 4 For example:

[0063] Case 1 (e.g.) Figure 4 (Content in the line containing "System self-test normal"): The robot system self-test detected a single robot malfunction. Another robot will conduct a full inspection and output the inspection results.

[0064] Case 2 (e.g.) Figure 4 (The content of the line containing "Assign inspections by the nearest robot based on distance"): If the robot self-check is normal, and it is a single-point inspection task (i.e., the number of devices to be inspected is 1), the nearest robot will conduct the inspection independently and output the inspection results.

[0065] Case 3: (e.g.) Figure 4 The content of the line containing "Inspection by two robots in two directions" is as follows: Two robots conduct inspections in two directions. For example, there are N inspection points, numbered 1-N, distributed sequentially on the guide rail. The first robot inspects in steps 1, 2, 3...m; the other robot inspects in steps N, N-1, N-2...m+1, eventually completing the inspection of all points.

[0066] After all inspection points have been inspected, the robot that performed the inspection task can return to its original position and address any issues with the inspected points. Then, another robot that passed its self-inspection will inspect the problematic points. (e.g.) Figure 4 The review and inspection process has achieved the technical effect of improving inspection efficiency and the accuracy of inspection results.

[0067] Optionally, N is 2. When the number of devices is greater than the preset number, the steps of having N target robots inspect the devices to be inspected and obtaining the first inspection result include: two target robots moving in opposite directions on the target rail to inspect the devices to be inspected; Step 1, moving the two target robots on the target rail, and recording the inspection result of the device to be inspected when each target robot has inspected a device; Step 2, decrementing the number of devices to be inspected by 1; repeating steps 1 to 2 until the number of devices is 0; and forming the first inspection result set from the inspection results of each device to be inspected.

[0068] like Figure 3 The diagram shows the inspection of the robots. Inspection robots 4 and 5 (corresponding to the two target robots mentioned above) move in opposite directions on guide rail 6 (corresponding to the target guide rail mentioned above) to inspect the monitored device 123 (corresponding to the device to be inspected mentioned above).

[0069] If there are N inspection points (1 to N, where N is the number of devices to be inspected), distributed sequentially on the guide rail, the first robot inspects at intervals of 1, 2, 3...m; the other robot inspects at intervals of N, N-1, N-2...m+1, and so on, until all points are inspected. By using two devices for inspection, the technical effect of improving inspection efficiency is achieved.

[0070] Optionally, with a preset quantity of 1, in the case where there is an inspection result indicating equipment abnormality in the first inspection result set, the step of re-inspecting the equipment to be inspected associated with the inspection result of equipment abnormality to obtain a second inspection result includes: when the number of equipment is 1 and the number of normal robots M is greater than 1, the equipment to be inspected associated with the inspection result of equipment abnormality is re-inspected by the first re-inspection robot to determine the second inspection result set, wherein the first re-inspection robot is a normal robot other than the target robot among the M normal robots; when the number of equipment is greater than 1 and the number of target robots is 2, the equipment to be inspected associated with the inspection result of equipment abnormality is re-inspected by the second re-inspection robot to determine the second inspection result set, wherein the second re-inspection robot is another target robot other than the target robot that detected the equipment abnormality among the two target robots.

[0071] In this embodiment, if the number of devices to be inspected is 1 and the number of normal robots M is greater than 1, if the target robot detects that the device to be inspected is abnormal, other normal robots can be used to re-inspect the abnormal device to obtain the re-inspection result. The re-inspection results of all the abnormal devices can form the second inspection result set mentioned above.

[0072] If the number of devices to be inspected is greater than 1 and the number of target robots is 2, then the device to be inspected with the abnormality can be re-inspected by another target robot other than the one that detected the abnormality. The re-inspection results of all devices with abnormalities can form the second inspection result set mentioned above, which achieves the technical effect of improving the accuracy of the detection results.

[0073] Optionally, power line carrier communication can be used to power the robot on the target guide rail and provide signal transmission services.

[0074] In this embodiment, the power supply and communication signal transmission between the guide rail and the robot can be achieved using a PLC (Power Line Carrier) method. With PLC, there is no need for specifically designated charging station locations or signal transmission connection points. The robot can remain stationary at any point on the guide rail.

[0075] In this embodiment, a circular track (i.e., a closed-loop track, corresponding to the target guide rail mentioned above) is adopted, and multiple robots are deployed on the circular track. With the assistance of an efficient control strategy for inspection task assignment, the fault tolerance of the robot equipment and the guide rail equipment is realized, thereby improving the inspection speed and efficiency.

[0076] Specifically, single-point failure of the guide rail or a single robot failure does not affect the inspection, increasing the fault tolerance of the robot equipment and enhancing the accuracy of the inspection results. The inspection accuracy is further improved by double-robot verification.

[0077] Example 2

[0078] Embodiment 2 of this application provides an optional robot inspection method, wherein each implementation unit in the inspection method corresponds to each implementation step in Embodiment 1.

[0079] Figure 5 This is a schematic diagram of an optional robot inspection device according to an embodiment of the present invention, such as... Figure 5 As shown, the inspection device includes: an acquisition unit 51, a determination unit 52, an inspection unit 53, and a re-inspection unit 54.

[0080] Specifically, the acquisition unit 51 is used to acquire the inspection task, wherein the inspection task includes: the number of devices to be inspected;

[0081] The determination unit 52 is used to determine the target robot to perform the inspection task based on the number of devices;

[0082] The inspection unit 53 is used to inspect the equipment to be inspected by the target robot that performs the inspection task on the target guide rail, and obtain a first inspection result set. The target guide rail is a closed loop track, and the first inspection result set includes: the inspection results of all equipment to be inspected.

[0083] The re-inspection unit 54 is used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality when there is an inspection result indicating equipment abnormality in the first inspection result set, so as to obtain the second inspection result set.

[0084] In the robot inspection device provided in Embodiment 2 of this application, the inspection task can be obtained by the acquisition unit 51. The inspection task includes the number of devices to be inspected. The determination unit 52 determines the target robot to perform the inspection task based on the number of devices. The inspection unit 53 inspects the devices to be inspected on the target guide rail by the target robot to perform the inspection task, and obtains a first inspection result set. The target guide rail is a closed loop track. The first inspection result set includes the inspection results of all devices to be inspected. If there is an inspection result indicating an abnormality in the first inspection result set, the re-inspection unit 54 re-inspects the devices to be inspected associated with the inspection result indicating the abnormality, and obtains a second inspection result set. This solves the technical problem of poor inspection results when robots perform inspection tasks using a single-threaded inspection method in related technologies. In this embodiment, based on the number of devices to be inspected, the robot on the target guide rail is determined to perform the inspection task and inspects the devices to be inspected on the closed-loop track. If abnormal devices are detected, further re-inspection is performed. This avoids the low accuracy and efficiency of single-threaded inspection by a single robot in related technologies, thereby achieving the technical effect of improving the inspection efficiency of the robot and the accuracy of the inspection results.

[0085] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the determining unit includes: an acquisition subunit, used to acquire the self-inspection results of each robot on the target guide rail; a first determining subunit, used to determine M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and a second determining subunit, used to determine the target robot to perform the inspection task based on the number of devices and the M normal robots.

[0086] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the second determining subunit includes: a first processing module, used to select the normal robot as the target robot for performing the inspection task when the number of normal robots M is 1; a first determining module, used to determine the target robot for performing the inspection task based on the distance between the device to be inspected and each normal robot when the number of devices is a preset number; and a second determining module, used to determine the target robot for performing the inspection task based on M normal robots when the number of devices is greater than the preset number.

[0087] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the preset quantity is 1, and the first determining module includes: a comparison submodule, used to compare the distance between the device to be inspected and each normal robot when the number of devices to be inspected is 1, and obtain a comparison result; a determining submodule, used to determine the normal robot among M normal robots that is closest to the device to be inspected based on the comparison result; and a processing submodule, used to take the normal robot among M normal robots that is closest to the device to be inspected as the target robot for performing the inspection task, wherein when the number of devices to be inspected is 1, the number of target robots is 1.

[0088] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the inspection unit includes: a first inspection subunit, used to inspect the device to be inspected by one target robot when the number of normal robots M is 1, or when the number of devices is 1, to obtain a first inspection result; and a second inspection subunit, used to inspect the device to be inspected by N target robots when the number of devices is greater than a preset number, to obtain a first inspection result, wherein N is an integer greater than 1, and N is less than or equal to M.

[0089] Optionally, in the robot inspection device provided in Embodiment 2 of this application, N is 2, and the second inspection subunit includes: an inspection module, used for two target robots to inspect the equipment to be inspected by moving in opposite directions on the target guide rail; a recording module, used in step 1, to move the two target robots on the target guide rail and record the inspection result of the equipment to be inspected when each target robot has inspected one equipment; a second processing module, used in step 2, to decrement the number of equipment to be inspected by 1; an execution module, used to repeat steps 1 to 2 until the number of equipment is 0; and a third processing module, used to form a first inspection result set from the inspection results of each equipment to be inspected.

[0090] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the preset quantity is 1, and the re-inspection unit includes: a first re-inspection subunit, used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality through the first re-inspection robot when the number of devices is 1 and the number of normal robots M is greater than 1, and to determine the second inspection result set, wherein the first re-inspection robot is a normal robot other than the target robot among the M normal robots; and a second re-inspection subunit, used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality through the second re-inspection robot when the number of devices is greater than 1 and the number of target robots is 2, and to determine the second inspection result set, wherein the second re-inspection robot is another target robot other than the target robot that detected the equipment abnormality among the two target robots.

[0091] Optionally, in the robot inspection device provided in Embodiment 2 of this application, the robot inspection device further includes: a transmission unit, used to provide power supply and signal transmission services to the robot on the target guide rail using power line carrier.

[0092] The aforementioned robot inspection device may also include a processor and a memory. The aforementioned acquisition unit 51, determination unit 52, inspection unit 53, and re-inspection unit 54 are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0093] The aforementioned processor contains a kernel that retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting kernel parameters, the system determines which robot on the target track will perform the inspection task based on the number of devices to be inspected. The robot then inspects the devices on the closed-loop track. If abnormal devices are detected, further re-inspection is performed. This avoids the low accuracy and efficiency of single-threaded inspection by a single robot in related technologies, thus improving both the robot's inspection efficiency and the accuracy of the inspection results.

[0094] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0095] According to another aspect of the present invention, an electronic device is also provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the inspection method of a robot according to any of the above-described embodiments by executing the executable instructions.

[0096] According to another aspect of the present invention, a computer-readable storage medium is also provided, which stores a computer program, wherein the computer program controls the device where the computer-readable storage medium is located to perform the inspection method of the robot described above when the computer program is running.

[0097] Figure 6 This is a schematic diagram of an electronic device according to an embodiment of the present invention, such as... Figure 6 As shown, an embodiment of the present invention provides an electronic device 60, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the robot inspection method described above.

[0098] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0099] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0101] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0103] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0104] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robot inspection method, characterized in that, include: Obtain inspection tasks, wherein the inspection tasks include: the number of devices to be inspected; Based on the number of devices, the target robot to perform the inspection task is determined; On the target guide rail, the target robot performing the inspection task inspects the equipment to be inspected and obtains a first inspection result set. The target guide rail is a closed loop track, and the first inspection result set includes: the inspection results of all equipment to be inspected. If there is an inspection result indicating an abnormality in the first inspection result set, the equipment to be inspected associated with the inspection result of the abnormal equipment is re-inspected to obtain a second inspection result set. The step of determining the target robot to perform the inspection task includes: obtaining the self-inspection results of each robot on the target guide rail; determining M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and determining the target robot to perform the inspection task based on the number of devices and the M normal robots. The step of determining the target robot to perform the inspection task based on the number of devices and M normal robots includes: when the number of normal robots M is 1, using that normal robot as the target robot to perform the inspection task; when the number of devices is a preset number, determining the target robot to perform the inspection task based on the distance between the device to be inspected and each normal robot; when the number of devices is greater than the preset number, determining the target robot to perform the inspection task based on M normal robots. The abnormal equipment inspection results are associated with the equipment to be inspected and re-inspected to obtain a second inspection result set, including: re-inspection by other robots with normal self-inspection results on the target guide rail to obtain the second inspection result set.

2. The inspection method according to claim 1, characterized in that, The preset quantity is 1. When the number of devices is the preset quantity, the step of determining the target robot to perform the inspection task based on the distance between the device to be inspected and each normal robot includes: When the number of devices to be inspected is 1, the distance between the device to be inspected and each normal robot is compared to obtain the comparison result; Based on the comparison results, determine the normal robot among the M normal robots that is closest to the equipment to be inspected; The normal robot that is closest to the equipment to be inspected among the M normal robots is selected as the target robot to perform the inspection task, wherein the number of target robots is 1 when the number of equipment to be inspected is 1.

3. The inspection method according to claim 2, characterized in that, The steps of inspecting the equipment to be inspected by the target robot performing the inspection task on the target guide rail and obtaining the first inspection result include: When the number of normal robots M is 1, or when the number of devices is 1, one of the target robots inspects the device to be inspected to obtain the first inspection result. When the number of devices is greater than the preset number, N target robots inspect the devices to be inspected to obtain the first inspection result, where N is an integer greater than 1 and N is less than or equal to M.

4. The inspection method according to claim 3, characterized in that, When N is 2, and the number of devices is greater than the preset number, the step of having N target robots inspect the devices to be inspected and obtaining the first inspection result includes: Two target robots, traveling in opposite directions on the target guide rail, inspect the equipment to be inspected. Step 1: Move two target robots on the target guide rail. When each target robot has finished inspecting one of the devices to be inspected, record the inspection result of that device. Step 2: Decrease the number of devices to be inspected by 1; Repeat steps 1 to 2 until the number of devices is 0; The first inspection result set is composed of the inspection results of each of the aforementioned devices to be inspected.

5. The inspection method according to claim 1, characterized in that, The preset quantity is 1. When there is an inspection result indicating equipment malfunction in the first inspection result set, the step of re-inspecting the equipment to be inspected associated with the inspection result indicating equipment malfunction to obtain a second inspection result includes: When the number of devices is 1 and the number of normal robots M is greater than 1, the first re-inspection robot re-inspects the devices to be inspected associated with the inspection results of the abnormal devices to determine the second inspection result set. The first re-inspection robot is a normal robot other than the target robot among the M normal robots. When the number of devices is greater than 1 and the number of target robots is 2, the second re-inspection robot re-inspects the devices to be inspected associated with the inspection results of the abnormal devices, and determines the second inspection result set. The second re-inspection robot is another target robot besides the target robot that detected the abnormal device among the two target robots.

6. The inspection method according to claim 1, characterized in that, Power supply and signal transmission services are provided to the robot on the target guide rail using power line carrier communication.

7. An inspection device for a robot, characterized in that, include: An acquisition unit is used to acquire inspection tasks, wherein the inspection tasks include: the number of devices to be inspected; A determining unit is configured to determine the target robot to perform the inspection task based on the number of devices. An execution unit is used to inspect the equipment to be inspected on a target guide rail by a target robot that performs the inspection task, and to obtain a first inspection result set, wherein the target guide rail is a closed loop track, and the first inspection result set includes: the inspection results of all equipment to be inspected; The re-inspection unit is used to re-inspect the equipment to be inspected associated with the inspection result of the equipment abnormality in the first inspection result set, so as to obtain a second inspection result set. The determining unit includes: an acquisition subunit, used to acquire the self-inspection results of each robot on the target guide rail; a first determining subunit, used to determine M normal robots on the target guide rail based on the self-inspection results of all robots on the target guide rail, wherein the self-inspection result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and a second determining subunit, used to determine the target robot to perform the inspection task based on the number of devices and the M normal robots. The second determining subunit includes: a first processing module, used to determine the normal robot as the target robot for performing the inspection task when the number of normal robots M is 1; a first determining module, used to determine the target robot for performing the inspection task based on the distance between the device to be inspected and each normal robot when the number of devices is a preset number; and a second determining module, used to determine the target robot for performing the inspection task based on M normal robots when the number of devices is greater than the preset number. The re-inspection unit is also used to perform a re-inspection using other robots on the target guide rail that have normal self-inspection results, to obtain the second inspection result set.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the inspection method of the robot according to any one of claims 1 to 6.

9. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the inspection method of the robot according to any one of claims 1 to 6.

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