Self-adaptive scheduling method and system for robot inspection task and electronic equipment

Abstract

The invention discloses a self-adaptive scheduling method and system for a robot inspection task and electronic equipment, and relates to the technical field of inspection task scheduling, and the method comprises the steps: according to the execution starting time, the rush time and the execution time of a previous inspection task in two adjacent inspection tasks related to a preset inspection route, executing the inspection task according to the execution starting time, the rush time and the execution time of the previous inspection task in the two adjacent inspection tasks related to the preset inspection route; and the execution starting moment, the rush-to-time length and the execution time length of the next inspection task are determined until the execution starting moment, the rush-to-time length and the execution time length of each inspection task involved in the preset inspection route are obtained, and then the robot is controlled to execute each inspection task involved in the preset inspection route. According to the method, the rush time and the execution time of each inspection task are estimated correspondingly, and the execution starting time of the second inspection task and the execution starting time of each inspection task after the second inspection task are calculated, so that arrangement basis is provided for scheduling and execution of a plurality of inspection plans.

Description

Background Art

[0002] At present, the scheduling of inspection tasks specifically involves the following technical solutions:

[0003] 1) In the invention patent with publication number "CN118509710A" and subject name "A patrol device and method", a detailed patrol plan is preset, including an execution period, a physical analysis unit, patrol items and patrol item information thereof, and a periodic detection and execution mechanism is used to ensure that the patrol task can be automatically started on time and executed strictly in accordance with the preset analysis mode, algorithm model and shooting points. In addition, the shooting points of the image acquisition device, the algorithm model loading of the physical analysis unit, and the automatic termination and switching to the next patrol item according to the execution time of the patrol item can be controlled in real time, thereby realizing flexible scheduling of patrol analysis using multiple algorithm models in multiple point scenarios within a period of time. However, this technical solution does not take into account the time required for the patrol equipment to reach point one, which will result in a certain amount of time to reach the designated point after the task is started, and the actual data collection time will be delayed.

[0004] 2) The invention patent with publication number "CN118536687A" and subject name "Big data computer room inspection method and system based on usage action frequency" includes a preset inspection route; after the inspection robot arrives at the designated inspection position, it performs the detection action; records the number of executions and duration of each action of the inspection robot, and establishes a data model; optimizes the action execution strategy and path planning of the inspection robot according to the data model and establishes an optimization mathematical model; optimizes the inspection according to the time scale of day / week / month, and establishes a periodic mathematical model, and finally realizes the optimized inspection plan. However, this technical solution only records the time of executing the detection action after arriving at the designated inspection position, and does not consider the travel time between the designated inspection positions. Summary of the invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide an adaptive scheduling method, system and electronic device for robot inspection tasks, as follows:

[0006] 1) In the first aspect, the present invention provides an adaptive scheduling method for robot inspection tasks, and the specific technical solution is as follows:

[0007] According to the start execution time, arrival time and execution time of the previous inspection task of two adjacent inspection tasks involved in the preset inspection route, the start execution time, arrival time and execution time of the next inspection task are determined until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained;

[0008] According to the start execution time, arrival time and execution time of each inspection task, the robot is controlled to execute each inspection task involved in the preset inspection route.

[0009] The beneficial effects of the adaptive scheduling method for robot inspection tasks provided by the present invention are as follows:

[0010] The arrival time and execution time of each inspection task have corresponding time estimates, and the start execution time of the second inspection task and the start execution time of each inspection task after the second inspection task are calculated, providing an arrangement basis for the scheduling and execution of multiple inspection plans.

[0011] On the basis of the above scheme, the adaptive scheduling method of a robot inspection task of the present invention can also be improved as follows.

[0012] Furthermore, the process of calculating the arrival time of each inspection task includes:

[0013] The time required to reach the first inspection task is calculated based on the distance between the location of the robot before the first inspection task is performed and the location where the first inspection task is performed.

[0014] According to the distance between the execution position of the previous inspection task and the execution position of the next inspection task in two adjacent inspection tasks involved in the preset inspection route, the arrival time of the next inspection task is calculated until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

[0015] The beneficial effect of adopting the above further solution is that the arrival time of each inspection task can be correctly calculated.

[0016] Furthermore, the process of calculating the arrival time of each inspection task includes: taking the time taken by the robot to complete the preset inspection route at a preset average speed as the arrival time of each inspection task.

[0017] The beneficial effect of adopting the above further solution is that it can ensure that the inspection task execution location is reached in advance and wait to execute the inspection task.

[0018] Furthermore, it also includes: recording and optimizing the preset average speed according to the time taken by the robot to perform multiple inspection tasks.

[0019] The beneficial effect of adopting the above further solution is that the accuracy of determining the arrival time of each inspection task can be guaranteed.

[0020] 2) In the second aspect, the present invention also provides an adaptive scheduling system for robot inspection tasks, and the specific technical solution is as follows:

[0021] It includes inspection plan determination module and control execution module;

[0022] The inspection plan determination module is used to: determine the start execution time, arrival time and execution time of the next inspection task according to the start execution time, arrival time and execution time of the previous inspection task among two adjacent inspection tasks involved in the preset inspection route, until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained;

[0023] The control execution module is used to control the robot to execute each inspection task involved in the preset inspection route according to the start execution time, arrival time and execution time of each inspection task.

[0024] Based on the above solution, the adaptive scheduling system for robot inspection tasks of the present invention can also be improved as follows.

[0025] Furthermore, the inspection plan determination module is specifically used for:

[0026] The time required to reach the first inspection task is calculated based on the distance between the location of the robot before the first inspection task is performed and the location where the first inspection task is performed.

[0027] According to the distance between the execution position of the previous inspection task and the execution position of the next inspection task in two adjacent inspection tasks involved in the preset inspection route, the arrival time of the next inspection task is calculated until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

[0028] Furthermore, the inspection plan determination module is also used to: use the time taken by the robot to complete the preset inspection route at a preset average speed as the arrival time for each inspection task.

[0029] Furthermore, it also includes an optimization module, which is used to: record and optimize the preset average speed according to the time taken by the robot to perform multiple inspection tasks.

[0030] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, the processor being coupled to a memory, the memory storing at least one computer program, and the at least one computer program being loaded and executed by the processor so that the electronic device can implement the adaptive scheduling method for any of the above-mentioned robot inspection tasks.

[0031] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the adaptive scheduling method for any of the above-mentioned robot inspection tasks.

[0032] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments of the present invention:

[0034] Figure 1 A schematic flow chart of an adaptive scheduling method for robot inspection tasks according to an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the structure of an adaptive scheduling system for robot inspection tasks according to an embodiment of the present invention;

[0036] Figure 3 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, an adaptive scheduling method for a robot inspection task according to an embodiment of the present invention includes the following steps:

[0040] S1. Determine the start execution time, arrival time and execution time of the next inspection task according to the start execution time, arrival time and execution time of the previous inspection task among the two adjacent inspection tasks involved in the preset inspection route, until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained.

[0041] Among them, the preset inspection route can be set according to actual conditions, and the length of the preset inspection route can be 500 kilometers or 600 kilometers, etc., and can also be set according to actual conditions.

[0042] The execution time of each task can be manually estimated in advance based on experience. When the execution time manually estimated based on experience is a time range, the upper limit of the time range is used as the execution time to ensure the completion of the inspection task.

[0043] S2. According to the start execution time, arrival time and execution time of each inspection task, control the robot to execute each inspection task involved in the preset inspection route.

[0044] In an adaptive scheduling method for robot inspection tasks in an embodiment of the present invention, each inspection task has a corresponding arrival time and execution time estimate, and the start execution time of the second inspection task and the start execution time of each inspection task after the second inspection task are calculated, providing an arrangement basis for the scheduling and execution of multiple inspection plans.

[0045] Optionally, in the above technical solution, the calculation of the arrival time of each inspection task can be achieved by:

[0046] 1) The first implementation method:

[0047] S10. Calculate the time required to reach the first inspection task based on the distance between the location of the robot before executing the first inspection task and the location where the first inspection task is executed.

[0048] Among them, the average speed of the robot is determined in advance (recorded as the preset average speed), and the distance between the position of the robot before performing the first inspection task and the execution position of the first inspection task is divided by the preset average speed to calculate the arrival time of the first inspection task.

[0049] The location of the robot before performing the first inspection task can be set according to actual conditions. For example, the location of the robot before performing the first inspection task is a warehouse for parking the robot.

[0050] S11. Calculate the arrival time of the latter inspection task according to the distance between the execution position of the previous inspection task and the execution position of the latter inspection task in two adjacent inspection tasks involved in the preset inspection route, until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

[0051] The execution position of each inspection task can be manually set in advance, and the specific execution process of each inspection task, such as the robot's motion information, can also be manually set in advance.

[0052] The execution location, execution duration and specific execution process of each inspection task can be configured through the configuration interface.

[0053] Among them, the distance between the execution position of the previous inspection task and the execution position of the next inspection task in the two adjacent inspection tasks involved in the preset inspection route is divided by the preset average speed to calculate the arrival time of the next inspection task, until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

[0054] 2) The second implementation method:

[0055] The time it takes for the robot to complete the preset inspection route at the preset average speed is used as the arrival time for each inspection task. This ensures that the robot arrives at the execution location of the inspection task in advance and waits to execute the inspection task.

[0056] The length of the preset inspection route is divided by the preset average speed to obtain the time taken by the robot to complete the preset inspection route at the preset average speed.

[0057] Among them, the start execution time of the first inspection task is manually set in advance, and the start execution time of the second inspection task is: taking the start execution time of the first inspection task as the starting time, the time after the sum of the arrival time of the first inspection task, the execution time of the first inspection task and the arrival time of the second inspection task, and so on, the start execution time of the second inspection task and the execution time of each inspection task after the second inspection task can be calculated.

[0058] Based on the start time, arrival time, execution time, execution location and specific execution process of each inspection task, an inspection plan is compiled, the robot is controlled, and the inspection tasks are executed according to the inspection plan.

[0059] Optionally, in the above technical solution, the total execution time Ta of all inspection tasks involved in the preset inspection route is calculated, which is specifically calculated by the following formula:

[0060]

[0061] Among them, Td i Indicates the arrival time of the i-th inspection task, Tt i It represents the execution time of the i-th inspection task, n represents the total number of inspection tasks, i=1, 2, 3…n.

[0062] Optionally, the above technical solution further includes: recording and optimizing the preset average speed according to the time taken by the robot to perform multiple inspection tasks. The accuracy of determining the arrival time of each inspection task can be guaranteed. For example, after all inspection tasks involved in the preset inspection route are completed, the average speed is calculated according to the time taken by the robot to perform multiple inspection tasks, and the average speed is used as the preset average speed for executing all inspection tasks involved in the next preset inspection route.

[0063] In another embodiment, the execution time and travel time (arrival time) of each inspection task in the inspection plan are recorded, and the travel time in an inspection plan is finally recorded as the average speed. Thereafter, the average time of the last five tasks is used as the preset average speed for executing all inspection tasks involved in the next preset inspection route when estimating the time of a certain inspection task or distance.

[0064] The present invention calculates the time required to reach the designated inspection task location based on the driving speed of the robot, and starts the plan to rush to the execution location of the first inspection task in advance. In the execution process, the actual driving time and action execution time are recorded, and feedback is provided to optimize the time estimate of the inspection plan to ensure that the task specified execution time can collect relevant data and execute task actions in a timely manner at the designated location. The present invention takes into account the systematic time consumption in the inspection plan, and actively responds to it to ensure the accurate execution of the plan. The present invention adaptively optimizes the accuracy of the estimated duration, and improves the duration changes of the same inspection plan caused by external factors such as environmental changes and equipment aging.

[0065] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0066] like Figure 2 As shown, an adaptive scheduling system 200 for a robot inspection task according to an embodiment of the present invention includes an inspection plan determination module 201 and a control execution module 202;

[0067] The inspection plan determination module 201 is used to determine the start execution time, arrival time and execution time of the next inspection task according to the start execution time, arrival time and execution time of the previous inspection task among two adjacent inspection tasks involved in the preset inspection route, until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained;

[0068] The control execution module 202 is used to control the robot to execute each inspection task involved in the preset inspection route according to the start execution time, arrival time and execution time of each inspection task.

[0069] Optionally, in the above technical solution, the inspection plan determination module 201 is specifically used for:

[0070] The time required to reach the first inspection task is calculated based on the distance between the location of the robot before the first inspection task is performed and the location where the first inspection task is performed.

[0071] According to the distance between the execution position of the previous inspection task and the execution position of the next inspection task in two adjacent inspection tasks involved in the preset inspection route, the arrival time of the next inspection task is calculated until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

[0072] Optionally, in the above technical solution, the inspection plan determination module 201 is also used to: use the time taken by the robot to complete a preset inspection route at a preset average speed as the arrival time for each inspection task.

[0073] Optionally, the above technical solution further includes an optimization module, which is used to: record and optimize the preset average speed according to the time taken by the robot to perform multiple inspection tasks.

[0074] It should be noted that the beneficial effects of the adaptive scheduling system 200 for a robot inspection task provided in the above embodiment are the same as the beneficial effects of the adaptive scheduling method for a robot inspection task provided in the above embodiment, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, it only uses the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0075] Among them, the adaptive scheduling system of the robot inspection task of the present invention can be a computer program (including program code) running in a computer device. For example, the adaptive scheduling system of the robot inspection task of the present invention is an application software that can be used to execute the corresponding steps in the adaptive scheduling method of the robot inspection task of the present invention.

[0076] In some embodiments, the adaptive scheduling system of the robot inspection task of the present invention can be implemented by a combination of software and hardware. As an example, the adaptive scheduling system of the robot inspection task of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the adaptive scheduling method of the robot inspection task of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0077] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0078] An electronic device according to an embodiment of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the adaptive scheduling method for any one of the above-mentioned robot inspection tasks is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the adaptive scheduling method for any one of the robot inspection tasks shown in any embodiment of the present invention by calling the computer program.

[0079] In an alternative embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0080] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0081] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0082] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0083] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0084] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0085] It should be noted that Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0086] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned adaptive scheduling methods for robot inspection tasks.

[0087] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0088] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above-mentioned adaptive scheduling methods for robot inspection tasks.

[0089] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0090] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0092] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0093] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0094] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0095] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0096] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An adaptive scheduling method for robot inspection tasks, characterized in that: include: According to the start execution time, arrival time and execution time of the previous inspection task of two adjacent inspection tasks involved in the preset inspection route, the start execution time, arrival time and execution time of the next inspection task are determined until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained; According to the start execution time, arrival time and execution time of each inspection task, the robot is controlled to execute each inspection task involved in the preset inspection route.

2. The method for adaptively scheduling robot inspection tasks according to claim 1, characterized in that: The process of calculating the arrival time of each inspection task includes: Calculate the time required to complete the first inspection task based on the distance between the location of the robot before the robot performs the first inspection task and the location where the robot performs the first inspection task; According to the distance between the execution position of the previous inspection task and the execution position of the next inspection task in two adjacent inspection tasks involved in the preset inspection route, the arrival time of the next inspection task is calculated until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

3. The adaptive scheduling method for robot inspection tasks according to claim 1 is characterized in that: The process of calculating the arrival time of each inspection task includes: taking the time taken by the robot to complete the preset inspection route at a preset average speed as the arrival time of each inspection task.

4. The method for adaptively scheduling robot inspection tasks according to claim 3 is characterized in that: Also includes: The preset average speed is recorded and optimized according to the time taken by the robot to perform multiple inspection tasks.

5. An adaptive scheduling system for robot inspection tasks, characterized in that: It includes inspection plan determination module and control execution module; The inspection plan determination module is used to determine the start execution time, arrival time and execution time of the next inspection task according to the start execution time, arrival time and execution time of the previous inspection task among two adjacent inspection tasks involved in the preset inspection route, until the start execution time, arrival time and execution time of each inspection task involved in the preset inspection route are obtained; The control execution module is used to control the robot to execute each inspection task involved in the preset inspection route according to the start execution time, arrival time and execution time of each inspection task.

6. The adaptive scheduling system for robot inspection tasks according to claim 5, characterized in that: The inspection plan determination module is specifically used for: Calculate the time required to reach the first inspection task according to the distance between the location of the robot before performing the first inspection task and the location where the first inspection task is performed; According to the distance between the execution position of the previous inspection task and the execution position of the next inspection task in two adjacent inspection tasks involved in the preset inspection route, the arrival time of the next inspection task is calculated until the arrival time of the second inspection task and the arrival time of each inspection task after the second inspection task are obtained.

7. The adaptive scheduling system for robot inspection tasks according to claim 5, characterized in that: The inspection plan determination module is also used to: use the time taken by the robot to complete the preset inspection route at a preset average speed as the arrival time for each inspection task.

8. The adaptive scheduling system for robot inspection tasks according to claim 7, characterized in that: It also includes an optimization module, which is used to record and optimize the preset average speed according to the time taken by the robot to perform multiple inspection tasks.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the adaptive scheduling method for a robot inspection task as claimed in any one of claims 1 to 4 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for adaptively scheduling a robot inspection task as claimed in any one of claims 1 to 4 is implemented.

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