Automated inspection management system and method for wheeled inspection robots

Abstract

The present invention provides an automated inspection management system and method for wheeled inspection robots, which relates to the field of inspection management technology, including: a risk assessment module, which is used to conduct risk assessment of construction power equipment and obtain multiple inspection management equipment; a standard inspection map acquisition module, which is used to obtain construction progress information and obtain a standard inspection map; an inspection content requirement extraction module, which is used to extract multiple inspection content requirements; a technical specification acquisition module, which is used to call K technical specifications; a target inspection route positioning module, which is used to perform inspection route fitting and locate K target inspection routes; an automated inspection module, which is used to control K wheeled inspection robots to perform automated inspections. The present invention solves the technical problem that the prior art lacks effective collaborative control of multiple inspection robots working at the same site, resulting in low risk control accuracy of construction power equipment at the construction site, and further leading to greater difficulty in management of the construction site.

Description

Technical Field

[0001] The present invention relates to the field of patrol inspection management technology, and in particular to an automated patrol inspection management system and method for a wheeled patrol inspection robot. Background Art

[0002] In large-scale construction sites, especially those involving high-voltage power equipment, safety and efficiency are of vital importance. Inspection of power equipment ensures the stable operation of the equipment and the safety of the construction site. However, planning effective inspection paths is a complex issue in large construction sites or complex industrial facilities. Especially when multiple inspection robots are working on the same site, effective collaborative control is required to prevent task duplication or conflict. Traditional methods cannot fully consider the actual needs of the site environment and equipment, and lack effective inspection robot control mechanisms, resulting in insufficient scientificity and practicality of path planning, low inspection efficiency, and greater difficulty in managing the construction site. Summary of the invention

[0003] The present application provides an automated inspection management system and method for wheeled inspection robots, aiming to solve the technical problem that the prior art lacks effective collaborative control of multiple inspection robots working on the same site, resulting in low risk management accuracy of construction power equipment on the construction site, which in turn makes the management of the construction site more difficult.

[0004] The first aspect disclosed in the present application provides an automated inspection management system for a wheeled inspection robot, the system comprising: a risk assessment module, the risk assessment module being used to call the engineering construction information of the target inspection site, and to perform risk assessment of the construction power equipment based on the engineering construction information, to obtain multiple inspection management devices, wherein the multiple inspection management devices have multiple inspection frequency requirement identifiers; a standard inspection map acquisition module, the standard inspection map acquisition module being used to obtain the construction progress information of the target inspection site through an interactive construction management log, and to filter the engineering construction information based on the construction progress information, and to construct a standard inspection map based on the filtering results; an inspection content requirement extraction module, the inspection content requirement extraction module being used to extract the construction content from the engineering construction information; Information extraction of multiple inspection content requirements of the multiple inspection management devices; a technical specification acquisition module, the technical specification acquisition module is used to obtain K technical specifications of K wheeled inspection robots from the robot dispatch center; a target inspection route positioning module, the target inspection route positioning module is used to fit the multiple inspection management devices to the standard inspection map, and then, based on the multiple inspection frequency requirements, fit the inspection routes on the standard inspection map according to the multiple inspection content requirements and K technical specifications, and locate K target inspection routes; an automated inspection module, the automated inspection module is used to collaboratively control the K wheeled inspection robots to perform automated inspections of the multiple inspection management devices at the target inspection site based on the K target inspection routes.

[0005] The second aspect disclosed in the present application provides an automated inspection management method for a wheeled inspection robot, the method is implemented by the above-mentioned automated inspection management system for a wheeled inspection robot, the method comprises: calling the engineering construction information of the target inspection site, and performing risk assessment of the construction power equipment according to the engineering construction information, obtaining a plurality of inspection management devices, wherein the plurality of inspection management devices have a plurality of inspection frequency requirement identifiers; obtaining the construction progress information of the target inspection site through an interactive construction management log, and filtering the engineering construction information according to the construction progress information, and constructing an obtained inspection system based on the filtering results. A standard inspection map; extracting multiple inspection content requirements of the multiple inspection management devices from the engineering construction information; obtaining K technical specifications of K wheeled inspection robots from a robot dispatch center; after fitting the multiple inspection management devices to the standard inspection map, using the multiple inspection frequency requirements as constraints, fitting inspection routes on the standard inspection map according to the multiple inspection content requirements and K technical specifications, and locating K target inspection routes; based on the K target inspection routes, collaboratively controlling the K wheeled inspection robots to perform automated inspections of the multiple inspection management devices at the target inspection site.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0007] By calling the engineering construction information of the target inspection site before the inspection, the risk assessment of the construction power equipment is carried out. It is possible to screen multiple inspection management devices that need to be inspected according to the risk level of the equipment, and set multiple inspection frequency requirement identifiers, which makes the inspection work more targeted, ensures that high-risk equipment is monitored more frequently, and reduces the risk of equipment failure; the inspection content requirements of multiple inspection management devices are extracted and analyzed to ensure that the inspection robot can perform different inspection tasks according to the specific requirements of different equipment. This precise management method improves the accuracy of risk control in complex construction environments; multiple inspection management devices are fitted to standard inspection The inspection map is constructed, and the inspection frequency requirements are used as constraints. According to the inspection content requirements and robot technical specifications, the inspection route is fitted in the standard inspection map, all route combinations that meet the requirements are obtained, and the optimal route is searched among all combinations. Finally, the optimal target inspection route is determined. This not only ensures that each robot completes the inspection task according to the equipment requirements, but also optimizes the path selection, improves the inspection efficiency and accuracy; K wheeled inspection robots are called, and collaboratively controlled based on the K target inspection routes, which effectively allocates tasks between different robots and avoids resource waste and path conflicts. This collaborative working mode improves the efficiency and consistency of the overall inspection.

[0008] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of the structure of an automated inspection management system for a wheeled inspection robot provided in an embodiment of the present application;

[0010] Figure 2 A schematic flow chart of an automated inspection management method for a wheeled inspection robot provided in an embodiment of the present application;

[0011] Figure 3 An exemplary inspection route map for an automated inspection management method for a wheeled inspection robot provided in an embodiment of the present application.

[0012] Explanation of the reference numerals: risk assessment module 10 , standard inspection map acquisition module 20 , inspection content requirement extraction module 30 , technical specification acquisition module 40 , target inspection route positioning module 50 , automated inspection module 60 . DETAILED DESCRIPTION

[0013] The embodiments of the present application provide an automated inspection management system and method for wheeled inspection robots, thereby solving the technical problem that the prior art lacks effective collaborative control of multiple inspection robots working at the same site, resulting in low risk management accuracy of construction power equipment at the construction site, and further making the management of the construction site more difficult.

[0014] After introducing the basic principles of the present application, various non-limiting implementation methods of the present application will be specifically introduced below in conjunction with the accompanying drawings of the specification. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0015] Embodiment 1, as Figure 1 As shown, the embodiment of the present application provides an automated inspection management system for a wheeled inspection robot, the system comprising:

[0016] A risk assessment module 10, the risk assessment module 10 is used to call the engineering construction information of the target inspection site, and perform risk assessment of the construction power equipment according to the engineering construction information, and obtain multiple inspection management devices, wherein the multiple inspection management devices have multiple inspection frequency requirement identifiers; a standard inspection map acquisition module 20, the standard inspection map acquisition module 20 is used to obtain the construction progress information of the target inspection site through the interactive construction management log, and filter the engineering construction information according to the construction progress information, and construct a standard inspection map based on the filtering results; an inspection content requirement extraction module 30, the inspection content requirement extraction module 30 is used to extract multiple inspection content of the multiple inspection management devices from the engineering construction information Requirements; a technical specification acquisition module 40, the technical specification acquisition module 40 is used to obtain K technical specifications of K wheeled inspection robots from the robot dispatch center; a target inspection route positioning module 50, the target inspection route positioning module 50 is used to fit the multiple inspection management devices to the standard inspection map, and then fit the inspection routes on the standard inspection map based on the multiple inspection content requirements and K technical specifications, with the multiple inspection frequency requirements as constraints, to locate K target inspection routes; an automated inspection module 60, the automated inspection module 60 is used to collaboratively control the K wheeled inspection robots to perform automated inspections of the multiple inspection management devices at the target inspection site based on the K target inspection routes.

[0017] Furthermore, the risk assessment module 10 further includes the following operation steps:

[0018] Extract construction power equipment from the target inspection site to obtain first construction power equipment, wherein the target inspection site includes H construction power equipment, wherein H is a positive integer; extract first equipment information of the first construction power equipment from the construction management log, wherein the first equipment information includes a first service life remainder, a first usage frequency, a first load deviation frequency, a first number of associated equipment, a first temperature deviation frequency, a first fault frequency and a first vibration deviation frequency; perform quantitative equipment risk assessment based on the first equipment information to obtain a first equipment risk coefficient; use the first equipment risk coefficient to traverse a pre-constructed risk inspection frequency table, and if the traversal output result is inspection frequency data, set the first construction power equipment to be a first inspection management device, and use the inspection frequency data as a first inspection frequency requirement to identify the first inspection management device; and so on, perform risk assessment on the H construction power equipment to obtain the multiple inspection management devices.

[0019] Furthermore, the risk assessment module 10 further includes the following operation steps:

[0020] If the traversal output result is an empty set, the first construction power equipment is set as an inspection taboo.

[0021] Furthermore, the risk assessment module 10 further includes the following operation steps:

[0022] A pre-built equipment risk assessment function is as follows:

[0023] ;

[0024] in, is the risk factor for equipment use, The remaining service years. Design service life, is the frequency of use, is the load deviation frequency, is the number of associated devices, is the temperature deviation frequency, is the fault frequency, Δf is the vibration deviation frequency; the first design service life is obtained according to the serial number of the first construction power equipment; the first design service life and the first equipment information are synchronized to the equipment risk evaluation function to perform quantitative equipment risk evaluation to obtain the first equipment risk coefficient.

[0025] Furthermore, the target inspection route positioning module 50 further includes the following operation steps:

[0026] Extract K inspection function information and K robot performance parameters from the K technical specifications; predefine an inspection cycle, and calculate K inspection distance constraints based on the inspection cycle and the K robot performance parameters; extract multiple device location information of the multiple inspection management devices from the engineering construction information; mark the multiple inspection management devices in the standard inspection map according to the multiple device location information to obtain an updated inspection map; perform inspection route fitting in the updated inspection map according to the multiple inspection content requirements, the K inspection function information and the K inspection distance constraints to obtain a set of K inspection routes; and optimally locate the K target inspection routes in the set of K inspection routes with the multiple inspection frequency requirements as constraints.

[0027] Furthermore, the target inspection route positioning module 50 further includes the following operation steps:

[0028] The first inspection function information and the first inspection distance constraint of the first wheeled inspection robot are obtained from the K inspection function information and the K inspection distance constraints, wherein the first wheeled inspection robot is any one of the K wheeled inspection robots; the first inspection function information is used to traverse the multiple inspection content requirements to obtain M inspection management devices with inspection function-inspection content matching, wherein M is a positive integer; the inspection coverage paths of the M inspection management devices are fitted with the first inspection distance as a constraint in the updated inspection map to obtain a first inspection route set; and so on, inspection routes are fitted in the updated inspection map according to the multiple inspection content requirements, the K inspection function information and the K inspection distance constraints to obtain the K inspection route set.

[0029] Furthermore, the target inspection route positioning module 50 further includes the following operation steps:

[0030] The K inspection route sets are combined and enumerated to obtain multiple backup inspection route combinations; a standard test cycle is calculated based on the inspection cycle and multiple inspection frequency requirements; and with the standard test cycle as a constraint, the multiple backup inspection route combinations are run in the updated inspection map to obtain the K target inspection routes that meet the multiple inspection frequency requirements.

[0031] Furthermore, the target inspection route positioning module 50 further includes the following operation steps:

[0032] A first backup inspection route combination is randomly extracted from the multiple backup inspection route combinations, wherein the first backup inspection route combination includes K inspection routes; the first backup inspection route combination is run in the updated inspection map with the standard test cycle as a constraint to obtain a first inspection frequency record, wherein the first inspection frequency record includes multiple simulated inspection frequencies of the multiple inspection management devices; the multiple inspection frequency requirements are updated using the standard test cycle to obtain multiple inspection frequency standards; and it is determined whether the multiple simulated inspection frequencies are mapped to meet the requirements. The multiple inspection frequency standards are described; if the multiple simulated inspection frequency mappings satisfy the multiple inspection frequency standards, then a first inspection fitness between the multiple simulated inspection frequencies and the multiple inspection frequency standards is calculated based on the Euclidean distance; and so on, the multiple backup inspection route combinations are screened to obtain F backup inspection route combinations and F inspection fitnesses; the F inspection fitnesses are serialized, and a target inspection route combination is located in the F backup inspection route combinations based on the sequence extreme value, wherein the target inspection route combination includes the K target inspection routes.

[0033] Furthermore, the target inspection route positioning module 50 further includes the following operation steps:

[0034] If the multiple simulated inspection frequencies do not meet the multiple inspection frequency standards, the first backup inspection route combination is deleted.

[0035] Through the subsequent detailed description of the automated inspection management method for a wheeled inspection robot in this specification, technical personnel in this field can clearly understand the automated inspection management system for a wheeled inspection robot in this embodiment. Since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0036] Embodiment 2, based on the same inventive concept as the automated inspection management system for wheeled inspection robots in the aforementioned embodiments, Figure 2 As shown, an embodiment of the present application provides an automated inspection management method for a wheeled inspection robot, the method comprising:

[0037] The engineering construction information of the target inspection site is called, and a risk assessment of the construction power equipment is performed based on the engineering construction information to obtain a plurality of inspection management devices, wherein the plurality of inspection management devices have a plurality of inspection frequency requirement identifiers.

[0038] The project construction information of the target inspection site is called from the project management system, including the construction plan, equipment installation progress, equipment model and configuration, site layout, etc. The construction power equipment information is extracted from the project construction information, including the service life margin, usage frequency, load deviation frequency, number of related equipment, temperature deviation frequency, and vibration deviation frequency. Based on the extracted information, the risk coefficient of each device is calculated through the equipment risk evaluation function. The higher the risk coefficient, the greater the probability of equipment failure, and more frequent inspections are required.

[0039] According to the risk factor of each device, the pre-constructed risk inspection frequency table is traversed. The table corresponds different risk factor ranges to specific inspection frequency requirements, corresponding to multiple adjacent device risk factor intervals. If the risk factor is too small and does not fall into any risk factor interval, then the device does not need inspection management. For each device that falls into the risk factor interval, it is marked as a device that needs to be inspected and managed, and its corresponding inspection frequency is used as the inspection frequency requirement identifier of the device. Finally, all devices that meet the conditions and their corresponding inspection frequency requirement identifiers are output to obtain multiple inspection management devices and corresponding multiple inspection frequency requirement identifiers.

[0040] The interactive construction management log obtains the construction progress information of the target inspection site, and filters the engineering construction information according to the construction progress information, and constructs a standard inspection map based on the filtering result.

[0041] Obtain the construction management log from the construction management system. The construction management log is a document used to record various construction activities, events, progress and related information during the construction process. It is usually written and maintained by the construction project manager or construction supervisor and is an important part of project management. Parse the obtained construction management log to extract the construction progress information of the target inspection site. This information can be divided into multiple dimensions, such as the construction timeline, current completion status, resource input status, etc. Mark the progress nodes that have a key impact on the inspection in the construction progress, such as the completion of the installation of a specific equipment, the completion of a certain stage, etc., to obtain the construction progress information.

[0042] The construction progress information is matched with the previously obtained engineering construction information to filter out the construction information related to the current construction progress, including power equipment information corresponding to the current construction stage, completed equipment information, unfinished or delayed equipment information, etc.

[0043] Based on the screened engineering construction information, an initial inspection map of the target inspection site is constructed. The map covers all equipment that needs to be inspected and identifies their locations and relationships. According to the latest construction progress information, the initial inspection map is dynamically adjusted, including adding equipment that has been completed and put into use, removing unfinished equipment or equipment that does not affect the inspection, etc., and finally a standard inspection map is generated. This map will be used as part of the inspection management system to guide actual inspection work.

[0044] A plurality of inspection content requirements of the plurality of inspection management devices are extracted from the engineering construction information.

[0045] Extract multiple inspection content requirements of multiple inspection management devices from the engineering construction information, that is, generate a search instruction with the inspection content requirements as the search term, and extract specific inspection content requirements corresponding to the specific inspection management equipment from the engineering construction information. The inspection content requirements include equipment status inspection requirements, abnormal sound inspection requirements, overheating inspection requirements, etc. Specifically, the equipment status inspection requirements include operating status inspection, physical status inspection, etc. The operating status inspection, for example, detects whether the equipment has been started, whether the operation is smooth, whether there is an abnormal shutdown record, etc. The physical status inspection, for example, detects whether there is wear, whether the casing is intact, whether the connection is firm, etc.; the abnormal sound inspection requirements include detecting abnormal noise when the equipment is started, sharp noise during operation, noise caused by vibration, etc.; the overheating inspection requirements include detecting the operating temperature of the equipment, the installation environment temperature, and the working status of the cooling system, etc., to determine whether it is within the normal operating temperature range.

[0046] The K technical specifications of the K wheeled inspection robots are obtained from the robot dispatch center.

[0047] Establish a connection with the robot dispatch center and query to obtain a list of all wheeled inspection robots that are currently idle. The idle state means that these robots are not currently occupied by other tasks and can be dispatched immediately. Wheeled inspection robots are usually equipped with multiple wheels, similar to the wheels of a car, which can roll and move. This design allows them to move quickly and smoothly on flat or smooth surfaces.

[0048] The first K idle wheeled inspection robots are selected from the query results, where K is a positive integer. The selection criteria can be set according to priority indicators such as time sequence and robot performance. The K technical specifications of the K wheeled inspection robots are retrieved, including power performance, functional configuration, etc., where power performance includes battery capacity, load capacity, endurance, etc.; functional configuration indicates the functions that the robot can achieve, specifically the types of sensors carried on the robot, such as cameras, temperature sensors, sound sensors, etc. The technical specifications are used to analyze their compatibility with the current inspection tasks. For example, if some inspection tasks require high-precision environmental perception and long-term inspection capabilities, robots with large battery capacity and rich sensor configurations are preferred.

[0049] After fitting the multiple inspection management devices to the standard inspection map, the inspection routes are fitted on the standard inspection map based on the multiple inspection frequency requirements and K technical specifications to locate K target inspection routes.

[0050] Using the geographic information on the standard inspection map, multiple inspection management devices are located at specific locations on the map. This process can be performed by using coordinate transformation (such as conversion from a local coordinate system to a global coordinate system) or calibration technology to create a virtual marker for each inspection management device on the standard inspection map as a reference point for inspection route planning.

[0051] According to the inspection frequency requirements of each inspection management device, for example, if a device needs to be inspected once every hour, a constraint set {fi} can be defined, where fi represents the inspection frequency of the i-th device. Each device is identified according to the constraint set. These frequency requirements serve as constraints for inspection route planning, that is, no matter how the route is planned, the inspection frequency requirements of each device must be met.

[0052] Taking the inspection content requirements of the equipment as the target, such as equipment status inspection, abnormal sound monitoring, overheating detection, etc., the technical specifications of K wheeled inspection robots are analyzed to determine whether they meet various inspection content requirements. For example, if a certain equipment requires abnormal sound detection, a robot equipped with a high-sensitivity sound sensor is required. Based on the analysis results, one or more inspection targets that match each wheeled inspection robot are determined.

[0053] Select a path planning algorithm, such as the Dijkstra algorithm, A* algorithm, etc., and perform path planning based on the matching relationship between the equipment location and the inspection robot-inspection target. Specifically, in each sub-area, use the shortest path algorithm to generate an inspection route from one device to another. Generate a set of K inspection routes based on the path planning results. Each inspection robot in the set corresponds to one or more initial inspection routes. These routes pass through all key inspection points and meet the inspection content requirements.

[0054] With multiple inspection frequency requirements as constraints, the optimal positioning is sought in a set of K inspection routes to obtain K target inspection routes. Each route is an inspection task path exclusive to a wheeled inspection robot, which meets the inspection content requirements and is closest to the inspection frequency requirements.

[0055] Based on the K target inspection routes, the K wheeled inspection robots are collaboratively controlled to perform automated inspections of the multiple inspection management devices at the target inspection site.

[0056] According to the target inspection route of each wheeled inspection robot, the corresponding wheeled inspection robot is controlled to perform automated inspection of the inspection management equipment at the target inspection site. Specifically, traditional control algorithms such as PID controller (proportional-integral-differential controller) or fuzzy logic controller are used to adjust the movement direction and speed of the robot according to the real-time position to ensure that the K wheeled inspection robots travel along their respective target inspection routes. During the driving process, the inspection equipment detection, data collection, status reporting and other steps are started. After each robot reaches the designated inspection point, it automatically performs the inspection task at that point and uploads the results to the central dispatch center to provide decision support for the management personnel at the construction site and help them take necessary maintenance measures in a timely manner.

[0057] Through the above steps, K wheeled inspection robots can efficiently and automatically perform the inspection tasks of multiple inspection management equipment at the target inspection site, ensuring the normal operation of the equipment and the safety of the construction site. This collaborative control method not only improves the efficiency of the inspection, but also enhances the intelligence and flexibility of the entire system.

[0058] Furthermore, the engineering construction information of the target inspection site is called, and the risk assessment of the construction power equipment is performed according to the engineering construction information to obtain multiple inspection management devices. The method also includes:

[0059] Extract construction power equipment from the target inspection site to obtain first construction power equipment, wherein the target inspection site includes H construction power equipment, wherein H is a positive integer; extract first equipment information of the first construction power equipment from the construction management log, wherein the first equipment information includes a first service life remainder, a first usage frequency, a first load deviation frequency, a first number of associated equipment, a first temperature deviation frequency, a first fault frequency and a first vibration deviation frequency; perform quantitative equipment risk assessment based on the first equipment information to obtain a first equipment risk coefficient; use the first equipment risk coefficient to traverse a pre-constructed risk inspection frequency table, and if the traversal output result is inspection frequency data, set the first construction power equipment to be a first inspection management device, and use the inspection frequency data as a first inspection frequency requirement to identify the first inspection management device; and so on, perform risk assessment on the H construction power equipment to obtain the multiple inspection management devices.

[0060] Through the construction management system, all construction power equipment at the target inspection site are obtained, specifically including H construction power equipment, where H is a positive integer, and an analysis object is randomly extracted from the H construction power equipment as the first construction power equipment.

[0061] Access and parse the construction management log, extract the first equipment information of the first construction power equipment, among which the first service life balance is the remaining service life of the equipment, which is obtained based on the equipment's installation date, service life, maintenance records and other information. This data can be used to evaluate the aging of the equipment and the risk of possible failure in the future; the first usage frequency is the actual usage frequency of the equipment, which is used to measure the operating frequency of the equipment within a certain period of time, and help determine the working intensity and possible degree of wear of the equipment; the first load deviation frequency is the load fluctuation of the equipment during operation, which is used to analyze whether the equipment often works in an overload or underload state, which may cause premature damage to the equipment or reduce its efficiency; the first level The number of associated devices characterizes the association of the device in the system, especially the fault association or usage association with other devices. If the device works independently, the number of associated devices is 1. If the device works in conjunction with multiple devices, the number will be larger. This information is used to assess the risk of cascading failures in the system; the first temperature deviation frequency is the temperature data of the device during operation, which is used to analyze whether the temperature of the device deviates from the normal range. Abnormal temperature is usually a signal of overheating or poor cooling of the equipment; the first fault frequency is the frequency of shutdown caused by equipment failure; the first vibration deviation frequency is the vibration data of the equipment during operation, which is used to determine whether the equipment has abnormal vibration. Abnormal vibration may indicate mechanical failure or component wear.

[0062] Based on the pre-built equipment risk evaluation function, the first equipment information is evaluated for equipment risk quantification, and the first equipment risk coefficient is calculated as the final result of equipment risk quantification, ranging from 0 to 1, and the higher the value, the greater the risk.

[0063] The pre-built risk inspection frequency table contains multiple adjacent risk factor intervals, each of which corresponds to a specific equipment inspection frequency. For example, equipment with a risk factor of 0.8-1.0 needs to be inspected once an hour, while equipment with a risk factor of 0.5-0.7 only needs to be inspected once every two hours. Each risk factor interval corresponds to specific inspection frequency data, which determines the inspection frequency requirements of the equipment.

[0064] According to the calculated risk coefficient of the first equipment, traverse the risk inspection frequency table to find the interval in which the coefficient falls. If the risk coefficient falls within a certain risk interval, extract the corresponding inspection frequency data. If the coefficient is too small and does not fall within the risk coefficient interval, the equipment will not be included in the inspection plan.

[0065] If the traversal output result is inspection frequency data, the first construction power equipment is set as the first inspection management device, and the matched inspection frequency data is used as the inspection frequency requirement identifier of the first inspection management device to facilitate subsequent scheduling and execution of automated inspection tasks.

[0066] By analogy, H construction power equipment are traversed to obtain multiple inspection management devices whose output results are inspection frequency data. These devices have corresponding inspection frequency requirement identifiers.

[0067] Furthermore, the method further comprises:

[0068] If the traversal output result is an empty set, the first construction power equipment is set as an inspection taboo.

[0069] When the risk factor of a device is too low and does not fall into any risk interval, it means that no risk factor interval can match the risk factor of the current device. The traversal output result is an empty set. For devices with an empty set as the traversal output result, their status is set to inspection taboo to make it clear that the device is not within the scope of regular inspections to avoid resource waste. This strategy ensures that inspection resources can be concentrated on high-risk devices, while also ensuring that low-risk devices are not over-managed.

[0070] Furthermore, based on the first equipment information, a quantitative evaluation of equipment risk is performed to obtain a first equipment risk coefficient, and the method further includes:

[0071] A pre-built equipment risk assessment function is as follows:

[0072] ;

[0073] in, is the risk factor for equipment use, The remaining service years. Design service life, is the frequency of use, is the load deviation frequency, is the number of associated devices, is the temperature deviation frequency, is the fault frequency, Δf is the vibration deviation frequency; the first design service life is obtained according to the serial number of the first construction power equipment; the first design service life and the first equipment information are synchronized to the equipment risk evaluation function to perform quantitative equipment risk evaluation to obtain the first equipment risk coefficient.

[0074] Specifically, the equipment risk assessment function calculates the equipment use risk coefficient by comprehensively considering the equipment's service life margin, usage frequency, load deviation, number of associated equipment, temperature deviation, failure frequency, and vibration deviation. ,The function provides a comprehensive risk assessment index by comprehensively calculating these factors, which helps to predict the potential risks of the equipment, thus guiding maintenance and management decisions.

[0075] The serial number of the first construction power equipment is extracted from the equipment record. The serial number is the unique identifier of the equipment. The serial number of the equipment is used to query the design service life of the equipment in the equipment management system. The design service life is the effective service life predetermined for the equipment during the design phase, indicating the expected life cycle of the equipment under normal use conditions.

[0076] The first design service life and the first equipment information are synchronized to the equipment risk evaluation function to perform equipment risk quantitative evaluation. The first equipment risk coefficient is obtained after calculation as the final result of equipment risk quantification, which ranges from 0 to 1. The higher the value, the greater the risk.

[0077] For example, assuming that the service life margin is 10 years, the design service life is 20 years, the use frequency is 0.7, the load deviation frequency is 0.2, the number of associated equipment is 3, the temperature deviation frequency is 0.05, indicating that the probability of temperature deviation is 5%, the failure frequency is 0.1, indicating a 10% failure probability, and the vibration deviation frequency is 0.03, indicating a 3% vibration deviation probability. Substitute these example parameters into the function and calculate to obtain the equipment use risk coefficient: It is 0.9004. By adjusting the above parameters, the risks of different equipment or equipment under different conditions can be quantitatively evaluated.

[0078] Further, after fitting the multiple inspection management devices to the standard inspection map, taking the multiple inspection frequency requirements as constraints, performing inspection route fitting on the standard inspection map according to the multiple inspection content requirements and K technical specifications, and locating K target inspection routes, the method further includes:

[0079] Extract K inspection function information and K robot performance parameters from the K technical specifications; predefine an inspection cycle, and calculate K inspection distance constraints based on the inspection cycle and the K robot performance parameters; extract multiple device location information of the multiple inspection management devices from the engineering construction information; mark the multiple inspection management devices in the standard inspection map according to the multiple device location information to obtain an updated inspection map; perform inspection route fitting in the updated inspection map according to the multiple inspection content requirements, the K inspection function information and the K inspection distance constraints to obtain a set of K inspection routes; and optimally locate the K target inspection routes in the set of K inspection routes with the multiple inspection frequency requirements as constraints.

[0080] like Figure 3 As shown, an exemplary inspection route map is provided, wherein the inspection route map includes multiple inspection routes of multiple inspection robots, each inspection route has equipment identifications of multiple inspection devices and each inspection route is a closed loop route; there are intersections between the multiple inspection routes, and there are also inspection equipment identifications at the intersections, and the inspection equipment at the intersections is the inspection object whose inspection frequency cannot be met based on a single loop inspection route.

[0081] K inspection function information and K robot performance parameters are extracted from K technical specifications, where the performance parameters include battery capacity, load capacity, endurance time, etc. The inspection function indicates the functions that the robot can achieve, such as detecting equipment temperature, detecting sound, etc., specifically the types of sensors carried on the robot, such as cameras, temperature sensors, sound sensors, and sensor detection accuracy.

[0082] The predefined inspection cycle refers to the time interval at which each device needs to be inspected. For example, it is set to conduct inspections every hour, every day, or every week. The inspection cycle is determined based on the risk assessment and management needs of the device. The length of the cycle usually depends on the importance and usage of the device.

[0083] The robot's performance parameters are combined with the predefined inspection cycle to calculate the inspection distance constraint. The inspection distance constraint represents the inspection range that the robot can cover within a cycle. Specifically, the robot's performance parameters, such as maximum inspection speed and endurance, are used to calculate the maximum distance the robot can travel within the predefined inspection cycle. This distance is affected by factors such as battery life and inspection cycle time limit. Finally, K inspection distance constraints are generated. Each constraint corresponds to a robot, indicating the maximum inspection distance that the robot can cover within the predefined inspection cycle.

[0084] The location data of multiple inspection and management devices are extracted from the engineering construction information, such as the geographical coordinates of the devices, to obtain the location information of multiple devices.

[0085] Use the extracted location information of multiple devices to mark the actual location of each device on the standard inspection map. According to the location data, place the device mark at the corresponding position on the map, save and generate an updated inspection map, which contains the latest location information of all devices that need to be inspected.

[0086] Inspection routes are fitted on the updated inspection map, taking into account the location of each device, inspection content requirements, robot functions, and distance constraints to generate suitable inspection routes, where each robot corresponds to multiple routes, each route meets the inspection content requirements and distance constraints, and the obtained inspection routes form a set of K inspection routes.

[0087] The optimization goal is set, that is, to select the best K inspection routes from all the generated K inspection routes to meet all inspection frequency requirements. According to the optimization goal, the optimization algorithm is used to screen and obtain the best K target inspection routes. These routes meet the inspection frequency requirements of all equipment and make full use of the functions and performance of the robot during the inspection process.

[0088] Further, according to the multiple inspection content requirements, K inspection function information and K inspection distance constraints, inspection route fitting is performed on the updated inspection map to obtain K inspection route sets, and the method further includes:

[0089] The first inspection function information and the first inspection distance constraint of the first wheeled inspection robot are obtained from the K inspection function information and the K inspection distance constraints, wherein the first wheeled inspection robot is any one of the K wheeled inspection robots; the first inspection function information is used to traverse the multiple inspection content requirements to obtain M inspection management devices with inspection function-inspection content matching, wherein M is a positive integer; the inspection coverage paths of the M inspection management devices are fitted with the first inspection distance as a constraint in the updated inspection map to obtain a first inspection route set; and so on, inspection routes are fitted in the updated inspection map according to the multiple inspection content requirements, the K inspection function information and the K inspection distance constraints to obtain the K inspection route set.

[0090] Any one of the K wheeled inspection robots is selected as an analysis object as the first wheeled inspection robot, and the first inspection function information and the first inspection distance constraint of the first wheeled inspection robot are obtained from the K inspection function information and the K inspection distance constraints.

[0091] List all multiple inspection content requirements, including equipment status check, abnormal sound detection, overheat detection, etc. Compare the functional information of the selected first-wheel inspection robot with multiple inspection content requirements one by one, and check whether each requirement can be met by the first-wheel inspection robot. For example, if the robot is equipped with a temperature sensor, it can meet the overheat detection requirement. Record all M inspection management devices that can match the functional information of the first-wheel inspection robot, where M is a positive integer. The requirements of these devices match the functions of the robot and can complete the relevant inspection tasks.

[0092] The first inspection distance constraint, i.e., the inspection distance constraint of the first wheeled inspection robot, indicates the maximum distance that the robot can effectively cover. In updating the inspection map, multiple possible inspection paths are generated according to the geographical locations of the M inspection management devices and the first inspection distance constraint. The paths can cover all the M devices, or partially cover the devices. As long as the final path can meet the inspection requirements of all devices, all generated inspection paths are recorded to form a first inspection route set. This set includes all paths that meet the inspection distance constraint. These paths may fully or partially cover the M devices.

[0093] By analogy, the same analysis process is performed on K wheeled inspection robots to form K inspection route sets, each of which contains all paths that meet all the aforementioned requirements.

[0094] Furthermore, taking the multiple inspection frequency requirements as constraints, optimally locating the K target inspection routes in the set of K inspection routes, the method further includes:

[0095] The K inspection route sets are combined and enumerated to obtain multiple backup inspection route combinations; a standard test cycle is calculated based on the inspection cycle and multiple inspection frequency requirements; and with the standard test cycle as a constraint, the multiple backup inspection route combinations are run in the updated inspection map to obtain the K target inspection routes that meet the multiple inspection frequency requirements.

[0096] Different combinations are selected from the K inspection route sets to form backup inspection route combinations, and a combination algorithm, such as a combination generation algorithm, a permutation combination, etc., is used to generate all possible multiple backup inspection route combinations, each combination including a group of K inspection routes selected from the K inspection route sets.

[0097] The standard test cycle is calculated based on the inspection cycle and multiple inspection frequency requirements. This standard test cycle can cover the inspection frequency requirements of all devices. The standard test cycle is a time period during which all devices need to be inspected to meet their frequency requirements. Specifically, the inspection frequency requirements of each device are analyzed, and a test cycle is derived based on these requirements so that the inspection frequency requirements of all devices can be met within this cycle. For example, if device A needs to be inspected once an hour and device B needs to be inspected once a day, the standard test cycle can be one day or longer to ensure that the requirements of all devices can be met within this cycle.

[0098] With the standard test cycle as a constraint, ensure that all alternatives can complete the inspection task within the standard test cycle, run each alternative inspection route combination on the updated inspection map, use simulation tools, apply these combinations to the map to evaluate their effectiveness, monitor the operation effect of each alternative inspection route combination within the standard test cycle, including the coverage of each route, the inspection frequency of equipment, and the completion of inspection tasks, and conduct frequency demand checks to ensure that each alternative inspection route combination can meet the inspection frequency requirements of all equipment, specifically to check whether the actual inspection frequency of the equipment meets the predetermined frequency requirements. Select K target inspection routes that can meet all inspection frequency requirements from the operation results.

[0099] Furthermore, taking the standard test cycle as a constraint, running the plurality of standby inspection route combinations in the updated inspection map to obtain the K target inspection routes that meet the plurality of inspection frequency requirements, the method further includes:

[0100] A first backup inspection route combination is randomly extracted from the multiple backup inspection route combinations, wherein the first backup inspection route combination includes K inspection routes; the first backup inspection route combination is run in the updated inspection map with the standard test cycle as a constraint to obtain a first inspection frequency record, wherein the first inspection frequency record includes multiple simulated inspection frequencies of the multiple inspection management devices; the multiple inspection frequency requirements are updated using the standard test cycle to obtain multiple inspection frequency standards; and it is determined whether the multiple simulated inspection frequencies are mapped to meet the requirements. The multiple inspection frequency standards are described; if the multiple simulated inspection frequency mappings satisfy the multiple inspection frequency standards, then a first inspection fitness between the multiple simulated inspection frequencies and the multiple inspection frequency standards is calculated based on the Euclidean distance; and so on, the multiple backup inspection route combinations are screened to obtain F backup inspection route combinations and F inspection fitnesses; the F inspection fitnesses are serialized, and a target inspection route combination is located in the F backup inspection route combinations based on the sequence extreme value, wherein the target inspection route combination includes the K target inspection routes.

[0101] A random method is used to randomly extract an analysis object from multiple backup inspection route combinations as a first backup inspection route combination, and the combination includes K inspection routes.

[0102] Applying the standard test cycle to the test of the backup inspection route combination, and running the extracted first backup inspection route combination on the updated inspection map can be implemented using simulation software. During the simulation operation, the simulated inspection frequency data of each device is recorded and integrated to generate a first inspection frequency record, which includes multiple simulated inspection frequencies of multiple inspection management devices.

[0103] The inspection frequency standard is updated according to the standard test cycle and the specific inspection frequency requirements of each inspection management device. The inspection frequency standard stipulates the number of inspections that should be carried out on each device within the standard test cycle as a benchmark for subsequent verification.

[0104] Each simulated inspection frequency is compared with the corresponding inspection frequency standard to determine whether the simulated inspection frequency of each device meets the corresponding standard.

[0105] If all simulated inspection frequencies meet the corresponding inspection frequency standards, it means that the selected inspection route combination can theoretically meet the actual inspection needs. In this case, further inspection fitness calculation is performed. Specifically, Euclidean distance is used to calculate the straight-line distance between two vectors. The vectors here are the simulated frequency and standard frequency of each inspection management device. The distance between each pair of simulated inspection frequencies and the inspection frequency standard is calculated using the Euclidean distance formula, and all distances are added and averaged to obtain the first Euclidean distance. The first inspection fitness is obtained by reverse calculation of the Euclidean distance, that is, the smaller the distance, the higher the fitness.

[0106] By analogy, the multiple backup inspection route combinations are analyzed one by one to obtain F backup inspection route combinations, which all meet the inspection frequency standard of the simulated inspection frequency mapping, and the inspection fitness is calculated for the F backup inspection route combinations to obtain F inspection fitness.

[0107] The selected F backup inspection route combinations are sorted from high to low according to the fitness, and the sorted fitness values ​​are used to generate a sequence, where each element in the sequence corresponds to a backup inspection route combination. The extreme value of the fitness, that is, the maximum value, is found from the sequence. The inspection route combination corresponding to the extreme value best meets the inspection requirements, so it is used as the optimal inspection route combination. This combination has the highest fitness, indicating that they perform best in meeting the inspection requirements. The target inspection route combination includes K target inspection routes.

[0108] Furthermore, the method further comprises:

[0109] If the multiple simulated inspection frequencies do not meet the multiple inspection frequency standards, the first backup inspection route combination is deleted.

[0110] If any of the multiple simulated inspection frequencies does not meet its corresponding standard inspection frequency, it is determined that the backup inspection route combination as a whole does not meet the standard. In this case, the first backup inspection route combination is deleted to remove the combination that does not meet the standard, thereby ensuring that the final selected inspection plan can effectively meet the equipment inspection needs.

[0111] In summary, the automated inspection management method for a wheeled inspection robot provided in the embodiments of the present application has the following technical effects:

[0112] By calling the engineering construction information of the target inspection site before the inspection, the risk assessment of the construction power equipment is carried out. It is possible to screen multiple inspection management devices that need to be inspected according to the risk level of the equipment, and set multiple inspection frequency requirement identifiers, which makes the inspection work more targeted, ensures that high-risk equipment is monitored more frequently, and reduces the risk of equipment failure; the inspection content requirements of multiple inspection management devices are extracted and analyzed to ensure that the inspection robot can perform different inspection tasks according to the specific requirements of different equipment. This precise management method improves the accuracy of risk control in complex construction environments; multiple inspection management devices are fitted to standard inspection The inspection map is constructed, and the inspection frequency requirements are used as constraints. According to the inspection content requirements and robot technical specifications, the inspection route is fitted in the standard inspection map, all route combinations that meet the requirements are obtained, and the optimal route is searched among all combinations. Finally, the optimal target inspection route is determined. This not only ensures that each robot completes the inspection task according to the equipment requirements, but also optimizes the path selection, improves the inspection efficiency and accuracy; K wheeled inspection robots are called, and collaboratively controlled based on the K target inspection routes, which effectively allocates tasks between different robots and avoids resource waste and path conflicts. This collaborative working mode improves the efficiency and consistency of the overall inspection.

[0113] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated inspection management system for a wheeled inspection robot, characterized in that: The system comprises: A risk assessment module, the risk assessment module is used to call the engineering construction information of the target inspection site, and perform risk assessment of the construction power equipment according to the engineering construction information, and obtain multiple inspection management devices, wherein the multiple inspection management devices have multiple inspection frequency requirement identifiers; A standard inspection map acquisition module, which is used to obtain the construction progress information of the target inspection site through the interactive construction management log, filter the engineering construction information according to the construction progress information, and construct a standard inspection map based on the filtering results; An inspection content requirement extraction module, the inspection content requirement extraction module is used to extract multiple inspection content requirements of the multiple inspection management devices from the engineering construction information; A technical specification acquisition module, wherein the technical specification acquisition module is used to obtain K technical specifications of K wheeled inspection robots from a robot dispatch center; A target inspection route positioning module, wherein the target inspection route positioning module is used to fit the multiple inspection management devices to the standard inspection map, and then, based on the multiple inspection frequency requirements, fit the inspection routes on the standard inspection map according to the multiple inspection content requirements and K technical specifications, and locate K target inspection routes; An automated inspection module, the automated inspection module being used to collaboratively control the K wheeled inspection robots to perform automated inspections of the multiple inspection management devices at the target inspection site based on the K target inspection routes; The risk assessment module further includes the following steps: Extracting construction power equipment from the target inspection site to obtain a first construction power equipment, wherein the target inspection site includes H construction power equipment, where H is a positive integer; Extracting and obtaining first equipment information of the first construction power equipment from the construction management log, wherein the first equipment information includes a first service life margin, a first usage frequency, a first load deviation frequency, a first number of associated equipment, a first temperature deviation frequency, a first fault frequency, and a first vibration deviation frequency; Performing a quantitative evaluation of equipment risk based on the first equipment information to obtain a first equipment risk coefficient; The pre-constructed risk inspection frequency table is traversed using the first equipment risk coefficient. If the traversal output result is inspection frequency data, the first construction power equipment is set as the first inspection management device, and the inspection frequency data is used as the first inspection frequency requirement to identify the first inspection management device; Similarly, risk assessment is performed on the H construction power equipment to obtain the multiple inspection management devices; The risk assessment module further includes the following steps: A pre-built equipment risk assessment function is as follows: ； in, is the risk factor for equipment use, The remaining service years. Design service life, is the frequency of use, is the load deviation frequency, is the number of associated devices, is the temperature deviation frequency, is the fault frequency, Δf is the vibration deviation frequency; Obtaining a first design service life according to the serial number of the first construction power equipment; The first design service life and the first equipment information are synchronized to the equipment risk assessment function to perform quantitative equipment risk assessment to obtain the first equipment risk coefficient.

2. The automated inspection management system for a wheeled inspection robot according to claim 1, characterized in that: The risk assessment module further includes the following steps: If the traversal output result is an empty set, the first construction power equipment is set as an inspection taboo.

3. The automated inspection management system for a wheeled inspection robot according to claim 1, characterized in that: The target inspection route positioning module also includes the following operation steps: Extracting K inspection function information and K robot performance parameters from the K technical specifications; Predefine an inspection cycle, and calculate K inspection distance constraints based on the inspection cycle and K robot performance parameters; Extracting multiple device location information of the multiple inspection management devices from the engineering construction information; Marking the plurality of inspection management devices in the standard inspection map according to the plurality of device location information to obtain an updated inspection map; According to the multiple inspection content requirements, K inspection function information and K inspection distance constraints, inspection route fitting is performed on the updated inspection map to obtain K inspection route sets; Taking the multiple inspection frequency requirements as constraints, the K target inspection routes are optimally located in the set of K inspection routes.

4. The automated inspection management system for a wheeled inspection robot according to claim 3, characterized in that: The target inspection route positioning module also includes the following operation steps: Obtaining first inspection function information and first inspection distance constraint of a first wheeled inspection robot from the K inspection function information and the K inspection distance constraints, wherein the first wheeled inspection robot is any one of the K wheeled inspection robots; Using the first inspection function information to traverse the multiple inspection content requirements, obtain M inspection management devices with matching inspection functions and inspection contents, where M is a positive integer; In the updated inspection map, the inspection coverage paths of the M inspection management devices are fitted with the first inspection distance as a constraint to obtain a first inspection route set; By analogy, inspection routes are fitted in the updated inspection map according to the multiple inspection content requirements, K inspection function information and K inspection distance constraints to obtain the K inspection route sets.

5. The automated inspection management system for a wheeled inspection robot according to claim 4, characterized in that: The target inspection route positioning module also includes the following operation steps: Combining and enumerating the K inspection route sets to obtain multiple backup inspection route combinations; Calculate and obtain a standard test cycle based on the inspection cycle and multiple inspection frequency requirements; Taking the standard test cycle as a constraint, the multiple backup inspection route combinations are run in the updated inspection map to obtain the K target inspection routes that meet the multiple inspection frequency requirements.

6. The automated inspection management system for a wheeled inspection robot according to claim 5, characterized in that: The target inspection route positioning module also includes the following operation steps: Randomly extracting a first standby inspection route combination from the plurality of standby inspection route combinations, wherein the first standby inspection route combination includes K inspection routes; Taking the standard test cycle as a constraint, running the first backup inspection route combination in the updated inspection map to obtain a first inspection frequency record, wherein the first inspection frequency record includes multiple simulated inspection frequencies of the multiple inspection management devices; Adopting the standard test cycle to update the multiple inspection frequency requirements and obtain multiple inspection frequency standards; Determining whether the mapping of the multiple simulated inspection frequencies satisfies the multiple inspection frequency standards; If the multiple simulated inspection frequency mappings satisfy the multiple inspection frequency standards, calculating a first inspection fitness between the multiple simulated inspection frequencies and the multiple inspection frequency standards based on the Euclidean distance; Similarly, the plurality of backup inspection route combinations are screened to obtain F backup inspection route combinations and F inspection suitability degrees; The F inspection fitnesses are sequenced, and a target inspection route combination is located among the F backup inspection route combinations based on the sequence extreme value, wherein the target inspection route combination includes the K target inspection routes.

7. The automated inspection management system for a wheeled inspection robot according to claim 6, characterized in that: The target inspection route positioning module also includes the following operation steps: If the multiple simulated inspection frequencies do not meet the multiple inspection frequency standards, the first backup inspection route combination is deleted.

8. An automated inspection management method for a wheeled inspection robot, characterized in that: Based on the implementation of the automated inspection management system for a wheeled inspection robot according to any one of claims 1 to 7, the method comprises: Calling the engineering construction information of the target inspection site, and performing risk assessment of the construction power equipment according to the engineering construction information, to obtain a plurality of inspection management devices, wherein the plurality of inspection management devices have a plurality of inspection frequency requirement identifiers; Interactive construction management log obtains the construction progress information of the target inspection site, and filters the engineering construction information according to the construction progress information, and constructs a standard inspection map based on the filtering results; Extracting multiple inspection content requirements of the multiple inspection management devices from the engineering construction information; Obtain K technical specifications of K wheeled inspection robots from the robot dispatch center; After fitting the multiple inspection management devices to the standard inspection map, taking the multiple inspection frequency requirements as constraints, fitting inspection routes on the standard inspection map according to the multiple inspection content requirements and K technical specifications, and locating K target inspection routes; Based on the K target inspection routes, the K wheeled inspection robots are collaboratively controlled to perform automated inspections of the multiple inspection management devices at the target inspection site.

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