A station-controlled wheeled robot inspection method and system
By acquiring and planning inspection task information through the station control system, and combining external and internal intervention information, the problem of low inspection efficiency of wheeled robots in complex environments has been solved, achieving efficient and reliable inspection task execution and equipment safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HAILONG OIL GRP (SHANGHAI) INFORMATION TECH CO LTD
- Filing Date
- 2023-11-01
- Publication Date
- 2026-08-04
AI Technical Summary
Existing wheeled robots are unable to effectively respond to emergencies in complex inspection environments, and operators have weak control over inspection tasks, resulting in equipment damage and low inspection efficiency.
The station control system acquires relevant information about the inspection task, uses a preset sorting algorithm to plan the optimal route, and controls the wheeled robot through external and internal intervention information to ensure the reliability and efficiency of the inspection task.
It enables wheeled robots to perform inspection tasks efficiently and reliably in complex environments, ensuring equipment safety and reducing manual intervention and charging workload.
Smart Images
Figure CN117359632B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot inspection technology, and in particular to a station-controlled wheeled robot inspection method and system. Background Technology
[0002] To ensure the normal operation of equipment, regular inspections are often required. Traditional equipment inspections mainly rely on manual labor carrying various testing instruments, which suffers from many problems such as subjective experience-based assessment, poor recognition results, and low efficiency. To address these issues, wheeled robots have emerged.
[0003] Wheeled robots are a new type of robot used in the field of intelligent inspection. They are characterized by automation, intelligence, and high efficiency, and can quickly and accurately conduct inspections based on data and changing circumstances. Currently, wheeled robots are used in industries such as power, energy, metallurgy, mining, environmental protection, fire protection, and agriculture. They can achieve automated and intelligent inspections, improving inspection efficiency. Especially in some hazardous inspection sites, using wheeled robots for inspections ensures the safety of operators.
[0004] Most wheeled robots currently have built-in navigation devices that automatically avoid obstacles using cameras and other means along planned paths. However, the conditions in inspection sites are complex, and relying solely on the obstacle avoidance and emergency handling capabilities of the wheeled robots themselves is insufficient to cope with various unexpected events. This can easily lead to damage to the equipment being inspected and the wheeled robots themselves. Furthermore, operators have relatively weak control over wheeled robots performing inspection tasks in the inspection site, which is an area that needs improvement. Summary of the Invention
[0005] To facilitate the control of wheeled robots performing inspection tasks and enable them to perform inspection tasks more efficiently and accurately, this application provides a station-controlled wheeled robot inspection method and system.
[0006] This application provides a station-controlled wheeled robot inspection method, which adopts the following technical solution: A method for inspecting a station-controlled wheeled robot includes the following steps: Obtain information related to inspection tasks issued by the station control system; Based on the relevant information of the inspection task, the inspection task points are sorted according to a preset sorting algorithm, and the inspection sub-tasks are executed at the inspection task points. Acquire external intervention information from the station control system and internal intervention information from the wheeled robot; The inspection sub-task is executed based on the external and internal intervention information.
[0007] By adopting the above technical solution, the station control system sends inspection task-related information within the inspection area to the wheeled robot. This information includes the location information of inspection task points within the inspection area, the location information of inspection task items at each point, and the matching inspection method. This allows the wheeled robot to comprehensively acquire inspection task-related information within the inspection area. Based on this comprehensive information, the wheeled robot sorts the inspection task points and plans the optimal inspection route, ensuring its inspection efficiency. The system also acquires and responds to external intervention information from the station control system, allowing operators to issue external intervention requests to the wheeled robot performing inspection tasks. Furthermore, the system acquires and responds to internal intervention information from the wheeled robot, enabling timely adjustments to the inspection task when internal abnormalities occur, thus ensuring the reliability of the wheeled robot's inspections.
[0008] Optionally, the external intervention information includes task pause information, task resumption information, and external task cancellation information issued by the station control system; When the task pause information is obtained, the current inspection item is temporarily executed, and the task is awaited to resume or external task is cancelled. When the task recovery information is obtained, the current inspection item is resumed. When the external task invalidation information is obtained, the next inspection item is executed based on the sorting information until all inspection items are completed.
[0009] Optionally, acquiring the external intervention information issued by the station control system and the internal intervention information of the wheeled robot further includes: The system outputs the external intervention information reception results to the station control system; The station control system determines whether the external intervention information was successfully sent based on the received external intervention information result. If the external intervention information fails to be sent, the station control system checks the data and the wheeled robot's communication, and resends the external intervention information until a successful external intervention information reception result is received.
[0010] By adopting the above technical solution, when the station control system sends external intervention information to the wheeled robot, the wheeled robot returns the reception result of the external intervention information to the station control system. The station control system determines whether the external intervention information has been successfully sent. If it has not been successfully sent, it checks the communication between the station control system and the wheeled robot and resends the information, ensuring that the wheeled robot performing the inspection task can receive the external intervention information sent by the station control system, thus guaranteeing the station control system's control over the wheeled robot.
[0011] Optionally, the task cancellation information includes automatic cancellation information issued by the station control system based on the relevant information of the inspection task, and remote cancellation information issued by the station control system based on manual input. The internal intervention information includes internal task cancellation information issued due to internal anomalies within the robot.
[0012] By adopting the above technical solution, the station control system can determine whether the current inspection task needs to be cancelled based on the relevant information of the inspection task. Alternatively, the operator can determine whether the current inspection task needs to be cancelled and manually input the cancellation command. When the robot malfunctions or detects that the external environment is not suitable for inspection, an internal task cancellation message will also be generated. The above cancellation message can ensure the accurate execution of the inspection task and the operator's control over the inspection task.
[0013] Optionally, the execution of inspection sub-tasks at inspection task points includes: Determine whether the wheeled robot has reached the task point based on the order of inspection task points and the task point triggering information. Upon arrival at the task location, obtain relevant information about the device to be tested; The relevant information of the device to be detected is detected and judged based on the preset detection algorithm.
[0014] By adopting the above technical solution, at each inspection point, when the robot's internal navigation device or detects the task point trigger information, such as the prompt mark on the device to be inspected, the robot starts to execute the various inspection sub-tasks of the inspection task point, so that the various detection devices set on the wheeled robot can inspect the device to be inspected.
[0015] Optionally, obtaining the relevant information of the device under test includes obtaining image information of the device under test and obtaining audio information of the device under test; The acquisition of the image information of the device to be detected includes: Adjust the ZF value of the thumbnail and collect thumbnail image information; Adjust the PT value of the gimbal based on the acquired small image information to accurately position the gimbal; Adjust the ZF value of the large image and acquire large image information while maintaining precise positioning of the gimbal; Detection and judgment are performed based on the acquired large image information.
[0016] By adopting the above technical solution, image equalization processing is used to process small image information, adjusting brightness and contrast. The PT value of the wheeled robot's gimbal is then used to adjust the vertical and horizontal angles of the gimbal. Based on vision, the gimbal is corrected to ensure the accuracy of the large image information subsequently acquired. The accurate large image is then used for algorithm recognition to ensure the accuracy of the detection results.
[0017] Optionally, the station-controlled wheeled robot inspection method further includes charging the wheeled robot after the inspection task is completed; The process of charging the wheeled robot after the inspection task is completed includes the following steps: The robot's current position is detected at a set frequency, and it is determined whether it has reached the charging assistance point. If the charging auxiliary point is reached, an opening signal is sent to the charging station, and it is determined whether the charging station has already opened its doors; When the charging station opens, the current position of the wheeled robot is detected at the set frequency, and it is determined whether it has reached the midpoint of the charging point. When it reaches the midpoint of the charging point, it continues to move one meter in the direction of the set charging point. If the vehicle reaches a charging point, it will charge in automatic or manual mode until the current battery level is greater than the battery level required to perform the inspection task.
[0018] By adopting the above technical solution, the inspection robot is charged after the inspection task is completed. The robot automatically reaches the charging auxiliary point using its internal navigation equipment or detection equipment such as cameras, sends an opening signal to the charging station, and then automatically reaches the charging point to charge the wheeled robot in manual or automatic mode. The charging intermediate point is set and the charging point is moved back one meter to ensure accurate docking of the charging head with the charging station in automatic mode.
[0019] Optionally, the step of charging in automatic or manual mode until the current battery level is greater than the battery level required to perform the inspection task includes: Determine if the current battery level is below the automatic charging threshold; If the current battery level is not lower than the automatic charging power threshold, adjust the extended charging head at the charging point of the charging station to charge in automatic mode, and detect the current charging mode and current battery level at a set frequency, and determine that the current battery level is greater than the power required to perform the inspection task. If the current battery level is below the automatic charging threshold, wait at the charging station's charging point for manual charging.
[0020] By adopting the above technical solution, the robot's power level before charging is judged and compared with the set automatic charging power threshold. The automatic charging power threshold is the minimum power level that supports the wheeled robot to charge in automatic mode, ensuring that the wheeled robot can send a manual charging signal when the power is too low.
[0021] Optionally, the acquisition of inspection task information issued by the station control system includes: Receive inspection task information from the station control system and determine whether the inspection task is output synchronously; If the inspection items are not synchronized, the inspection task synchronization result is sent to the station control system. The station control system receives the inspection task synchronization result and determines whether the inspection task-related information has been successfully sent based on the inspection task synchronization result. If the inspection task-related information fails to be sent, the station control system checks the data and the wheeled robot communication, and resends the inspection task-related information until the station control system receives a successful inspection task synchronization result. If the inspection tasks are synchronized, perform the subsequent sorting operations.
[0022] By adopting the above technical solution, before sorting the received inspection tasks, the system first sends synchronization results to the station control system to determine whether the wheeled robot's inspection tasks have been completed synchronously, thus ensuring the accuracy of subsequent task execution.
[0023] A station-controlled wheeled robot inspection system, based on the station-controlled wheeled robot inspection method described above, includes: at least one wheeled robot for performing inspection tasks, including an information acquisition unit for acquiring external relevant information, a central control database for storing inspection task-related information, a central control unit for receiving and processing external intervention information and internal intervention information, and an execution unit for performing corresponding operations in response to the external relevant information, external intervention information and internal intervention information, and also includes a data communication unit; The station control system connects to the wheeled robot via the data communication unit, receives instruction information input by the operator, and outputs inspection task-related information and external intervention information to at least one robot based on the instruction information.
[0024] By adopting the above technical solution, during the inspection task performed by the wheeled robot, the station control system receives instructions from the operator, converts them into external intervention information, and sends them to the wheeled robot performing the task. The information acquisition unit of the wheeled robot includes navigation, external cameras, and other equipment, which facilitates the determination of the wheeled robot's position and the acquisition of the status of the equipment to be inspected. The inspection task-related information issued by the station control system is stored and synchronized to the central control database. The execution components include wheel control components, which respond to external information, external intervention information, and internal intervention information to perform corresponding operations. This ensures that the entire working process of the wheeled robot is controlled by the station control system, enabling the wheeled robot to perform inspection tasks more efficiently and accurately.
[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The station control system sends inspection task information to the wheeled robot. The inspection task information includes the location information of the inspection task points in the inspection area, the location information of the inspection task items at each inspection task point, and the matching inspection method information. This allows the wheeled robot to fully obtain the inspection task information in the inspection area. Based on the comprehensive inspection task information, the wheeled robot sorts the inspection task points and plans the optimal inspection route, ensuring the inspection efficiency of the wheeled robot. 2. Acquire and respond to external intervention information issued by the station control system, enabling operators to issue external intervention information to the wheeled robot performing inspection tasks through the station control system, and acquire and respond to internal intervention information of the wheeled robot. When an abnormality occurs inside the wheeled robot, the inspection task can be adjusted in a timely manner, ensuring the reliability of the wheeled robot inspection; 3. By automatically or manually charging the wheeled robot after the inspection task is completed, the wheeled robot is ensured to always be in a usable state, reducing the workload of manual reset and charging. Attached Figure Description
[0026] Figure 1 This is a flowchart of the steps in this application; Figure 2 This is a flowchart of the further steps in step 200 of this application; Figure 3 This is a flowchart illustrating the inspection sub-tasks of this application; Figure 4 This is a flowchart of the further steps in step 500 of this application; Figure 5 This is a flowchart illustrating the automatic charging mode of this application; Figure 6 This is a schematic diagram of a station-controlled wheeled robot inspection system.
[0027] Reference numerals in the attached diagram: 1. Information acquisition unit; 2. Central control unit; 3. Central control database; 4. Execution unit; 5. Data communication unit; 6. Station control system; 7. Charging station. Detailed Implementation
[0028] The present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the scope of the application.
[0029] In the following description, numerous specific details are set forth for purposes of explanation in order to provide a thorough understanding of the inventive concept. As part of this specification, some of the accompanying drawings of this disclosure are block diagrams illustrating structures and devices to avoid complicating the disclosed principles. For clarity, not all features of the actual embodiment need to be described. Furthermore, the language used in this disclosure has been primarily chosen for readability and instructional purposes and may not have been chosen to define or limit the subject matter of the invention, thus requiring the necessary claims to determine such inventive subject matter. References to “an embodiment” or “an embodiment” in this disclosure mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment, and multiple references to “an embodiment” or “an embodiment” should not be construed as necessarily referring to the same embodiment.
[0030] Unless explicitly defined, the terms “a,” “an,” and “the” are not intended to refer to a singular entity, but rather to include a general category whose specific examples can be used for illustration. Therefore, the use of the terms “a” or “an” can mean any number of at least one, including “a,” “one or more,” “at least one,” and “one or more.” The term “or” means any of the options and any combination of the options, including all options unless explicitly indicated that the options are mutually exclusive. The phrase “at least one of” when combined with a list of items refers to a single item in the list or any combination of items in the list. The phrase does not require all items listed unless explicitly defined as such.
[0031] This application discloses a station-controlled wheeled robot inspection method, referring to... Figure 1 This includes the following steps: S100: Obtain relevant information about the inspection task issued by the station control system 6.
[0032] As detailed, the station control system 6 and the wheeled robot are connected wirelessly via Bluetooth or 5G communication. The inspection task information includes the location information of inspection points within the area to be inspected, the location information of inspection tasks at each inspection point, and the matching inspection method information. This allows the wheeled robot to comprehensively obtain relevant inspection task information within the area to be inspected. The wheeled robot itself stores a topographic map of the area to be inspected, and the station control system 6 can also update the topographic map of the area to be inspected stored by the wheeled robot wirelessly.
[0033] Specifically, for example, when performing partial discharge testing on electrical equipment in a substation, the relevant information for the inspection task includes the location, type, and shape information of each electrical device to be tested in the substation, as well as the location information of the testing point on each electrical device to be tested, and the testing method matched for each type of electrical device to be tested. For example, device a located at point A is suitable for ultrasonic partial discharge testing, while device b located at point B is suitable for ultra-high frequency partial discharge testing.
[0034] The process of obtaining inspection task information issued by the station control system 6 also includes the following steps: S110 receives inspection task information from the station control system 6 and determines whether the inspection task is output synchronously.
[0035] S120. If the inspection items are not synchronized, the inspection task synchronization result is sent to the station control system 6. The station control system 6 receives the result and determines whether the inspection task related information has been successfully sent based on the inspection task synchronization result. If the inspection task related information fails to be sent, the station control system 6 checks the data and the wheeled robot communication, and resends the inspection task related information until the station control system 6 receives a successful inspection task synchronization result.
[0036] S130. If the inspection tasks are synchronized, perform subsequent sorting operations.
[0037] Through the above operations, before sorting the received inspection tasks, the system first sends a synchronization result to the station control system 6 to determine whether the wheeled robot's inspection tasks have been completed synchronously, thus ensuring the accuracy of subsequent task execution.
[0038] S200. Based on the inspection task information, sort the inspection task points according to the preset sorting algorithm, and execute the inspection sub-tasks at the inspection task points.
[0039] In this embodiment, the preset sorting algorithm is the existing TSP (Traveling Salesman) algorithm. After obtaining the current geographical location of the wheeled robot and the task to be performed, the optimal and shortest path is planned for these N+1 discrete points according to the TSP (Traveling Salesman) algorithm, and the inspection task is then performed sequentially according to the planned path.
[0040] After sorting the inspection tasks, they are inserted into the task scheduler of the wheeled robot and synchronized with the central control database 3 of the wheeled robot.
[0041] The task scheduler of the wheeled robot detects whether the task has reached its execution time at a set frequency. When the task execution time is reached, the inspection sub-task is executed at the inspection task point.
[0042] like Figure 2 As shown, performing inspection sub-tasks at inspection task points includes: S210. Determine whether the wheeled robot has reached the task point based on the sequence of inspection task points and the task point trigger information. At each inspection point, task point trigger information is set as an aid to the wheeled robot's built-in navigation, such as arrow indicators. When the wheeled robot's internal navigation device detects the task point trigger information, such as the indicator on the device to be inspected, it begins executing the various inspection sub-tasks of the inspection task point, using the various detection devices set on the wheeled robot to inspect the device to be inspected.
[0043] S220. Upon reaching the task point, acquire relevant information about the equipment to be inspected. Retrieve relevant information from the inspection task information issued by the station control system 6 to obtain the location of the current inspection task item of the equipment to be inspected and the matched inspection method. Inspect the equipment to be inspected using the set matched inspection method. In this embodiment, acquiring relevant information about the equipment to be inspected includes acquiring image information and audio information (ultrasound information) of the equipment to be inspected.
[0044] Detailed, such as Figure 2-3 As shown, acquiring the image information of the device to be detected includes: S221. Adjust the ZF value of the small image and acquire its image information. Process the small image information using image equalization, brightness adjustment, contrast adjustment, and other methods.
[0045] S222. Adjust the PT value of the gimbal based on the acquired small image information to accurately position the gimbal. Utilize the small image information to adjust the PT value of the wheeled robot's gimbal, i.e., adjust the vertical and horizontal angles of the gimbal. Correct the gimbal's deviation based on vision to ensure the accuracy of the subsequently acquired large image information.
[0046] S223. Adjust the ZF value of the large image and acquire large image information while maintaining precise gimbal positioning. Further adjust the ZF value of the large image while maintaining precise gimbal positioning, and process the large image information using image equalization, brightness adjustment, contrast adjustment, and other methods.
[0047] S224. Detection and judgment are performed based on the acquired large image information.
[0048] Algorithm recognition is performed using large, accurate images with visual correction to ensure the accuracy of detection results.
[0049] S230. Detect and judge the relevant information of the device to be detected based on a preset detection algorithm. For image information, existing image comparison algorithms are used for detection and judgment. For sound information, it is converted into a spectrum before detection and judgment. The above algorithms are all existing technologies and will not be described in detail here.
[0050] The above describes the inspection steps for a wheeled robot under normal conditions without external intervention. However, in most cases, the situation in the inspection site is complex, and the wheeled robot's obstacle avoidance and emergency handling alone cannot cope with all kinds of emergencies. Therefore, it is necessary to use the station control system 6 to intervene in the wheeled robot that is performing the task.
[0051] S300: Obtain external intervention information from the station control system 6 and internal intervention information from the wheeled robot.
[0052] The external intervention information includes task pause information, task resumption information, and external task cancellation information issued by the station control system 6. The task cancellation information includes automatic cancellation information issued by the station control system 6 based on inspection task-related information and remote cancellation information issued by the station control system 6 based on manual input. The station control system 6 can determine whether the current inspection task needs to be cancelled based on the inspection task-related information, or the operator can determine whether the current inspection task needs to be cancelled and manually input the cancellation command.
[0053] In the event of an emergency, such as a problem that temporarily shuts down a device to be inspected on the task list, the operator inputs a pause command into the station control system 6. The station control system 6 converts this into task pause information and outputs it to the wheeled robot that will execute the task. If the operator checks and restarts the inspection device, they input a resume command into the station control system 6. The station control system 6 converts this into task resume information and outputs it to the wheeled robot. If the operator checks and completely shuts down the inspection device, they input a cancel command into the station control system 6. The station control system 6 converts this into task cancel information and outputs it to the wheeled robot, thus canceling the inspection task.
[0054] The internal intervention information includes internal task cancellation information issued due to internal anomalies in the robot. Internal anomalies include major faults that prevent the robot from performing tasks, such as driver malfunctions, navigation malfunctions, extreme weather, low battery, and navigation sensor malfunctions.
[0055] To ensure that the wheeled robot can accurately receive external intervention information, the acquisition of external intervention information issued by the station control system 6 and internal intervention information of the wheeled robot also includes the following steps: S310, Output the external intervention information reception result to the station control system 6.
[0056] S320. The station control system 6 determines whether the external intervention information was successfully sent based on the external intervention information reception result.
[0057] S330. If the external intervention information fails to be sent, the station control system 6 checks the data and the wheeled robot communication, and resends the external intervention information until a successful external intervention information reception result is received.
[0058] When the station control system 6 sends external intervention information to the wheeled robot, the wheeled robot returns the reception result of the external intervention information to the station control system 6. The station control system 6 determines whether the external intervention information was sent successfully. If it was not sent successfully, it checks the communication between the station control system 6 and the wheeled robot and resends the information to ensure that the wheeled robot performing the inspection task can receive the external intervention information sent by the station control system 6, thus ensuring the effective control of the wheeled robot by the station control system 6.
[0059] S400. Execute the inspection sub-task based on the external intervention information and the internal intervention information.
[0060] When the wheeled robot receives a pause task information, it temporarily executes the current inspection item and waits for the task to resume or for external task to be cancelled.
[0061] Once the wheeled robot receives the recovery task information, it resumes executing the current inspection item.
[0062] When the wheeled robot receives internal or external information about rejected tasks, it executes the next inspection item based on the sorting information until all inspection items have been completed.
[0063] S500 recharges the wheeled robot after the inspection task is completed.
[0064] like Figure 4-5 As shown, the specific steps include: S510. Detect the current position of the wheeled robot according to the set frequency and determine whether it has reached the charging auxiliary point. After the inspection task is completed, charge the inspection robot. Use the robot's internal navigation equipment or camera and other detection equipment to perform cyclic judgment and detection, and automatically reach the charging auxiliary point, which is located outside the charging station 7.
[0065] S520. If the charging auxiliary point is reached, send an opening signal to the charging station 7 and determine whether the charging station 7 has opened the door. If the door opening fails or the door opening signal times out by 30 seconds, send the door opening signal again and try three times.
[0066] S530. When the charging station 7 opens and is in position, the current position of the wheeled robot is detected at the set frequency, and it is determined whether the current position has reached the charging point midpoint. When the charging point midpoint is reached, the robot continues to move one meter in the direction of the set charging point and sets the charging midpoint. In fact, the charging point is moved back one meter to ensure that the charging head of the wheeled robot is accurately connected to the charging station 7 in automatic mode.
[0067] S540: If the vehicle reaches a charging point, it will charge in automatic or manual mode until the current battery level is greater than the battery level required to perform the inspection task.
[0068] Upon reaching a charging point, the system first determines whether the current battery level is sufficient for one automatic charge. If it is insufficient, manual charging is initiated.
[0069] Determine if the current battery level is below the automatic charging threshold. The automatic charging threshold is the minimum battery level required to support the wheeled robot in automatic charging mode. If the current battery level is not below the automatic charging threshold, adjust the extended charging head at charging point 7 in charging station to charge in automatic mode. Detect the current charging mode and current battery level at a set frequency and continuously check if the current battery level is greater than the battery level required to perform the inspection task. If the current battery level is below the automatic charging threshold, wait for manual charging operation at charging point 7 in charging station.
[0070] Before automatic charging, the camera captures images of the charging indicator fed back by the wheeled robot's battery. The system uses these images to determine if the charging head is correctly connected and in automatic charging mode. If not, the system re-captures and checks. If the robot fails to connect and charge after more than three attempts, it leaves the station and opens the door again to try connecting and charging. If the robot is connected, it sends a door-closing signal to charging station 7 and begins automatic charging.
[0071] A station-controlled wheeled robot inspection system, such as Figure 6 As shown, the station control wheeled robot inspection method described above includes at least one wheeled robot for performing inspection tasks, a station control system 6, and a charging station 7. The wheeled robot includes an information acquisition unit 1 for acquiring relevant external information, a central control database 3 for storing inspection task-related information, a central control unit 2 for receiving and processing external intervention information and internal intervention information, and an execution unit 4 for performing corresponding operations in response to the external relevant information, external intervention information, and internal intervention information.
[0072] The external information includes the location information of the wheeled robot, the distribution of surrounding obstacles, and other external environmental information. The information acquisition unit 1 of the wheeled robot includes navigation, external cameras, and various detection devices, which facilitates the determination of the location of the wheeled robot and the acquisition of the status of the equipment to be inspected. The inspection task information issued by the station control system 6 is stored and synchronized to the central control database 3. The execution components include wheel control components, etc., which respond to external information, external intervention information, and internal intervention information to perform corresponding operations. This makes the entire working process of the wheeled robot subject to the control of the station control system 6, enabling the wheeled robot to perform inspection tasks more efficiently and accurately.
[0073] The central control database 3 is used to store inspection tasks. In this application, the central control database 3 is configured as a read-write storage chip located inside the wheeled robot body, or it can be configured to wirelessly connect to a cloud database with the central control unit 2.
[0074] The wheeled robot also includes a data communication unit 5, which may include a Bluetooth communication module, a WIFI communication module, or a 5G communication module. The data communication unit 5 is respectively located at both the wheeled robot and the station control system 6 to enable rapid data communication between the wheeled robot and the station control system 6.
[0075] The central control unit 2 is the core of the wheeled robot and can be configured as an FPGA module, a microcontroller module, or a custom DSP chip module with a built-in program.
[0076] The station control system 6 of the wheeled robot is connected to the wheeled robot via data connection. It receives instruction information input by the operator and outputs inspection task-related information and external intervention information to at least one robot based on the instruction information. The charging station 7 is also connected to the wheeled robot via data connection. It receives door opening and closing signals from the wheeled robot and performs door opening and closing operations.
[0077] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A method for station-controlled wheeled robot inspection, characterized in that, Includes the following steps: Obtain relevant information about the inspection task issued by the station control system (6); Based on the relevant information of the inspection task, the inspection task points are sorted according to a preset sorting algorithm, and the inspection sub-tasks are executed at the inspection task points. Obtain external intervention information issued by the station control system (6) and internal intervention information of the wheeled robot; Execute inspection sub-tasks based on the external and internal intervention information; The station-controlled wheeled robot inspection method also includes charging the wheeled robot after the inspection task is completed; The process of charging the wheeled robot after the inspection task is completed includes the following steps: The robot's current position is detected at a set frequency, and it is determined whether it has reached the charging assistance point. If the charging auxiliary point is reached, an opening signal is sent to the charging station (7), and it is determined whether the charging station (7) has been opened; When the charging station (7) opens, the current position of the wheeled robot is detected at the set frequency, and it is determined whether the robot has reached the charging point. If you reach a charging point, charge in automatic or manual mode until the current battery level is greater than the battery level required to perform the inspection task. The charging process, which involves charging in automatic or manual mode until the current battery level exceeds the power required to perform the inspection task, includes: Determine if the current battery level is below the automatic charging threshold; If the current power level is not lower than the automatic charging power threshold, adjust the extended charging head at the charging point of the charging station (7) to charge in automatic mode, and detect the current charging mode and current power level at a set frequency, and determine that the current power level is greater than the power required to perform the inspection task. If the current battery level is lower than the automatic charging threshold, wait for manual charging at the charging point of the charging station (7); Before automatic charging, the camera captures the image of the charging indicator fed back by the wheeled robot battery. The charging indicator fed back by the wheeled robot battery is used to determine whether the charging head is correctly connected and in automatic charging state. If not, the image is captured and judged again. If the connection and charging fails more than three times, the robot leaves the station and opens the door again to connect and charge. If the connection and charging are successful, a door closing signal is sent to the charging station (7) and automatic charging begins.
2. The station-controlled wheeled robot inspection method according to claim 1, characterized in that, The external intervention information includes task suspension information, task resumption information, and external task cancellation information issued by the station control system (6); When the task pause information is obtained, the current inspection item is temporarily executed, and the task is awaited to resume or external task is cancelled. When the task recovery information is obtained, the current inspection item is resumed. When the external task invalidation information is obtained, the next inspection item is executed based on the sorting information until all inspection items are completed.
3. The station-controlled wheeled robot inspection method according to claim 2, characterized in that, The acquisition of external intervention information issued by the station control system (6) and internal intervention information of the wheeled robot also includes: Output the external intervention information reception result to the station control system (6); The station control system (6) determines whether the external intervention information was successfully sent based on the external intervention information reception result; If the external intervention information fails to be sent, the station control system (6) checks the data and the wheeled robot communication, and resends the external intervention information until a successful external intervention information reception result is received.
4. The station-controlled wheeled robot inspection method according to claim 2, characterized in that, The external task cancellation information includes automatic cancellation information issued by the station control system (6) based on the relevant information of the inspection task, and remote cancellation information issued by the station control system (6) based on manual input. The internal intervention information includes internal task cancellation information issued due to internal anomalies within the robot.
5. The station-controlled wheeled robot inspection method according to claim 1, characterized in that, The execution of inspection sub-tasks at inspection task points includes: Determine whether the wheeled robot has reached the task point based on the order of inspection task points and the task point triggering information. Upon arrival at the task location, obtain relevant information about the device to be tested; The relevant information of the device to be detected is detected and judged based on the preset detection algorithm.
6. The station-controlled wheeled robot inspection method according to claim 5, characterized in that, The acquisition of relevant information about the device under test includes acquiring image information and audio information of the device under test. The acquisition of the image information of the device to be detected includes: Adjust the ZF value of the thumbnail and collect thumbnail image information; Adjust the PT value of the gimbal based on the acquired small image information to accurately position the gimbal; Adjust the ZF value of the large image and acquire large image information while maintaining precise positioning of the gimbal; Detection and judgment are performed based on the acquired large image information.
7. The station-controlled wheeled robot inspection method according to claim 1, characterized in that, The information related to the inspection task issued by the station control system (6) includes: Receive inspection task information sent by the station control system (6) and determine whether the inspection task is output synchronously; If the inspection items are not synchronized, the inspection task synchronization result is sent to the station control system (6). The station control system (6) receives the result and determines whether the inspection task related information has been successfully sent based on the inspection task synchronization result. If the inspection task related information fails to be sent, the station control system (6) checks the data and the wheeled robot communication, and resends the inspection task related information until the station control system (6) receives the successful inspection task synchronization result. If the inspection tasks are synchronized, perform the subsequent sorting operations.
8. A station-controlled wheeled robot inspection system, characterized in that, The station-controlled wheeled robot inspection method according to any one of claims 1-7 includes: At least one wheeled robot for performing inspection tasks includes an information acquisition unit (1) for acquiring external relevant information, a central control database (3) for storing inspection task-related information, a central control unit (2) for receiving and processing external intervention information and internal intervention information, and an execution unit (4) for performing corresponding operations in response to the external relevant information, external intervention information and internal intervention information, and also includes a data communication unit (5). The station control system (6) is connected to the wheeled robot via the data communication unit (5), receives instruction information input by the operator, and outputs inspection task-related information and external intervention information to at least one robot based on the instruction information.