An industrial robot visual inspection and planning system

Abstract

The present invention discloses an industrial robot visual detection and planning system, which relates to the field of detection and analysis technology, and includes a path confirmation module, which is used to confirm the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot; a visual detection module, which is used to confirm that the industrial robot executes the initial driving path, and collects basic information and video information corresponding to the industrial robot at each detection time node; a processing and analysis module, which is used to confirm the first deviation coefficient corresponding to the industrial robot according to the basic information corresponding to the industrial robot, and confirm the second deviation coefficient corresponding to the industrial robot based on the video information corresponding to the industrial robot; a planning and adjustment module, which is used to plan and adjust the initial driving path of the industrial robot according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and travel based on the planned and adjusted path. The present invention has the effect of improving the working efficiency of the industrial robot.

Description

Technical Field

[0001] The present application relates to the technical field of detection and analysis, and in particular to an industrial robot vision detection and planning system. Background Art

[0002] An industrial robot is an intelligent device that combines humanoid operation, automatic control, programmable repeatability, and the ability to perform various tasks in three-dimensional space. It consists of a manipulator, a controller, a servo drive system, and sensors, etc. It can help humans complete those single and heavy tasks that need to be repeated, and has very good applicability. It can still operate normally in most harsh external working environments without being restricted. Today, with the continuous development of technology, industrial robot technology is increasingly widely used in all walks of life.

[0003] In the related art, in the existing industrial robot detection technology, the working state of the working robot is not analyzed, which may cause the industrial robot to deviate from the preset path, and the posture of the end effector of the working robot is not analyzed, which may reduce the working efficiency of the industrial robot, and there is room for improvement. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present application provides an industrial robot vision detection and planning system.

[0005] In a first aspect, the present application provides an industrial robot vision detection and planning system, adopting the following technical solutions:

[0006] An industrial robot vision detection and planning system includes:

[0007] A path confirmation module for confirming the initial driving path corresponding to the industrial robot according to the initial position and the target working area corresponding to the industrial robot;

[0008] A vision detection module for confirming that the industrial robot executes the initial driving path and collecting the basic information and video information corresponding to the industrial robot at each detection time node;

[0009] A processing and analysis module for confirming the first deviation coefficient corresponding to the industrial robot according to the basic information corresponding to the industrial robot, and confirming the second deviation coefficient corresponding to the industrial robot based on the video information corresponding to the industrial robot;

[0010] A planning and adjustment module for planning and adjusting the initial driving path of the industrial robot according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and driving based on the path after planning and adjustment.

[0011] Preferably, the basic information corresponding to the industrial robot includes type information, marking information and position information corresponding to the industrial robot.

[0012] Preferably, confirming the first deviation coefficient corresponding to the industrial robot according to the basic information corresponding to the industrial robot specifically includes:

[0013] Obtain each node corresponding to the initial driving path executed by the industrial robot, and obtain each preset time corresponding to the arrival of the industrial robot at each node, and then set each preset time as each detection time node;

[0014] Confirm the basic information corresponding to the industrial robot at each detection time node, extract the position information corresponding to each detection time node of the industrial robot, and then confirm the position coordinates (x i ,y i ), where i represents the number corresponding to each detection time node, i=1,2,3...j;

[0015] By formula Confirm the position deviation coefficient χ corresponding to the industrial robot, where (x′ i ,y′ i ) represents the reference position coordinate corresponding to the i-th detection time node, and S represents the length corresponding to the initial driving path.

[0016] Preferably, confirming the first deviation coefficient corresponding to the industrial robot according to the basic information corresponding to the industrial robot specifically includes:

[0017] By formula The first deviation coefficient λ corresponding to the industrial robot is calculated, where β type It is represented as the type coefficient corresponding to the industrial robot, χ′ is represented as the reference position deviation coefficient corresponding to the preset industrial robot, n is represented as the marking times corresponding to the industrial robot, and e is a natural constant.

[0018] Preferably, confirming the second deviation coefficient corresponding to the industrial robot based on the video information corresponding to the industrial robot specifically includes:

[0019] Confirm the video information corresponding to the industrial robot, and extract the position information corresponding to the object to be grasped in the target working area and the obstacle information corresponding to the target working area from the video information corresponding to the industrial robot;

[0020] According to the position information of the object to be grasped in the target working area, the reference posture angle corresponding to the end effector of the industrial robot is determined

[0021] Extract the actual posture angle of the end effector of the industrial robot from the video information corresponding to the industrial robot

[0022] By formula Confirm the posture deviation coefficient ζ corresponding to the industrial robot, where ω 1 ,ω 2 ,ω 3 They are respectively represented as preset correction coefficients;

[0023] Extracting the actual distance between the industrial robot and the obstacle from the video information corresponding to the industrial robot, and comparing the actual distance with a preset distance threshold;

[0024] When the actual distance is lower than the preset distance threshold, the corresponding position coordinates of the industrial robot are obtained respectively (n 1 ,m 1 ) and the position coordinates corresponding to the obstacle (n′ 1 ,m′ 1 );

[0025] By formula Determine the angle deviation coefficient ξ corresponding to the industrial robot, where θ′ represents the reference angle deviation corresponding to the industrial robot;

[0026] By formula Confirm the second deviation coefficient ρ corresponding to the industrial robot, where a 1 、a 2 They are respectively expressed as the weight coefficients corresponding to the posture deviation coefficient and the angle deviation coefficient.

[0027] Preferably, the initial driving path of the industrial robot is planned and adjusted according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, specifically including:

[0028] Compare the first deviation coefficient λ corresponding to the industrial robot with the preset first deviation threshold λ′;

[0029] If the first deviation coefficient λ≤λ′ corresponding to the industrial robot, the driving state of the industrial robot is determined to be normal, and the second deviation coefficient ρ corresponding to the industrial robot is compared with the preset second deviation threshold ρ′; if the second deviation coefficient ρ≤ρ′ corresponding to the industrial robot, there is no need to plan the initial driving path of the industrial robot; if the second deviation coefficient ρ>ρ′ corresponding to the industrial robot, it is necessary to update the initial driving path corresponding to the industrial robot according to the angle deviation coefficient corresponding to the industrial robot, drive based on the updated planned path, and adjust the end effector of the industrial robot according to the posture deviation coefficient corresponding to the industrial robot;

[0030] If the first deviation coefficient λ corresponding to the industrial robot>λ′, it is determined that the industrial robot has a driving failure.

[0031] Preferably, the process of obtaining the marking information specifically includes:

[0032] Select a time window to obtain the real-time speed information corresponding to the industrial robot executing the initial driving path, form a time series, and represent the real-time speed according to the time series using the function V(t);

[0033] By formula Determine the speed evaluation coefficient α corresponding to the industrial robot, where v(t) represents the standard speed curve corresponding to the industrial robot changing over time;

[0034] Compare the speed evaluation coefficient α corresponding to the industrial robot with the preset speed evaluation threshold α′;

[0035] If the speed evaluation coefficient α corresponding to the industrial robot is greater than α′, the industrial robot is marked once.

[0036] In the second aspect, the present application provides an industrial robot visual detection and planning method, which adopts the following technical solution:

[0037] An industrial robot visual detection and planning method comprises the following steps:

[0038] Determine the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot;

[0039] Confirm that the industrial robot executes the initial driving path, and collect the basic information and video information corresponding to the industrial robot at each detection time node;

[0040] Confirming a first deviation coefficient corresponding to the industrial robot according to basic information corresponding to the industrial robot, and confirming a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot;

[0041] An initial driving path of the industrial robot is planned and adjusted according to a first deviation coefficient and a second deviation coefficient corresponding to the industrial robot, and the industrial robot drives based on the planned and adjusted path.

[0042] In a third aspect, the present application provides a computer-readable storage medium storing instructions, which, when executed on a computer, enables the computer to execute any one of the industrial robot visual inspection and planning systems described above.

[0043] In summary, the present application includes at least one of the following beneficial technical effects:

[0044] 1. The present invention provides an industrial robot visual detection and planning system, which confirms the initial driving path corresponding to the industrial robot, collects basic information and video information corresponding to the industrial robot at each detection time node, analyzes the basic information corresponding to the industrial robot to confirm the first deviation coefficient corresponding to the industrial robot, and analyzes the video information corresponding to the industrial robot to confirm the second deviation coefficient corresponding to the industrial robot, and then plans and adjusts the initial driving path of the industrial robot based on the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and drives based on the planned and adjusted path, thereby effectively improving the working efficiency of the industrial robot;

[0045] 2. By analyzing the reference posture angle and actual posture angle corresponding to the end effector of the industrial robot, the posture deviation coefficient corresponding to the industrial robot is confirmed, and the industrial robot is adjusted based on the posture deviation coefficient corresponding to the industrial robot, thereby effectively improving the work efficiency of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0047] Figure 1 It is a system diagram of industrial robot visual inspection and planning according to an embodiment of the present application.

[0048] Figure 2 It is a flow chart of the method for industrial robot visual detection and planning in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following is combined with Figure 1-2 This application is described in further detail.

[0050] Example 1

[0051] The embodiment of the present application discloses an industrial robot visual inspection and planning system.

[0052] Reference Figure 1 , an industrial robot visual inspection and planning system, comprising:

[0053] A path confirmation module is used to confirm the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot;

[0054] The visual inspection module is used to confirm that the industrial robot executes the initial driving path and collect the basic information and video information corresponding to the industrial robot at each inspection time node;

[0055] a processing and analysis module, used to confirm a first deviation coefficient corresponding to the industrial robot based on basic information corresponding to the industrial robot, and to confirm a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot;

[0056] The planning and adjusting module is used to plan and adjust the initial driving path of the industrial robot according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and drive based on the planned and adjusted path.

[0057] Through the above technical scheme, by confirming the initial driving path corresponding to the industrial robot, and collecting the basic information and video information corresponding to the industrial robot at each detection time node, the first deviation coefficient corresponding to the industrial robot is confirmed by analyzing the basic information corresponding to the industrial robot, and the second deviation coefficient corresponding to the industrial robot is confirmed by analyzing the video information corresponding to the industrial robot, and then the initial driving path of the industrial robot is planned and adjusted based on the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and the industrial robot travels based on the planned and adjusted path, thereby effectively improving the work efficiency of the industrial robot.

[0058] Furthermore, the basic information corresponding to the industrial robot includes type information, marking information and position information corresponding to the industrial robot.

[0059] It should be noted that determining the first deviation coefficient corresponding to the industrial robot according to the basic information corresponding to the industrial robot specifically includes:

[0060] Obtain each node corresponding to the initial driving path executed by the industrial robot, and obtain each preset time corresponding to the arrival of the industrial robot at each node, and then set each preset time as each detection time node;

[0061] Confirm the basic information corresponding to the industrial robot at each detection time node, extract the position information corresponding to each detection time node of the industrial robot, and then confirm the position coordinates (x i ,y i ), where i represents the number corresponding to each detection time node, i=1,2,3...j;

[0062] By formula Confirm the position deviation coefficient χ corresponding to the industrial robot, where (x′ i ,y′ i(x_i,y_i) represents the reference position coordinates corresponding to the i-th detection time node, and S represents the length corresponding to the initial driving path.

[0063] Specifically, (x′ i ,y′ i ) represents the reference position coordinates corresponding to the i-th detection time node, that is, the position coordinates corresponding to the industrial robot on the initial driving path at the i-th detection time node.

[0064] Specifically, through the formula the position deviation coefficient χ of the industrial robot is confirmed. That is, the larger the position deviation coefficient, the more unstable the operation process of the industrial robot. Exemplarily, the position coordinates corresponding to each detection time node of the industrial robot are compared and calculated with the preset reference position coordinates. When the difference between the position coordinates corresponding to each detection time node of the industrial robot and the preset reference position coordinates is larger, it indicates that the industrial robot deviates more from the initial driving path, that is, there is an abnormality in the operation process of the industrial robot.

[0065] Furthermore, the first deviation coefficient corresponding to the industrial robot is confirmed according to the basic information corresponding to the industrial robot, specifically including:

[0066] The first deviation coefficient λ corresponding to the industrial robot is calculated through the formula , where β type represents the type coefficient corresponding to the industrial robot, χ′ represents the preset reference position deviation coefficient corresponding to the industrial robot, n represents the marking times corresponding to the industrial robot, and e is the natural constant.

[0067] Specifically, β type represents the type coefficient corresponding to the industrial robot. The above coefficient is set according to the probability of the industrial robot having a fault and the severity of the fault. That is, the greater the probability of the industrial robot having a fault and the more serious the fault, the greater the type coefficient corresponding to the industrial robot. χ′ represents the preset reference position deviation coefficient corresponding to the industrial robot, which can be obtained by fitting historical data. n represents the marking times corresponding to the industrial robot. That is, the more the marking times, the greater the fault probability corresponding to the industrial robot.

[0068] It should be noted that the second deviation coefficient corresponding to the industrial robot is confirmed based on the video information corresponding to the industrial robot, specifically including:

[0069] The video information corresponding to the industrial robot is confirmed, and the position information of the item to be grasped in the target working area and the obstacle information corresponding to the target working area are extracted from the video information corresponding to the industrial robot;

[0070] According to the position information of the object to be grasped in the target working area, the reference posture angle corresponding to the end effector of the industrial robot is determined

[0071] Specifically, the reference posture angles corresponding to the end effector of the industrial robot are posture angles rotated around the x, y, and z axes with the preset position as the vertex.

[0072] Extract the actual posture angle of the end effector of the industrial robot from the video information corresponding to the industrial robot

[0073] By formula

[0074] Confirm the posture deviation coefficient ζ corresponding to the industrial robot, where ω 1 ,ω 2 ,ω 3 They are respectively represented as preset correction coefficients, which can be obtained by fitting historical data;

[0075] Specifically, by analyzing the reference posture angle and the actual posture angle corresponding to the end effector of the industrial robot, the posture deviation coefficient corresponding to the industrial robot is confirmed, and the industrial robot is adjusted based on the posture deviation coefficient corresponding to the industrial robot, thereby effectively improving the working efficiency of the industrial robot;

[0076] Extracting the actual distance between the industrial robot and the obstacle from the video information corresponding to the industrial robot, and comparing the actual distance with a preset distance threshold;

[0077] When the actual distance is lower than the preset distance threshold, the corresponding position coordinates of the industrial robot are obtained respectively (n 1 ,m 1 ) and the position coordinates corresponding to the obstacle (n′ 1 ,m′ 1 );

[0078] By formula Determine the angle deviation coefficient ξ corresponding to the industrial robot, where θ′ represents the reference angle deviation corresponding to the industrial robot;

[0079] By formula Confirm the second deviation coefficient ρ corresponding to the industrial robot, where a 1 、a 2 They are respectively expressed as the weight coefficients corresponding to the posture deviation coefficient and the angle deviation coefficient. The above weight coefficients can be obtained by fitting the historical data.

[0080] It should be noted that planning and adjusting the initial driving path of the industrial robot according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot specifically includes:

[0081] Compare the first deviation coefficient λ corresponding to the industrial robot with the preset first deviation threshold λ′;

[0082] If the first deviation coefficient λ≤λ′ corresponding to the industrial robot, the driving state of the industrial robot is determined to be normal, and the second deviation coefficient ρ corresponding to the industrial robot is compared with the preset second deviation threshold ρ′; if the second deviation coefficient ρ≤ρ′ corresponding to the industrial robot, there is no need to plan the initial driving path of the industrial robot; if the second deviation coefficient ρ>ρ′ corresponding to the industrial robot, it is necessary to update the initial driving path corresponding to the industrial robot according to the angle deviation coefficient corresponding to the industrial robot, drive based on the updated planned path, and adjust the end effector of the industrial robot according to the posture deviation coefficient corresponding to the industrial robot;

[0083] If the first deviation coefficient λ corresponding to the industrial robot>λ′, it is determined that the industrial robot has a driving failure.

[0084] Furthermore, the process of obtaining the marking information specifically includes:

[0085] Select a time window to obtain the real-time speed information corresponding to the industrial robot executing the initial driving path, form a time series, and represent the real-time speed according to the time series using the function V(t);

[0086] By formula Determine the speed evaluation coefficient α corresponding to the industrial robot, where v(t) represents the standard speed curve corresponding to the industrial robot changing over time;

[0087] Compare the speed evaluation coefficient α corresponding to the industrial robot with the preset speed evaluation threshold α′;

[0088] If the speed evaluation coefficient α corresponding to the industrial robot is greater than α′, the industrial robot is marked once.

[0089] Specifically, by analyzing the speed of the industrial robot when it executes the initial driving path, if the speed evaluation coefficient corresponding to the industrial robot is larger, it means that the probability that the corresponding speed when the industrial robot executes the initial driving path is abnormal is greater, that is, the greater the probability of the industrial robot failing, the industrial robot will be marked once, and the more times it is marked, the greater the probability of the industrial robot failing.

[0090] Example 2

[0091] The embodiment of the present application also discloses an industrial robot visual detection and planning method.

[0092] Reference Figure 2 , an industrial robot visual detection and planning method, comprising the following steps:

[0093] Determine the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot;

[0094] Confirm that the industrial robot executes the initial driving path, and collect the basic information and video information corresponding to the industrial robot at each detection time node;

[0095] Confirming a first deviation coefficient corresponding to the industrial robot according to basic information corresponding to the industrial robot, and confirming a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot;

[0096] An initial driving path of the industrial robot is planned and adjusted according to a first deviation coefficient and a second deviation coefficient corresponding to the industrial robot, and the industrial robot drives based on the planned and adjusted path.

[0097] The present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the computer executes the system described in the embodiments of the present application.

[0098] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0100] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An industrial robot visual inspection and planning system, characterized in that: include: A path confirmation module is used to confirm the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot; The visual inspection module is used to confirm that the industrial robot executes the initial driving path and collect the basic information and video information corresponding to the industrial robot at each inspection time node; The basic information corresponding to the industrial robot includes type information, mark information and position information corresponding to the industrial robot; a processing and analysis module, used to confirm a first deviation coefficient corresponding to the industrial robot based on basic information corresponding to the industrial robot, and to confirm a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot; Confirming a first deviation coefficient corresponding to the industrial robot according to basic information corresponding to the industrial robot specifically includes: Obtain each node corresponding to the initial driving path executed by the industrial robot, and obtain each preset time corresponding to the arrival of the industrial robot at each node, and then set each preset time as each detection time node; Confirm the basic information corresponding to the industrial robot at each detection time node, extract the position information corresponding to each detection time node of the industrial robot, and then confirm the position coordinates (xi, yi) corresponding to each detection time node of the industrial robot, where i represents the number corresponding to each detection time node, i=1, 2, 3...j; By formula Determine the position deviation coefficient χ corresponding to the industrial robot, where (x′i, y′i) represents the reference position coordinates corresponding to the i-th detection time node, and S represents the length corresponding to the initial driving path; By formula The first deviation coefficient λ corresponding to the industrial robot is calculated, wherein βtype represents the type coefficient corresponding to the industrial robot, χ′ represents the preset reference position deviation coefficient corresponding to the industrial robot, n represents the number of markings corresponding to the industrial robot, and e is a natural constant; The planning and adjusting module is used to plan and adjust the initial driving path of the industrial robot according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, and drive based on the planned and adjusted path.

2. An industrial robot visual inspection and planning system according to claim 1, characterized in that: Confirming a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot specifically includes: Confirm the video information corresponding to the industrial robot, and extract the position information corresponding to the object to be grasped in the target working area and the obstacle information corresponding to the target working area from the video information corresponding to the industrial robot; According to the position information of the object to be grasped in the target working area, the reference posture angle corresponding to the end effector of the industrial robot is determined Extract the actual posture angle of the end effector of the industrial robot from the video information corresponding to the industrial robot By formula , Determine the posture deviation coefficient ζ corresponding to the industrial robot, where ω1, ω2, and ω3 represent preset correction coefficients respectively; Extracting the actual distance between the industrial robot and the obstacle from the video information corresponding to the industrial robot, and comparing the actual distance with a preset distance threshold; When the actual distance is lower than the preset distance threshold, the position coordinates (n1, m1) corresponding to the industrial robot and the position coordinates (n′1, m′1) corresponding to the obstacle are obtained respectively; By formula Determine the angle deviation coefficient ξ corresponding to the industrial robot, where θ′ represents the reference angle deviation corresponding to the industrial robot; By formula The second deviation coefficient ρ corresponding to the industrial robot is confirmed, wherein a1 and a2 represent weight coefficients corresponding to the posture deviation coefficient and the angle deviation coefficient, respectively.

3. An industrial robot visual inspection and planning system according to claim 2, characterized in that: The initial driving path of the industrial robot is planned and adjusted according to the first deviation coefficient and the second deviation coefficient corresponding to the industrial robot, specifically including: Compare the first deviation coefficient λ corresponding to the industrial robot with the preset first deviation threshold λ′; If the first deviation coefficient λ≤λ′ corresponding to the industrial robot, the driving state of the industrial robot is determined to be normal, and the second deviation coefficient ρ corresponding to the industrial robot is compared with the preset second deviation threshold ρ′; if the second deviation coefficient ρ≤ρ′ corresponding to the industrial robot, there is no need to plan the initial driving path of the industrial robot; if the second deviation coefficient ρ>ρ′ corresponding to the industrial robot, it is necessary to update the initial driving path corresponding to the industrial robot according to the angle deviation coefficient corresponding to the industrial robot, drive based on the updated planned path, and adjust the end effector of the industrial robot according to the posture deviation coefficient corresponding to the industrial robot; If the first deviation coefficient λ corresponding to the industrial robot>λ′, it is determined that the industrial robot has a driving failure.

4. The industrial robot visual inspection and planning system according to claim 1, characterized in that: The process of obtaining the marking information includes: Select a time window to obtain the real-time speed information corresponding to the industrial robot executing the initial driving path, form a time series, and represent the real-time speed according to the time series using the function V(t); By formula Determine the speed evaluation coefficient α corresponding to the industrial robot, where v(t) represents the standard speed curve corresponding to the industrial robot changing over time; Compare the speed evaluation coefficient α corresponding to the industrial robot with the preset speed evaluation threshold α′; If the speed evaluation coefficient α corresponding to the industrial robot is greater than α′, the industrial robot is marked once.

5. An industrial robot visual inspection and planning method, applied to an industrial robot visual inspection and planning system according to any one of claims 1 to 4, characterized in that: The following steps are involved: Determine the initial driving path corresponding to the industrial robot according to the initial position and target working area corresponding to the industrial robot; Confirm that the industrial robot executes the initial driving path, and collect the basic information and video information corresponding to the industrial robot at each detection time node; Confirming a first deviation coefficient corresponding to the industrial robot according to basic information corresponding to the industrial robot, and confirming a second deviation coefficient corresponding to the industrial robot based on video information corresponding to the industrial robot; An initial driving path of the industrial robot is planned and adjusted according to a first deviation coefficient and a second deviation coefficient corresponding to the industrial robot, and the industrial robot drives based on the planned and adjusted path.

6. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are run on a computer, the computer executes an industrial robot visual inspection and planning system as claimed in any one of claims 1 to 4.

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