Intelligent collaborative execution method, system and intelligent inspection device for inspection operations

Abstract

The present application provides a method, system and intelligent inspection device for intelligent collaborative execution of inspection operations, the method comprising: determining the inspection task; obtaining all tasks that are executed within the inspection time and involve the area to be inspected in the preset task database and screening the first task; simulating and combining one or more task sets that can execute the inspection item in part or all of the area to be inspected, and calculating the first uninspected area; screening the second task that has a device that can integrate a preset 5G inspection terminal and can use the device to execute the inspection item in the first uninspected area, thereby obtaining each quasi-task set, and selecting one from them as the total task set and executing it. This application targets inspection tasks with higher complexity, and with the help of the spatial and temporal connections between tasks, coordinates human-machine collaboration and multi-machine collaboration to efficiently complete inspection tasks, realizes intelligent inspection, greatly improves the efficiency of task execution, and saves manpower and inspection costs to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of intelligent inspection, and in particular to an intelligent collaborative execution method, system and intelligent inspection device for inspection operations. Background Art

[0002] Inspection is a preventive control measure usually used to check and ensure the safety of equipment and facilities in a certain area. In different fields and industries, the specific content and requirements of inspection may vary. In the power system, inspectors will regularly check the operating conditions of power lines, transformers, switches and other equipment to ensure the safety and stability of the power system. In the construction field, inspectors will regularly check the safety of building structures, facilities and equipment to ensure the safety and comfort of buildings. In the railway system, inspectors will regularly check the operating conditions of railway lines, signal systems, locomotives and other equipment to ensure the safety and stability of railway transportation. In the water system, inspectors will regularly check the operating conditions of facilities such as reservoirs, sluices and pumps to ensure the safety and stability of water supply and drainage systems.

[0003] Regardless of the field or industry, inspection is an important safety precaution. Through regular inspections, potential safety hazards can be discovered in time and appropriate measures can be taken to resolve them. And with the advancement of science and technology, inspections are no longer limited to manual labor. In many fields, machines and equipment are used instead of manual labor for inspections. The operating conditions of the area are monitored by the sensors and detection equipment on board, and the data is transmitted to the control center for analysis and processing, so as to facilitate the timely discovery and resolution of potential problems, significantly improve the inspection efficiency, reduce the inspection cost, and improve the safety of the inspection personnel.

[0004] However, although machines and equipment can replace manual inspection tasks to a certain extent, manual participation and control are still required in some areas. Existing inspection solutions are not smart enough, especially when inspecting some complex and large areas, which requires a lot of time and effort. Summary of the invention

[0005] In view of this, the present application proposes an intelligent collaborative execution method, system and intelligent inspection device for inspection operations. The specific scheme is as follows:

[0006] In the first part, this application proposes an intelligent collaborative execution method for inspection operations, including the following:

[0007] Determine an inspection task involving an inspection operation on a certain area, and parse the area to be inspected, the inspection time and the inspection items from the inspection task;

[0008] Acquire all tasks that are executed within the inspection time and involve the area to be inspected in the preset task database, and select tasks that can execute the inspection item from all the tasks to obtain a first task;

[0009] Comprehensively analyzing the execution time and area coverage of each first task, simulating and combining one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, and calculating the area that each task set has not inspected in the to-be-inspected area to obtain the first uninspected area;

[0010] For each task set, a task other than the first task is selected from all tasks, which has a device that can be integrated with a preset 5G inspection terminal and can use the device to perform the inspection item in part or all of the first uninspected area to obtain a second task;

[0011] Each second task is incorporated into a corresponding task set to obtain various quasi-task sets, and one of them is selected as a total task set. The inspection items are executed in the process of executing the total task set, and the inspection task is completed in combination with manual inspection.

[0012] In a specific embodiment, the simulation combination process of the task set includes:

[0013] The equipment capable of executing the inspection items is defined as the inspectable equipment, all the first tasks of the inspectable equipment are used as the first subtasks, and the maximum inspection area that can be inspected by the inspectable equipment in the execution area during the execution of each first subtask is determined;

[0014] The execution area is divided into a plurality of area units; in any area unit, if there is a first subtask whose largest inspection area involves the area unit, the first subtask is assigned to the area unit, and the coverage of the first subtask to the area unit is analyzed;

[0015] First, all sets are combined according to the execution time of the first subtask corresponding to each area unit, and then sets whose coverage meets the preset screening conditions are screened out from all sets as task sets.

[0016] In a specific embodiment, it also includes:

[0017] Calculate the area that each quasi-task set has not inspected in the to-be-inspected area to obtain a second uninspected area, and select a quasi-task set as the total task set according to the situation of the second uninspected area and the situation of the second task in each quasi-task set;

[0018] The inspection items are synchronously executed during the execution of the total task set, and the user manually operates the 5G inspection terminal to manually execute the inspection items of the second uninspected area to complete the inspection task.

[0019] In a specific embodiment, difficulty values ​​corresponding to second unchecked areas of different sizes and second unchecked areas of different concentration levels are preset;

[0020] By analyzing the size and distribution of the second uninspected areas and the distances between the second uninspected areas in each quasi-task set, the difficulty coefficient of manual inspection of the second uninspected areas is analyzed in combination with the corresponding difficulty values;

[0021] By analyzing the number of 5G inspection terminals required to be integrated in the second task and the integration difficulty of each quasi-task set, as well as the estimated inspection effect after the equipment is integrated with the 5G inspection terminal, the integration coefficient of the 5G inspection terminal is obtained;

[0022] The total task set is selected based on the difficulty coefficient and integration coefficient of each quasi-task set.

[0023] In a specific embodiment, it also includes:

[0024] Before executing the total task set, analyze whether the device with integrated 5G inspection terminal has a pre-set working path:

[0025] If not, plan a moving path for the second task so that the device performs as many inspection items as possible on the first uninspected area on the basis of completing the second task; and when executing the second task in the total task set, make the device move along the moving path to execute the second task.

[0026] In one embodiment, if so, then:

[0027] When executing the total task set, the moving path of the 5G inspection terminal during the execution of the inspection item is recorded, and the actual inspection area of ​​the 5G inspection terminal during the execution is calculated based on the moving path and the inspection perspective of the 5G inspection terminal itself;

[0028] Analyze whether the actual inspection area completely covers the pre-estimated inspection area, and if it is not fully covered, enable the user to manually operate the 5G inspection terminal to manually execute the uncovered area.

[0029] In a specific embodiment, if the inspection task can be verified for inspection effect, then:

[0030] Filter out tasks that are executed within a preset time period before the end of the inspection time from all tasks to obtain a third task, and configure an inspection task for inspecting the inspection effect for the third task;

[0031] The inspection task is synchronously executed during the execution of the third task, so as to complete the inspection effect detection of the inspection task before the end of the inspection time.

[0032] In a specific embodiment, when selecting the total task set, the difficulty coefficient has a greater weight than the integration coefficient;

[0033] The sum of all the second unchecked areas has the greatest influence on the difficulty coefficient;

[0034] The integrated number of 5G inspection terminals has the greatest impact on the integration coefficient.

[0035] In the second part, this application proposes an intelligent collaborative execution system for inspection operations, including the following:

[0036] A task determination unit, used to determine an inspection task involving an inspection operation on a certain area, and parse the inspection area to be inspected, the inspection time and the inspection items from the inspection task;

[0037] A first task unit is used to obtain all tasks that are executed within the inspection time and involve the area to be inspected from a preset task database, and select tasks that can execute the inspection item from all tasks to obtain a first task;

[0038] A task set unit is used to combine the execution time and area coverage of each first task to simulate and combine one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, and calculate the area that each task set has not inspected in the to-be-inspected area to obtain a first uninspected area;

[0039] The second task unit is used to select, for each task set, tasks other than the first task, in which there is a device that can be integrated with a preset 5G inspection terminal and the device can be used to perform the inspection item in part or all of the first uninspected area to obtain the second task;

[0040] The total task unit is used to incorporate each second task into the corresponding task set to obtain various quasi-task sets, and select one from them as the total task set, execute the inspection items in the process of executing the total task set, and complete the inspection task in combination with manual inspection.

[0041] In a specific embodiment, the overall task unit further includes:

[0042] Calculate the area that each quasi-task set has not inspected in the to-be-inspected area to obtain a second uninspected area, and select a quasi-task set as the total task set according to the situation of the second uninspected area and the situation of the second task in each quasi-task set;

[0043] The inspection items are synchronously executed during the execution of the total task set, and the user manually operates the 5G inspection terminal to manually execute the inspection items of the second uninspected area to complete the inspection task.

[0044] In the third part, the present application proposes an intelligent inspection device, which is used to implement an intelligent collaborative execution method of an inspection operation described in any one of the first parts, including a main control module, an inspection device, and one or more 5G inspection terminals;

[0045] The main control module is respectively connected to the inspection device and the 5G inspection terminal for communication;

[0046] The inspection equipment is used to perform inspection items;

[0047] The 5G inspection terminal can be integrated into non-inspection equipment to perform inspection items.

[0048] Beneficial effects:

[0049] The present application provides a method, system and intelligent inspection device for intelligent collaborative execution of inspection operations. For inspection tasks with higher complexity, it uses the spatial and temporal connections between tasks to coordinate human-machine collaboration and multi-machine collaboration to efficiently complete inspection tasks, realize intelligent inspection, greatly improve the efficiency of task execution, save labor costs and inspection costs to a certain extent, and provide more reliable guarantees for safe production and operations in various fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flowchart of the intelligent collaborative execution method of an embodiment of the present application;

[0051] Figure 2 This is a complete task acquisition process diagram of an embodiment of the present application;

[0052] Figure 3 It is a regional annotation schematic diagram of an embodiment of the present application;

[0053] Figure 4 It is a schematic diagram of the intelligent collaborative execution system module of an embodiment of the present application.

[0054] Figure numerals: 1 - task determination unit; 2 - first task unit; 3 - task collection unit; 4 - second task unit; 5 - total task unit. DETAILED DESCRIPTION

[0055] Hereinafter, various embodiments disclosed in the present application will be described more fully. The present application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed in the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments disclosed in the present application.

[0056] Example 1

[0057] Embodiment 1 of the present application discloses an intelligent collaborative execution method for patrol inspection operations, which can realize intelligent patrol inspection for patrol inspection tasks with high complexity. The specific process of the intelligent collaborative execution method is shown in the attached manual. Figure 1 The complete task acquisition process is shown in the attached Figure 2 The specific plan is as follows:

[0058] An intelligent collaborative execution method for inspection operations includes the following steps:

[0059] 101. Determine the inspection tasks involving inspection of a certain area, and parse out the area to be inspected, inspection time and inspection items from the inspection tasks;

[0060] 102. Obtain all tasks that are executed within the inspection time and involve the area to be inspected from the preset task database, and select tasks that can execute inspection items from all tasks to obtain a first task;

[0061] 103. Combining the execution time and area coverage of each first task to simulate and combine one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, calculate the area that each task set has not inspected in the to-be-inspected area to obtain a first uninspected area;

[0062] 104. For each task set, select tasks other than the first task, which have a device that can be integrated with a preset 5G inspection terminal and can use the device to perform inspection items in part or all of the first uninspected area, to obtain a second task;

[0063] 105. Incorporate each second task into the corresponding task set to obtain each quasi-task set, and select one of them as the total task set. In the process of executing the total task set, perform the inspection items, and complete the inspection task in combination with manual inspection.

[0064] In this embodiment, the inspection task involves at least an area to be inspected, an inspection time, and inspection items. The area to be inspected is the area to be inspected, which can be a forest, a water area, or a building. The inspection time refers to a time interval, which can also be understood as the time before which the inspection task must be completed. The inspection item represents the item to be inspected. An inspection task may have one or more inspection items, and the participation of equipment is usually required when executing the inspection items. For example, a fire safety inspection of a building is completed within one day. One day is the inspection time, and matters related to fire safety are inspection items. The inspection items include the inspection of fire passages and fire equipment, and image acquisition equipment is required to record relevant situations.

[0065] The intelligent inspection solution of this embodiment is aimed at complex inspection tasks, and some simple inspection tasks can be executed directly. Preferably, the inspection tasks require the participation of manual inspections. In practical applications, the complexity of the inspection tasks will increase if the inspection area is large, the inspection time is short, and the inspection items are complex. For example, to conduct a disease and insect pest prevention inspection on a huge forest farm, the inspectors need to observe the health of the trees one by one and take timely prevention and control measures when diseases and insect pests are found. At the same time, strengthen the pruning and maintenance of trees to improve the disease resistance of trees. The workload of this inspection task is huge. The solution of this embodiment can assist in the execution of this task while executing other related tasks, speed up the execution of the task, reduce manpower and material resources, and improve the inspection efficiency.

[0066] In step 102, it is necessary to obtain all tasks that are performed within the inspection time and involve the area to be inspected in the preset task database. The task database records all sets of tasks that need to be performed. In the task database, tasks that are performed at a specific time and in a specific location are screened out. It is not required that the tasks must have a high degree of relevance to the inspection tasks. Some temporary tasks and one-time tasks can also be included. For example, if a fire inspection is carried out on a building at the end of the month, any tasks (such as health inspections, etc.) performed on the building at the end of the month can be screened out and included in the subsequent task samples. Regardless of whether it is the first task or the second task, the inspection task is completed on the basis of completing its own task.

[0067] In this embodiment, the first task is obtained by screening the tasks that can perform the inspection project from all the tasks. The first task is the main source of tasks that assist in the execution of the tasks to be executed. In some embodiments, whether it is the first task can be determined by whether there is a device capable of executing the inspection project in the task. For example, to execute the fire safety tasks to be executed, the participation of the image acquisition device is required. All tasks that are at the same time and place and require the participation of the image acquisition device can be used as the first task. In this embodiment, the equipment that can execute the inspection project is defined as an inspectionable device. The inspectionable device is not necessarily only able to execute a specific inspection project. Some inspectionable devices may be integrated with related functional modules so that they can execute a certain inspection project. For example, an image module can be carried on a drone to record images of a specific perspective on the flight trajectory, and the main tasks that can be executed by the drone can be spraying pesticides, collecting data, etc. The image module can be used to record images at a specific perspective during the data collection process, and then assist in completing part of the inspection tasks to be executed while completing the first task.

[0068] In step 103, it is necessary to comprehensively consider the execution time and area coverage of each first task to simulate and combine one or more task sets that can execute the inspection item in part or all of the inspection area and whose execution times do not conflict with each other. The task set can be understood as a plan built on a task basis, and each task set can complete at least part of the inspection task at a specified time and place. The main difference between task sets lies in the degree of completion of the inspection task. The task set is simulated, not actually executed, and needs to be supplemented, improved, and screened in the future before it can be finally executed.

[0069] In some embodiments, the simulation combination process of the task set includes: defining the equipment capable of executing the inspection items as an inspectable equipment, defining all the first tasks with the inspectable equipment as the first subtasks, and determining the maximum inspection area that each first subtask can inspect in the execution area through the inspectable equipment during the execution process. The execution area is divided into multiple area units, and the size and shape of the area unit can be set according to the shape of the actual execution area domain. For example, to inspect a rectangular forest, the forest can be divided into area units of equal size. In any area unit, if there is a first subtask with the largest inspection area involving the area unit, the first subtask is assigned to the area unit, and the coverage of the area unit by the first subtask is analyzed. Screen each first subtask one by one with regional units as units to see whether there is a maximum inspection area covering the regional unit. For example, for regional units A and B, there are first subtasks C1 and C2, among which the maximum inspection area of ​​C1 completely covers regional unit A, but does not involve regional unit B, and the maximum inspection area of ​​C2 covers both regional units A and B. Then C1 can be classified into regional unit A, and the coverage is noted as 100%, and C2 can be classified into regional units A and B at the same time, and the coverage is noted as 100%. For details, see the attached. Figure 3 As shown. First, all sets are combined according to the execution time of the first subtask corresponding to each area unit, and then the sets whose coverage meets the preset filtering conditions are filtered out from all sets as task sets. In the process of defining the task set, there are two lines, the time dimension and the space dimension. The time dimension is the execution time of the task, and the space dimension is the coverage area of ​​the task, and a coordinate system can be constructed. Among them, the preset filtering condition can be the total coverage rate of the execution area, or it can be the task with a higher ranking in the total coverage rate of the execution area. Comprehensively considering the first subtasks corresponding to each area unit and their execution time and coverage, combine one or more task sets of at least part of the inspection execution area, so that each task set.

[0070] If there is a task set that can fully implement the inspection task, there is no need to perform subsequent second task screening, and the task set can be directly executed as the final total task set. The tasks in the task set can be arranged in chronological order or according to the execution location. For example, there is an inspection task that requires the inspection of three places A, B, and C to be completed within a preset time. There is a first task that can assist in completing the inspection of A and B, and there is another first task that can assist in completing the inspection of C. In the combined task set, the two first tasks can be sorted by location, or they can be sorted by the execution time of the two first tasks. In short, each task set is constructed to execute as many inspection tasks as possible.

[0071] Normally, it is impossible for a task set to completely cover the inspection tasks. In this case, it is necessary to calculate the areas that each task set has not inspected in the area to be inspected to obtain the first uninspected area. The first uninspected area is the area that each task set has not inspected in the area to be inspected. It can be multiple independent areas, a connected area, or a combination of the first two. In this embodiment, the task set is combined with the second task to obtain a quasi-task set. There can be one or more second tasks in each quasi-task set, and the second task may not be set when the first uninspected area is small.

[0072] Specifically, for each task set, the second task is obtained by screening all tasks except the first task, which have devices that can integrate the preset 5G inspection terminal and can use the devices to perform inspection items in part or all of the first uninspected area. The purpose of calculating the first uninspected area is to screen the second task, which can partially or completely cover the first uninspected area when executed, which is equivalent to filling the area that the task set failed to inspect. It should be noted that when the first uninspected area is less than the preset percentage, the second task can be omitted and the quasi-task set can be obtained directly. The preset percentage here is the ratio of the first uninspected area to the area to be inspected, which can be set at 7%. The second task has little effect when the first uninspected area is small enough. When the first uninspected area is large, greater than the preset percentage, the second task can play a sufficiently large role.

[0073] In this embodiment, the difference between the second task and the first task is whether there is equipment for directly executing the inspection items. The first task involves equipment that can execute the inspection items, so it can directly assist in executing the inspection tasks. The second task needs to improve its equipment so that it has the ability to execute the inspection items. Preferably, the 5G inspection terminal is integrated on the equipment so that the second task has the ability to execute the inspection items, and the inspection items can be executed synchronously when the second task is executed. A variety of sensors can be carried on the 5G inspection terminal, including but not limited to temperature sensors, infrared sensors, ultrasonic sensors, visual sensors, etc. Corresponding sensors or inspection equipment can be integrated on the 5G inspection terminal according to the inspection items. The 5G inspection terminal can communicate with the control center 5G to facilitate data transmission. Sensors for recording the movement trajectory of the equipment can also be integrated on the 5G inspection terminal to facilitate the calculation of the actual inspection area of ​​the equipment.

[0074] After obtaining multiple quasi-task sets, you need to select one from them as the total task set to execute. Specifically, it includes: calculating the area that has not been inspected by each quasi-task set in the to-be-inspected area to obtain the second uninspected area. The second uninspected area is the area that the quasi-task set cannot cover, and theoretically is less than or equal to the first uninspected area. And in the same set of quasi-task sets and task sets, the second uninspected area is located in the first uninspected area. According to the situation of the second uninspected area and the situation of the second task in each quasi-task set, select a quasi-task set as the total task set. The screening process of the total task set is essentially to find the best task combination. Through the mutual cooperation and coordinated actions between tasks, complex tasks can be simplified and fragmented, thereby efficiently completing complex inspection tasks.

[0075] The selection process of the total task set specifically includes: presetting the difficulty values ​​corresponding to the second unchecked areas of different sizes and the second unchecked areas of different concentration levels;

[0076] By analyzing the size, distribution and distance between the second uninspected areas of each quasi-task set, the difficulty coefficient of manual inspection of the second uninspected areas is analyzed in combination with the corresponding difficulty value; by analyzing the integration number and integration difficulty of the 5G inspection terminals required to be integrated in the second task of each quasi-task set, as well as the estimated inspection effect after the equipment is integrated with the 5G inspection terminal, the integration coefficient of the 5G inspection terminal is obtained; the total task set is selected by combining the difficulty coefficient and integration coefficient of each quasi-task set. The integration coefficient reflects the cost and processing difficulty of the solution to a certain extent, while the difficulty coefficient reflects the distribution of the second uninspected area and the difficulty of manual inspection. The difficulty value can be manually set by experienced task executors. In actual applications, the larger the second uninspected area, the larger the area that needs to perform the task, and the larger the corresponding difficulty value. The higher the degree of aggregation of the second uninspected area, the more convenient it is to move between the second uninspected areas, and the smaller the corresponding difficulty value; the larger the distance between the second uninspected areas, the more troublesome it is to move between the second uninspected areas, and the larger the corresponding difficulty value. The size of the second uninspected area can be measured by area, and the degree of aggregation can be measured by the distance between the uninspected areas. If there are multiple second unchecked areas, a difficulty value can be obtained by adding up the areas, and a difficulty coefficient can be obtained by adding up the difficulty values.

[0077] Preferably, when selecting the total task set, the difficulty coefficient has a greater weight than the integration coefficient, and priority is given to selecting the second uninspected areas with more concentrated distribution and convenient for manual inspection, such as the second uninspected areas are close to each other or the number of second uninspected areas is small. The smaller the second uninspected areas are and the closer they are to each other, the lower the difficulty of manual inspection.

[0078] Preferably, the difficulty coefficient is related to the size, distribution and distance between the second uninspected areas, and the sum of all second uninspected areas has the largest influence weight. Here, it refers to the sum of the second uninspected areas of each quasi-task set. The integration coefficient is related to the number of 5G inspection terminals to be integrated, the integration difficulty and the estimated inspection effect. The number of 5G inspection terminals to be integrated affects the inspection cost and has the largest influence weight on the integration coefficient.

[0079] There may be some areas in the total task set that have not been inspected, so manual participation is required as the final supplement. Since the previous total task set has covered most of the areas to be inspected, the workload of the inspection tasks with manual participation is relatively small, which greatly saves manpower. Specifically, the inspection items are executed synchronously during the execution of the total task set, and the user manually operates the 5G inspection terminal to manually execute the inspection items of the second uninspected area to complete the inspection task.

[0080] In a specific embodiment, it also includes: before executing the total task set, analyzing whether the device that has integrated the 5G inspection terminal has a pre-set working path, and the device needs to integrate the 5G inspection terminal. For example, some tasks are for fully automatic robots to be responsible for inspection work. The robot can transmit inspection data in real time, which is convenient for timely discovery and resolution of potential problems, and improves the safety and stability of the equipment. The movement path of the robot needs to be controlled, which can be manual remote control or a pre-set movement path. If there is no working path for the device, a movement path is planned for the second task, so that the device can perform as many inspection items as possible in the first uninspected area on the basis of completing the second task. This solution is aimed at equipment with a higher degree of automation. When executing the second task in the total task set, the device is moved along the movement path to perform the second task.

[0081] If there is a working path for the device, it proves that the moving path of the device has been fixed, and its inspection area needs to be measured. When executing the total task set, record the moving path of the 5G inspection terminal during the execution of the inspection item, and calculate the actual inspection area of ​​the 5G inspection terminal during the execution process based on the moving path and the inspection perspective of the 5G inspection terminal itself; analyze whether the actual inspection area completely covers the pre-estimated inspection area, and if it is not fully covered, let the user manually operate the 5G inspection terminal to manually execute the uncovered area. The 5G inspection terminal implements detection based on the sensors or detection devices carried thereon, and the detection is carried out step by step in units of a certain detection angle. The inspection perspective of this embodiment can be understood as the detection angle of the sensor, which needs to be set according to the specific sensors carried.

[0082] In a specific embodiment, if the inspection task can be tested for inspection effect, then: select tasks that are executed within a preset time before the end of the inspection time from all tasks to obtain a third task, and configure an inspection task for the third task to inspect the inspection effect; execute the inspection task synchronously during the execution of the third task to complete the inspection effect detection of the inspection task before the end of the inspection time. For example, during the execution of some tasks, a flag will be set to indicate that the inspection task of a certain area or part is completed, which is convenient for determining the completed area. At this time, the inspection effect can be determined by detecting whether the flag exists.

[0083] This embodiment proposes an intelligent collaborative execution method for inspection operations. For inspection tasks with higher complexity, it uses the spatial and temporal connections between tasks to coordinate human-machine collaboration and multi-machine collaboration to efficiently complete inspection tasks, realize intelligent inspection, greatly improve the efficiency of task execution, save labor costs and inspection costs to a certain extent, and provide more reliable guarantees for safe production and operations in various fields.

[0084] Example 2

[0085] Embodiment 2 of the present application discloses an intelligent collaborative execution system for patrol inspection operations, which systematizes the intelligent collaborative execution method for patrol inspection operations in embodiment 1 to make it more practical. The overall structure diagram of the intelligent collaborative execution system is shown in the attached manual. Figure 4 The specific plan is as follows:

[0086] An intelligent collaborative execution system for inspection operations, comprising:

[0087] A task determination unit 1 is used to determine an inspection task involving an inspection operation on a certain area, and parse the inspection area, inspection time and inspection items from the inspection task;

[0088] The first task unit 2 is used to obtain all tasks that are executed within the inspection time and involve the area to be inspected from the preset task database, and filter the tasks that can execute the inspection items from all the tasks to obtain the first task;

[0089] The task set unit 3 is used to combine the execution time and area coverage of each first task to simulate and combine one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, and calculate the area that each task set has not inspected in the to-be-inspected area to obtain the first uninspected area;

[0090] The second task unit 4 is used to select, for each task set, tasks other than the first task, in which there is a device that can be integrated with a preset 5G inspection terminal and the device can be used to perform inspection items in part or all of the first uninspected area to obtain the second task;

[0091] The general task unit 5 is used to incorporate each second task into the corresponding task set to obtain various quasi-task sets, and select one from them as the general task set, execute the inspection items in the process of executing the general task set, and complete the inspection task in combination with manual inspection.

[0092] The total task unit 5 also includes: calculating the area that has not been inspected in the to-be-inspected area in each quasi-task set to obtain a second uninspected area, and selecting a quasi-task set as the total task set according to the situation of the second uninspected area in each quasi-task set and the situation of the second task; in the process of executing the total task set, the inspection items are synchronously executed, and the user manually operates the 5G inspection terminal to manually execute the inspection items of the second uninspected area to complete the inspection task.

[0093] This embodiment proposes an intelligent collaborative execution system for inspection operations, which systematizes the intelligent collaborative execution method for inspection operations in Example 1 to make it more practical.

[0094] Example 3

[0095] This embodiment provides an intelligent inspection device, which can implement an intelligent collaborative execution method of an inspection operation in embodiment 1. The specific scheme is as follows:

[0096] An intelligent inspection device includes a main control module, an inspection device and one or more 5G inspection terminals; the main control module is communicatively connected to the inspection device and the 5G inspection terminal respectively; the inspection device is used to execute inspection items; the 5G inspection terminal can be integrated into non-inspection equipment to execute inspection items.

[0097] The present application provides a method, system and intelligent inspection device for intelligent collaborative execution of inspection operations. For inspection tasks with higher complexity, it uses the spatial and temporal connections between tasks to coordinate human-machine collaboration and multi-machine collaboration to efficiently complete inspection tasks, realize intelligent inspection, greatly improve the efficiency of task execution, save labor costs and inspection costs to a certain extent, and provide more reliable guarantees for safe production and operations in various fields.

[0098] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario.

Claims

1. An intelligent collaborative execution method for inspection operations, characterized in that: These include: Determine an inspection task involving an inspection operation on a certain area, and parse the area to be inspected, the inspection time and the inspection items from the inspection task; Acquire all tasks that are executed within the inspection time and involve the area to be inspected in the preset task database, and select tasks that can execute the inspection item from all the tasks to obtain a first task; Comprehensively analyzing the execution time and area coverage of each first task, simulating and combining one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, and calculating the area that each task set has not inspected in the to-be-inspected area to obtain the first uninspected area; For each task set, a task other than the first task is selected from all tasks, which has a device that can be integrated with a preset 5G inspection terminal and can use the device to perform the inspection item in part or all of the first uninspected area to obtain a second task; Each second task is incorporated into a corresponding task set to obtain various quasi-task sets, and one of them is selected as a total task set. The inspection items are executed in the process of executing the total task set, and the inspection task is completed in combination with manual inspection.

2. The intelligent collaborative execution method according to claim 1, characterized in that: The simulation combination process of the task set includes: The equipment capable of executing the inspection items is defined as the inspectable equipment, all the first tasks of the inspectable equipment are used as the first subtasks, and the maximum inspection area that can be inspected by the inspectable equipment in the execution area during the execution of each first subtask is determined; The execution area is divided into a plurality of area units; in any area unit, if there is a first subtask whose largest inspection area involves the area unit, the first subtask is assigned to the area unit, and the coverage of the first subtask to the area unit is analyzed; First, all sets are combined according to the execution time of the first subtask corresponding to each area unit, and then sets whose coverage meets the preset screening conditions are screened out from all sets as task sets.

3. The intelligent collaborative execution method according to claim 1, characterized in that: Also includes: Calculate the area that each quasi-task set has not inspected in the to-be-inspected area to obtain a second uninspected area, and select a quasi-task set as the total task set according to the situation of the second uninspected area and the situation of the second task in each quasi-task set; The inspection items are synchronously executed during the execution of the total task set, and the user manually operates the 5G inspection terminal to manually execute the inspection items of the second uninspected area to complete the inspection task.

4. The intelligent collaborative execution method according to claim 3, characterized in that: Presetting difficulty values ​​corresponding to second unchecked areas of different sizes and second unchecked areas of different concentration levels; By analyzing the size and distribution of the second uninspected areas and the distances between the second uninspected areas in each quasi-task set, the difficulty coefficient of manual inspection of the second uninspected areas is analyzed in combination with the corresponding difficulty values; By analyzing the number of 5G inspection terminals that need to be integrated in the second task, the integration difficulty, and the estimated inspection effect of the equipment after the 5G inspection terminal is integrated, the integration coefficient of the 5G inspection terminal is obtained; The total task set is selected based on the difficulty coefficient and integration coefficient of each quasi-task set.

5. The intelligent collaborative execution method according to claim 1, characterized in that: Also includes: Before executing the total task set, analyze whether the device with integrated 5G inspection terminal has a pre-set working path: If not, planning a moving path for the second task so that the device performs as many inspection items as possible in the first uninspected area on the basis of completing the second task; And when executing the second task in the total task set, the device is moved according to the moving path to execute the second task.

6. The intelligent collaborative execution method according to claim 5, characterized in that: If yes, then: When executing the total task set, the moving path of the 5G inspection terminal during the execution of the inspection item is recorded, and the actual inspection area of ​​the 5G inspection terminal during the execution is calculated based on the moving path and the inspection perspective of the 5G inspection terminal itself; Analyze whether the actual inspection area completely covers the pre-estimated inspection area, and if it is not fully covered, enable the user to manually operate the 5G inspection terminal to manually execute the uncovered area.

7. The intelligent collaborative execution method according to claim 1, characterized in that: If the inspection task can be verified for inspection effect, then: Filter out tasks that are executed within a preset time period before the end of the inspection time from all tasks to obtain a third task, and configure an inspection task for inspecting the inspection effect for the third task; The inspection task is synchronously executed during the execution of the third task, so as to complete the inspection effect detection of the inspection task before the end of the inspection time.

8. The intelligent collaborative execution method according to claim 4, characterized in that: When selecting the total task set, the difficulty coefficient has a greater weight than the integration coefficient; The sum of all the second unchecked areas has the greatest influence on the difficulty coefficient; The integrated number of 5G inspection terminals has the greatest impact on the integration coefficient.

9. An intelligent collaborative execution system for inspection operations, characterized in that: These include: A task determination unit, used to determine an inspection task involving an inspection operation on a certain area, and parse the inspection area to be inspected, the inspection time and the inspection items from the inspection task; A first task unit is used to obtain all tasks that are executed within the inspection time and involve the area to be inspected from a preset task database, and select tasks that can execute the inspection item from all tasks to obtain a first task; A task set unit is used to combine the execution time and area coverage of each first task to simulate and combine one or more task sets that can execute the inspection item in part or all of the to-be-inspected area and whose execution times do not conflict with each other, and calculate the area that each task set has not inspected in the to-be-inspected area to obtain a first uninspected area; The second task unit is used to select, for each task set, tasks other than the first task, in which there is a device that can be integrated with a preset 5G inspection terminal and the device can be used to perform the inspection item in part or all of the first uninspected area to obtain the second task; The total task unit is used to incorporate each second task into the corresponding task set to obtain various quasi-task sets, and select one from them as the total task set, execute the inspection items in the process of executing the total task set, and complete the inspection task in combination with manual inspection.

10. An intelligent inspection device, characterized in that: An intelligent collaborative execution method for implementing an inspection operation as described in any one of claims 1 to 8, comprising a main control module, an inspection device, and one or more 5G inspection terminals; The main control module is respectively connected to the inspection device and the 5G inspection terminal for communication; The inspection equipment is used to perform inspection items; The 5G inspection terminal can be integrated into non-inspection equipment to perform inspection items.

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