Control method of bulk cargo wharf fault inspection robot

Abstract

The invention provides a control method of a bulk cargo terminal fault inspection robot, and belongs to the technical field of robot control, and the method comprises the steps: determining an inspection node and a preset inspection path based on the collected spatial layout and equipment distribution of a bulk cargo terminal; controlling the inspection robot to run along a preset inspection path, and determining an actual inspection path between every two adjacent inspection nodes; the inspection robot performs data acquisition at each inspection node and transmits the acquired data and an actual inspection path to the control center; and the control center analyzes the collected data, identifies a fault of the inspection node and sends a fault alarm, and meanwhile, generates an inspection report based on an inspection result and stores the inspection report in the control center. The method can reasonably and effectively determine the preset and actual inspection paths, accurately arrive at each inspection node and collect data, improve the inspection efficiency and inspection quality, improve the inspection coverage rate of the bulk cargo terminal, improve the reliability and stability of the inspection robot, and improve the operation safety and efficiency of the bulk cargo terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a control method of a bulk cargo terminal fault inspection robot. Background Art

[0002] Inspection robots complete regular inspection tasks in an automated way and play a vital role in modern production. They conduct production line inspections or safety inspections in industrial facilities and manufacturing industries, ensure the normal operation and safety of equipment in building and facility management, discover potential safety hazards in infrastructure and public facilities to ensure operational safety and efficiency, and improve hospital hygiene standards and service efficiency in healthcare. However, inspection robots have problems such as inaccurate inspections, incomplete data collection, low inspection efficiency, and inability to ensure safe driving.

[0003] Therefore, the present invention provides a control method for a bulk cargo terminal fault inspection robot. Summary of the invention

[0004] The present invention provides a control method for a bulk cargo terminal fault inspection robot, which is used to determine inspection nodes and preset inspection paths according to the spatial layout and equipment distribution of the bulk cargo terminal, control the inspection robot to travel along the preset inspection paths, and collect data at the inspection nodes. A control center generates an inspection report based on the collected data, the actual inspection path of the inspection robot, and the actual inspection path length. The method can reasonably and effectively determine the preset and actual inspection paths, accurately reach each inspection node and collect data, improve the inspection efficiency and inspection quality, improve the inspection coverage rate of the bulk cargo terminal, improve the reliability and stability of the inspection robot, and improve the operational safety and efficiency of the bulk cargo terminal.

[0005] The present invention provides a control method for a bulk cargo terminal fault inspection robot, comprising: S101: Determine inspection nodes and preset inspection paths based on the collected spatial layout and equipment distribution of the bulk cargo terminal; S102: Control the inspection robot to travel along a preset inspection path, and determine an actual inspection path between every two adjacent inspection nodes; S103: The inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to the control center; S104: The control center analyzes the collected data, identifies the inspection node failure and issues a failure alarm. At the same time, an inspection report is generated based on the inspection result and stored in the control center.

[0006] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, based on the collected spatial layout and equipment distribution of the bulk cargo terminal, the inspection nodes and the preset inspection paths are determined, including: Inspection robots collect data on the spatial layout and equipment distribution of bulk cargo terminals; Preprocess the data collected by the inspection robot and build a 3D model based on the preprocessed data and the design drawings of the bulk cargo terminal; Determine the position coordinates of all inspection targets based on the three-dimensional model, and determine the position coordinates as inspection nodes, wherein the inspection targets include all equipment at the inspection terminal and specific inspection points; A preliminary inspection path is generated using a path analysis tool based on the three-dimensional model, and the preliminary inspection path is optimized based on the inspection nodes to determine the preset inspection path.

[0007] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, the inspection robot is controlled to travel along a preset inspection path and an actual inspection path between every two adjacent inspection nodes is determined, including: Determine the specified time interval based on the average time the inspection robot travels along the preset inspection path; Obtain the actual inspection path of the inspection robot at the current moment, and perform deviation detection between the actual inspection path and the preset inspection path; When the control center detects that the actual inspection path deviates from the preset inspection path, it determines the deviation coordinate point of the actual inspection path at the current moment. and preset coordinate points ; Determine the target inspection node coordinate point in the preset inspection path based on the preset inspection path, the preset coordinate point corresponding to the deviation coordinate point ; Determine the coordinate point to be deviated from by the inspection robot at the specified time interval before the current moment based on the deviated coordinate point ; Based on the deviation coordinate point , coordinate point to be deviated Determine the deviation from the path vector At the same time, based on the preset coordinate points 、Target inspection node coordinate point Determine the preset path vector ; Based on the deviation coordinate point , the actual driving speed of the inspection robot, the delay time of the return signal, the angle between the deviated path vector and the preset path vector to determine the expected deviation coordinate point; Based on the estimated deviation coordinate point, deviation coordinate point Determine the expected deviation from the path vector .

[0008] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, the inspection robot is controlled to travel along a preset inspection path and an actual inspection path between every two adjacent inspection nodes is determined, and the method further includes: Based on the deviation coordinate point , preset coordinate points , coordinate point to be deviated 、Target inspection node coordinate point Calculate the speed return signal and direction return signal; in, Indicates the speed return signal. Indicates the direction return signal. Indicates the actual driving speed of the inspection robot. It indicates the preset path length of the inspection robot from the preset coordinate point to the target inspection node coordinate point. Indicates the preset return path vector determined by the expected deviation coordinate point and the target inspection node coordinate point. They represent the modulus lengths of the deviated path vector, the preset path vector, and the preset return path vector, respectively. Indicates the angle between the deviated path vector and the preset path vector. Indicates the delay time of the return signal. It indicates the horizontal coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the vertical coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the length of the return path of the inspection robot from the expected deviation coordinate point to the target inspection node coordinate. represents the angle between the preset return path vector and the preset path vector; Determine a return signal based on the speed return signal and the direction return signal; Based on the expected deviation coordinate point and target inspection node coordinate point Determine the preset return path vector , determining a preset return path based on a preset return vector; Based on the deviated path vector , expected deviation from the path vector And preset return path vector A preset deviation path of the deviation coordinate point is determined.

[0009] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, the inspection robot is controlled to travel along a preset inspection path and an actual inspection path between every two adjacent inspection nodes is determined, and the method further includes: The inspection robot adjusts the driving direction and speed based on the return signal, and drives along the preset return path to reach the target inspection node; Conduct sub-deviation detection on the inspection return path and the preset return path after adjusting the driving direction and driving speed; Determine that the actual inspection path has not been deviated based on the previous inspection node coordinate point of the preset coordinate point corresponding to the deviated coordinate point in the preset inspection path and the coordinate point to be deviated; If the control center does not detect any sub-deviation between the inspection return path and the preset return path, the actual inspection path of the inspection robot between the previous inspection node of the deviation coordinate point and the target inspection node is determined based on the preset deviation path that does not deviate from the actual inspection path and the deviation coordinate point.

[0010] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, the inspection robot is controlled to travel along a preset inspection path and an actual inspection path between every two adjacent inspection nodes is determined, and the method further includes: If the control center detects that there is a sub-deviation between the inspection return path and the preset return path, determine the sub-deviation coordinate point at the current sub-moment , Sub-preset coordinate point ; Determine the sub-to-be-deviated coordinate point at the specified time interval before the current sub-moment of the inspection robot based on the sub-deviated coordinate point ; Based on the sub-deviation coordinate point 、The coordinate point to be deviated from Determine that the child has deviated from the path vector, and at the same time, based on the child's preset coordinate point 、Target inspection node coordinate point Determine the sub-preset path vector; Based on the sub-deviation coordinate point , the inspection robot's return-to-center signal, the return-to-center signal delay time, and the angle between the sub-deviated path vector and the sub-preset path vector to determine the sub-estimated deviated coordinate point; Based on the sub-estimated deviation coordinate point, sub-deviation coordinate point Determine the sub-projected deviation path vector; Based on the sub-deviation coordinate point , Sub-preset coordinate point 、The coordinate point to be deviated from 、Target inspection node coordinate point Calculating a sub-return signal, wherein the sub-return signal includes a sub-speed return signal and a sub-direction return signal; Based on the sub-estimated deviation coordinate points and target inspection node coordinate points Determine the sub-return path vector; Determine an actual return path vector of the deviated coordinate point based on the estimated deviated coordinate point and the sub-to-be-deviated coordinate point; Deviated path vector based on the deviated coordinate point , expected deviation from the path vector and an actual return path vector to determine an actual deviation path of the deviation coordinate point when a deviation between the actual inspection path and the preset inspection path is detected; Determine a sub-deviated path of the sub-deviated coordinate point based on the sub-deviated path vector, the sub-estimated deviated path vector, and the sub-return path vector; The actual inspection path of the inspection robot at the previous inspection node and the target inspection node of the deviated coordinate point is determined based on the actual inspection path that has not deviated, the actual deviated path of the deviated coordinate point, and the sub-deviated path of the sub-deviated coordinate point.

[0011] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, the inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to a control center, including: When the inspection robot reaches an inspection node in a preset inspection path, the inspection robot obtains the actual node coordinates where the inspection robot is located, and compares the actual node coordinates with the position coordinates of the inspection node to ensure that the inspection robot is at the inspection node; After the inspection node collects data, the collected data, the inspection node and the actual inspection path between the inspection node and the previous inspection node of the inspection node in the preset inspection path, and the length of the actual inspection path are transmitted to the control center respectively.

[0012] According to a control method of a bulk cargo terminal fault inspection robot provided by the present invention, a control center analyzes collected data, identifies inspection node faults and issues fault alarms, generates an inspection report based on the inspection results and stores it in the control center, including: The control center pre-processes the data collected by each inspection node to determine first data, inputs the first data into a fault detection model to perform fault detection, and issues a fault alarm based on the fault detection result; The control center determines the fault information of the bulk cargo terminal based on the fault detection results of all inspection nodes and the fault alarms issued; The control center determines the total inspection path and the total inspection path length of the bulk cargo terminal based on the actual inspection path and the length of the actual inspection path between every two adjacent inspection nodes; Based on the fault information of the bulk cargo terminal, the total inspection path and the total inspection path length, the inspection results are determined and an inspection report is generated, and the preset inspection path is dynamically adjusted based on the inspection report.

[0013] Compared with the prior art, the present invention has the following beneficial effects: According to the spatial layout and equipment distribution of the bulk cargo terminal, the inspection nodes and preset inspection paths are determined, the inspection robot is controlled to travel along the preset inspection paths, and data is collected at the inspection nodes. The control center generates an inspection report based on the collected data, the actual inspection path of the inspection robot, and the actual inspection path length. This can reasonably and effectively determine the preset and actual inspection paths, accurately reach each inspection node and collect data, improve inspection efficiency and quality, increase the inspection coverage of bulk cargo terminals, improve the reliability and stability of inspection robots, and improve the operational safety and efficiency of bulk cargo terminals. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a flow chart of a control method of a bulk cargo terminal fault inspection robot provided by an embodiment of the present invention.

[0016] Figure 2 The present invention provides a control method for a bulk cargo terminal fault inspection robot according to an embodiment of the present invention, and provides an actual inspection path when no sub-deviation is detected.

[0017] Figure 3 The present invention provides a control method for a bulk cargo terminal fault inspection robot according to an embodiment of the present invention, and provides an actual inspection path when a sub-deviation is detected. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Embodiment 1: The embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, such as Figure 1 As shown, including: S101: Determine inspection nodes and preset inspection paths based on the collected spatial layout and equipment distribution of the bulk cargo terminal; S102: Control the inspection robot to travel along a preset inspection path, and determine an actual inspection path between every two adjacent inspection nodes; S103: The inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to the control center; S104: The control center analyzes the collected data, identifies the inspection node failure and issues a failure alarm. At the same time, an inspection report is generated based on the inspection result and stored in the control center.

[0020] In this embodiment, the spatial layout refers to the overall plane structure and layout arrangement of the bulk cargo terminal, which includes the length, width, and division and utilization of various areas of the terminal.

[0021] In this embodiment, the equipment distribution indicates the placement of key equipment in the bulk cargo terminal, and the equipment includes but is not limited to cranes, loading and unloading equipment, conveyor belts, stackers, power equipment, etc.

[0022] In this embodiment, the inspection node represents a specific location or equipment that the inspection robot is to inspect during the inspection process.

[0023] In this embodiment, the preset inspection path represents the specific route or track taken by the inspection robot when performing inspection.

[0024] In this embodiment, the inspection robot performs fault monitoring on each inspection node in the inspection path through the onboard sensors, and the sensors may be cameras, infrared sensors, temperature sensors, ultrasonic sensors, vibration sensors, and the like.

[0025] In this embodiment, the collected data represents all operation data of the inspection target corresponding to the inspection node.

[0026] In this embodiment, the fault alarm includes the fault inspection node, fault type, and fault level.

[0027] In this embodiment, the inspection report includes the fault information of all inspection nodes of the bulk cargo terminal, the total inspection path between every two inspection nodes, and the total inspection path length.

[0028] The beneficial effects of the above technical solution are as follows: inspection nodes and preset inspection paths are determined according to the spatial layout and equipment distribution of the bulk cargo terminal, the inspection robot is controlled to travel along the preset inspection path, and data is collected at the inspection nodes. The control center generates an inspection report based on the collected data, the actual inspection path of the inspection robot, and the actual inspection path length. The preset and actual inspection paths can be determined reasonably and effectively, each inspection node can be reached accurately and data can be collected, thereby improving inspection efficiency and quality, improving the inspection coverage of the bulk cargo terminal, improving the reliability and stability of the inspection robot, and improving the operational safety and efficiency of the bulk cargo terminal.

[0029] Embodiment 2: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the method determines the inspection nodes and presets the inspection paths based on the collected spatial layout and equipment distribution of the bulk cargo terminal, including: Inspection robots collect data on the spatial layout and equipment distribution of bulk cargo terminals; Preprocess the data collected by the inspection robot and build a 3D model based on the preprocessed data and the design drawings of the bulk cargo terminal; Determine the position coordinates of all inspection targets based on the three-dimensional model, and determine the position coordinates as inspection nodes, wherein the inspection targets include all equipment at the inspection terminal and specific inspection points; A preliminary inspection path is generated using a path analysis tool based on the three-dimensional model, and the preliminary inspection path is optimized based on the inspection nodes to determine the preset inspection path.

[0030] In this embodiment, preprocessing refers to data cleaning, data conversion, data integration, etc. of the collected data.

[0031] In this embodiment, the design drawings include an initial plan view, an initial cross-sectional view, an initial structural view, etc. of the bulk cargo terminal.

[0032] In this embodiment, the three-dimensional model includes the geographic layout, structure and equipment locations of the bulk cargo terminal.

[0033] In this embodiment, each device or specific inspection point corresponds to a inspection node.

[0034] In this embodiment, the path analysis tool is software or technology that analyzes and generates paths.

[0035] The beneficial effects of the above technical solution are as follows: by collecting the spatial layout and equipment distribution data of the bulk cargo terminal, building a three-dimensional model in combination with the design drawings, and determining the inspection nodes and preset inspection paths of the bulk cargo terminal according to the three-dimensional model, comprehensive coverage of the bulk cargo terminal can be achieved, the feasibility and accuracy of the preset inspection paths can be improved, the inspection efficiency and accuracy can be improved, and the inspection completion and quality can be improved.

[0036] Embodiment 3: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the control method controls the inspection robot to travel along a preset inspection path and determines an actual inspection path between every two adjacent inspection nodes, including: Determine the specified time interval based on the average time the inspection robot travels along the preset inspection path; Obtain the actual inspection path of the inspection robot at the current moment, and perform deviation detection between the actual inspection path and the preset inspection path; When the control center detects that the actual inspection path deviates from the preset inspection path, it determines the deviation coordinate point of the actual inspection path at the current moment. and preset coordinate points ; Determine the target inspection node coordinate point in the preset inspection path based on the preset inspection path, the preset coordinate point corresponding to the deviation coordinate point ; Determine the coordinate point to be deviated from by the inspection robot at the specified time interval before the current moment based on the deviated coordinate point ; Based on the deviation coordinate point , coordinate point to be deviated Determine the deviation from the path vector At the same time, based on the preset coordinate points 、Target inspection node coordinate point Determine the preset path vector ; Based on the deviation coordinate point , the actual driving speed of the inspection robot, the delay time of the return signal, the angle between the deviated path vector and the preset path vector to determine the expected deviation coordinate point; Based on the estimated deviation coordinate point, deviation coordinate point Determine the expected deviation from the path vector .

[0037] In this embodiment, the specified time interval indicates the time interval between every two acquisitions of the driving coordinate points.

[0038] In this embodiment, the deviation coordinate point indicates the coordinate point corresponding to the current moment when the control center detects that the inspection robot deviates from the preset inspection path.

[0039] In this embodiment, the preset coordinate point represents the coordinate point on the preset inspection path at the moment when the control center detects the deviation.

[0040] In this embodiment, the target inspection node represents the first inspection node that the inspection robot passes through after passing through the preset coordinate point in the preset inspection path.

[0041] In this embodiment, the coordinate point to be deviated from represents a coordinate point in the preset driving path at a specified time interval before the current moment.

[0042] In this embodiment, the deviated path vector represents a line segment formed by connecting the deviated coordinate point and the to-be-deviated coordinate point.

[0043] In this embodiment, the preset path vector represents a line segment formed by connecting the preset coordinate point and the target inspection node coordinate point.

[0044] In this embodiment, the estimated deviated coordinate point represents the coordinate point that the inspection robot reaches by continuing to walk along the deviated path within the return signal delay time.

[0045] In this embodiment, the estimated deviation path vector represents a line segment formed by connecting the deviation coordinate point and the estimated deviation coordinate point.

[0046] The beneficial effects of the above technical solution are as follows: by determining the deviation coordinate point, preset coordinate point, target inspection node coordinate point, to-be-deviated coordinate point and expected deviation coordinate point through deviation detection, and determining the deviated path vector, preset path vector and expected deviation path vector, the inspection robot can be timely detected for deviation, providing data basis for generating and calculating the return signal, thereby improving the accuracy and reliability of the bulk terminal fault inspection robot.

[0047] Embodiment 4: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the control method controls the inspection robot to travel along a preset inspection path and determines an actual inspection path between every two adjacent inspection nodes, and further includes: Based on the deviation coordinate point , preset coordinate points , coordinate point to be deviated 、Target inspection node coordinate point Calculate the speed return signal and direction return signal; in, Indicates the speed return signal. Indicates the direction return signal. Indicates the actual driving speed of the inspection robot. It indicates the preset path length of the inspection robot from the preset coordinate point to the target inspection node coordinate point. Indicates the preset return path vector determined by the expected deviation coordinate point and the target inspection node coordinate point. They represent the modulus lengths of the deviated path vector, the preset path vector, and the preset return path vector, respectively. Indicates the angle between the deviated path vector and the preset path vector. Indicates the delay time of the return signal. It indicates the horizontal coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the vertical coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the length of the return path of the inspection robot from the expected deviation coordinate point to the target inspection node coordinate. represents the angle between the preset return path vector and the preset path vector; Determine a return signal based on the speed return signal and the direction return signal; Based on the expected deviation coordinate point and target inspection node coordinate point Determine the preset return path vector , determining a preset return path based on a preset return vector; Based on the deviated path vector , expected deviation from the path vector And preset return path vector A preset deviation path of the deviation coordinate point is determined.

[0048] In this embodiment, the return signal represents a signal that the inspection robot drives toward the target inspection node coordinate point from the expected deviation coordinate point.

[0049] In this embodiment, Indicates the preset time for the inspection robot to reach the target inspection node coordinates from the preset coordinate point.

[0050] In this embodiment, the calculation formula of the modulus length of the deviated path vector is: ; In this embodiment, the calculation formula for the modulus of the preset path vector is: ; In this embodiment, the preset return path vector represents a line segment formed by connecting the estimated deviation coordinate point and the target inspection node coordinate point.

[0051] The beneficial effects of the above technical solution are as follows: the return signal is calculated based on the deviated coordinate point, the preset coordinate point, the coordinate point to be deviated, and the target inspection node coordinate point. When it is detected that the inspection robot deviates from the preset driving path, the return signal can be calculated in time, the actual driving path can be adjusted reasonably and effectively, and the inspection efficiency and quality can be improved.

[0052] Embodiment 5: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the control method controls the inspection robot to travel along a preset inspection path and determines an actual inspection path between every two adjacent inspection nodes, and further includes: The inspection robot adjusts the driving direction and speed based on the return signal, and drives along the preset return path to reach the target inspection node; Conduct sub-deviation detection on the inspection return path and the preset return path after adjusting the driving direction and driving speed; Determine that the actual inspection path has not been deviated based on the previous inspection node coordinate point of the preset coordinate point corresponding to the deviated coordinate point in the preset inspection path and the coordinate point to be deviated; If the control center does not detect any sub-deviation between the inspection return path and the preset return path, the actual inspection path of the inspection robot between the previous inspection node of the deviation coordinate point and the target inspection node is determined based on the preset deviation path that does not deviate from the actual inspection path and the deviation coordinate point.

[0053] In this embodiment, the inspection robot adjusts the driving direction according to the direction return signal, and adjusts the driving speed according to the speed return signal.

[0054] In this embodiment, the sub-deviation detection refers to detecting whether the inspection robot deviates from the preset return path of the deviated coordinate point after the expected deviated coordinate point of the deviated coordinate point is adjusted by the return signal.

[0055] The beneficial effects of the above technical solution are as follows: by performing sub-deviation detection on the inspection robot after adjusting the driving direction and driving speed, the actual inspection path between the target inspection node and the previous inspection node corresponding to the target inspection node in the preset driving path when no sub-deviation is detected is determined. The actual inspection path can be determined when no sub-deviation is detected, and the target inspection node can be reached accurately, thereby improving the inspection efficiency and quality, and improving the reliability and stability of the inspection robot.

[0056] Embodiment 6: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the control method controls the inspection robot to travel along a preset inspection path and determines an actual inspection path between every two adjacent inspection nodes, and further includes: If the control center detects that there is a sub-deviation between the inspection return path and the preset return path, determine the sub-deviation coordinate point at the current sub-moment , Sub-preset coordinate point ; Determine the sub-to-be-deviated coordinate point at the specified time interval before the current sub-moment of the inspection robot based on the sub-deviated coordinate point ; Based on the sub-deviation coordinate point 、The coordinate point to be deviated from Determine that the child has deviated from the path vector, and at the same time, based on the child's preset coordinate point 、Target inspection node coordinate point Determine the sub-preset path vector; Based on the sub-deviation coordinate point , the inspection robot's return-to-center signal, the return-to-center signal delay time, and the angle between the sub-deviated path vector and the sub-preset path vector to determine the sub-estimated deviated coordinate point; Based on the sub-estimated deviation coordinate point, sub-deviation coordinate point Determine the sub-projected deviation path vector; Based on the sub-deviation coordinate point , Sub-preset coordinate point 、The coordinate point to be deviated from 、Target inspection node coordinate point Calculating a sub-return signal, wherein the sub-return signal includes a sub-speed return signal and a sub-direction return signal; Based on the sub-estimated deviation coordinate points and target inspection node coordinate points Determine the sub-return path vector; Determine an actual return path vector of the deviated coordinate point based on the estimated deviated coordinate point and the sub-to-be-deviated coordinate point; Deviated path vector based on the deviated coordinate point , expected deviation from the path vector and an actual return path vector to determine an actual deviation path of the deviation coordinate point when a deviation between the actual inspection path and the preset inspection path is detected; Determine a sub-deviated path of the sub-deviated coordinate point based on the sub-deviated path vector, the sub-estimated deviated path vector, and the sub-return path vector; The actual inspection path of the inspection robot at the previous inspection node and the target inspection node of the deviated coordinate point is determined based on the actual inspection path that has not deviated, the actual deviated path of the deviated coordinate point, and the sub-deviated path of the sub-deviated coordinate point.

[0057] In this embodiment, the sub-deviated coordinate point represents the coordinate point corresponding to the current moment when the control center detects that the inspection robot deviates from the return path of the deviated coordinate point after the expected deviated coordinate point of the deviated coordinate point is adjusted by the return signal.

[0058] In this embodiment, the sub-preset coordinate point represents the coordinate point in the preset return path at the moment when the control center detects the sub-deviation.

[0059] In this embodiment, the sub-coordinate point to be deviated represents a coordinate point in the preset return path at a specified time interval before the current moment.

[0060] In this embodiment, the sub-deviated path vector represents a line segment formed by connecting the sub-deviated coordinate point and the sub-to-deviate coordinate point.

[0061] In this embodiment, the sub-preset path vector represents a line segment formed by connecting the sub-preset coordinate point and the target inspection node coordinate point.

[0062] In this embodiment, the sub-estimated deviation coordinate point represents the coordinate point that the inspection robot reaches by continuing to walk along the sub-deviated path within the return signal delay time after the estimated deviation coordinate point of the deviation coordinate point is adjusted by the return signal.

[0063] In this embodiment, the sub-estimated deviation path vector represents a line segment formed by connecting the sub-deviation coordinate point and the sub-estimated deviation coordinate point.

[0064] In this embodiment, the sub-return signal represents a signal that the inspection robot drives toward the target inspection node coordinate point from the sub-estimated deviation coordinate point.

[0065] In this embodiment, the sub-return path vector represents a line segment formed by connecting the sub-estimated deviation coordinate point and the target inspection node coordinate point.

[0066] In this embodiment, the actual deviation vector represents a line segment formed by connecting the estimated deviation coordinate point of the deviation coordinate point and the coordinate point to be deviated.

[0067] In this embodiment, the actual return path refers to the actual return path of the deviating coordinate point before the sub-deviation when the control center detects that there is a sub-deviation between the actual return path and the preset return path.

[0068] The beneficial effects of the above technical solution are as follows: by performing sub-deviation detection on the inspection robot after adjusting the driving direction and driving speed, calculating the sub-return signal and determining the sub-return path vector, the actual inspection path between the target inspection node when the sub-deviation is detected and the previous inspection node corresponding to the target inspection node in the preset driving path is determined. When it is detected that the inspection robot deviates from the preset return path, the actual driving path can be determined, the target inspection node can be reached accurately, the inspection efficiency and inspection quality can be improved, and the reliability and stability of the inspection robot can be improved.

[0069] Embodiment 7: An embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to a control center, including: When the inspection robot reaches an inspection node in a preset inspection path, the inspection robot obtains the actual node coordinates where the inspection robot is located, and compares the actual node coordinates with the position coordinates of the inspection node to ensure that the inspection robot is at the inspection node; After the inspection node collects data, the collected data, the inspection node and the actual inspection path between the inspection node and the previous inspection node of the inspection node in the preset inspection path, and the length of the actual inspection path are transmitted to the control center respectively.

[0070] In this embodiment, the actual node coordinates represent the position coordinates of the inspection robot in the three-dimensional model when the inspection robot reaches the inspection node in the preset inspection path.

[0071] In this embodiment, if the actual node coordinates are not completely consistent with the position coordinates of the inspection node, the inspection robot is controlled to drive toward the inspection node.

[0072] In this embodiment, the inspection robot collects data once at each inspection node, and every two adjacent inspection nodes correspond to an actual inspection path and the length of the actual inspection path.

[0073] In this embodiment, the inspection robot transmits the collected data to the control center at the first inspection node in the preset inspection path.

[0074] In this embodiment, the inspection robot transmits the collected data, the actual inspection path between the inspection node and the previous inspection node of the inspection node in the path, and the length of the actual inspection path to the control center at the second and subsequent inspection nodes in the preset inspection path.

[0075] The beneficial effects of the above technical solution are as follows: the inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to the control center, which can provide data basis for generating inspection reports and optimizing preset driving paths, improve the rationality and effectiveness of preset inspection paths, and improve the inspection coverage rate of bulk cargo terminals.

[0076] Embodiment 8: The embodiment of the present invention provides a control method for a bulk cargo terminal fault inspection robot, wherein the control center analyzes the collected data, identifies the inspection node fault and issues a fault alarm, generates an inspection report based on the inspection result and stores it in the control center, including: The control center pre-processes the data collected by each inspection node to determine first data, inputs the first data into a fault detection model to perform fault detection, and issues a fault alarm based on the fault detection result; The control center determines the fault information of the bulk cargo terminal based on the fault detection results of all inspection nodes and the fault alarms issued; The control center determines the total inspection path and the total inspection path length of the bulk cargo terminal based on the actual inspection path and the length of the actual inspection path between every two adjacent inspection nodes; Based on the fault information of the bulk cargo terminal, the total inspection path and the total inspection path length, the inspection results are determined and an inspection report is generated, and the preset inspection path is dynamically adjusted based on the inspection report.

[0077] In this embodiment, each inspection node corresponds to a first data, which is collected data after the first data is preprocessed.

[0078] In this embodiment, the fault detection model can be a machine learning model, a deep learning model, a fault identification algorithm, etc.

[0079] In this embodiment, the fault information includes fault information of all inspection nodes in the bulk cargo terminal.

[0080] The beneficial effects of the above technical solution are as follows: the control center analyzes the collected data, identifies the failure of the inspection node and issues a fault alarm. At the same time, an inspection report is generated based on the inspection results and stored in the control center. It can reasonably and effectively determine the preset and actual inspection paths, accurately reach each inspection node and collect data, improve the inspection efficiency and quality, improve the inspection coverage of bulk terminals, improve the reliability and stability of inspection robots, and improve the operational safety and efficiency of bulk terminals.

[0081] The method embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0082] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a bulk cargo terminal fault inspection robot, characterized in that: include: S101: Determine inspection nodes and preset inspection paths based on the collected spatial layout and equipment distribution of the bulk cargo terminal; S102: Control the inspection robot to travel along a preset inspection path, and determine an actual inspection path between every two adjacent inspection nodes; S103: The inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to the control center; S104: The control center analyzes the collected data, identifies the inspection node failure and issues a failure alarm. At the same time, an inspection report is generated based on the inspection result and stored in the control center.

2. The control method of a bulk cargo terminal fault inspection robot according to claim 1, characterized in that: Based on the collected spatial layout and equipment distribution of bulk cargo terminals, inspection nodes and preset inspection routes are determined, including: Inspection robots collect data on the spatial layout and equipment distribution of bulk cargo terminals; Preprocess the data collected by the inspection robot and build a 3D model based on the preprocessed data and the design drawings of the bulk cargo terminal; Determine the position coordinates of all inspection targets based on the three-dimensional model, and determine the position coordinates as inspection nodes, wherein the inspection targets include all equipment at the inspection terminal and specific inspection points; A preliminary inspection path is generated using a path analysis tool based on the three-dimensional model, and the preliminary inspection path is optimized based on the inspection nodes to determine the preset inspection path.

3. The control method of a bulk cargo terminal fault inspection robot according to claim 1, characterized in that: Control the inspection robot to travel along the preset inspection path and determine the actual inspection path between every two adjacent inspection nodes, including: Determine the specified time interval based on the average time the inspection robot travels along the preset inspection path; Obtain the actual inspection path of the inspection robot at the current moment, and perform deviation detection between the actual inspection path and the preset inspection path; When the control center detects that the actual inspection path deviates from the preset inspection path, it determines the deviation coordinate point of the actual inspection path at the current moment. and preset coordinate points ; Determine the target inspection node coordinate point in the preset inspection path based on the preset inspection path, the preset coordinate point corresponding to the deviation coordinate point ; Determine the coordinate point to be deviated from by the inspection robot at the specified time interval before the current moment based on the deviated coordinate point ; Based on the deviation coordinate point , coordinate point to be deviated Determine the deviation from the path vector At the same time, based on the preset coordinate points 、Target inspection node coordinate point Determine the preset path vector ; Based on the deviation coordinate point , the actual driving speed of the inspection robot, the delay time of the return signal, and the angle between the deviated path vector and the preset path vector to determine the expected deviation coordinate point; Based on the estimated deviation coordinate point, deviation coordinate point Determine the expected deviation from the path vector .

4. The control method of a bulk cargo terminal fault inspection robot according to claim 3, characterized in that: Controlling the inspection robot to travel along a preset inspection path and determining the actual inspection path between every two adjacent inspection nodes, and also including: Based on the deviation coordinate point , preset coordinate points , coordinate point to be deviated 、Target inspection node coordinate point Calculate the speed return signal and direction return signal; in, Indicates the speed return signal. Indicates the direction return signal. Indicates the actual driving speed of the inspection robot. It indicates the preset path length of the inspection robot from the preset coordinate point to the target inspection node coordinate point. Indicates the preset return path vector determined by the expected deviation coordinate point and the target inspection node coordinate point. They represent the modulus lengths of the deviated path vector, the preset path vector, and the preset return path vector, respectively. Indicates the angle between the deviated path vector and the preset path vector. Indicates the delay time of the return signal. It indicates the horizontal coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the vertical coordinate of the predicted deviation coordinate point after the delay time of the return signal at the current moment. It indicates the length of the return path of the inspection robot from the expected deviation coordinate point to the target inspection node coordinate. represents the angle between the preset return path vector and the preset path vector; Determine a return signal based on the speed return signal and the direction return signal; Based on the expected deviation coordinate point and target inspection node coordinate point Determine the preset return path vector , determining a preset return path based on a preset return vector; Based on the deviated path vector , expected deviation from the path vector And preset return path vector A preset deviation path of the deviation coordinate point is determined.

5. The control method of a bulk cargo terminal fault inspection robot according to claim 4, characterized in that: Controlling the inspection robot to travel along a preset inspection path and determining the actual inspection path between every two adjacent inspection nodes, and also including: The inspection robot adjusts the driving direction and speed based on the return signal, and drives along the preset return path to reach the target inspection node; Conduct sub-deviation detection on the inspection return path and the preset return path after adjusting the driving direction and driving speed; Determine that the actual inspection path has not been deviated based on the previous inspection node coordinate point of the preset coordinate point corresponding to the deviated coordinate point in the preset inspection path and the coordinate point to be deviated; If the control center does not detect any sub-deviation between the inspection return path and the preset return path, the actual inspection path of the inspection robot between the previous inspection node of the deviation coordinate point and the target inspection node is determined based on the preset deviation path that does not deviate from the actual inspection path and the deviation coordinate point.

6. The control method of a bulk cargo terminal fault inspection robot according to claim 5, characterized in that: Controlling the inspection robot to travel along a preset inspection path and determining the actual inspection path between every two adjacent inspection nodes, and also including: If the control center detects that there is a sub-deviation between the inspection return path and the preset return path, determine the sub-deviation coordinate point at the current sub-moment , Sub-preset coordinate point ; Determine the sub-to-be-deviated coordinate point at the specified time interval before the current sub-moment of the inspection robot based on the sub-deviated coordinate point ; Based on the sub-deviation coordinate point 、The coordinate point to be deviated from Determine that the child has deviated from the path vector, and at the same time, based on the child's preset coordinate point 、Target inspection node coordinate point Determine the sub-preset path vector; Based on the sub-deviation coordinate point , the inspection robot's return-to-center signal, the return-to-center signal delay time, and the angle between the sub-deviated path vector and the sub-preset path vector to determine the sub-estimated deviated coordinate point; Based on the sub-estimated deviation coordinate point, sub-deviation coordinate point Determine the sub-projected deviation path vector; Based on the sub-deviation coordinate point , Sub-preset coordinate point 、The coordinate point to be deviated from 、Target inspection node coordinate point Calculating a sub-return signal, wherein the sub-return signal includes a sub-speed return signal and a sub-direction return signal; Based on the sub-estimated deviation coordinate points and target inspection node coordinate points Determine the sub-return path vector; Determine an actual return path vector of the deviated coordinate point based on the estimated deviated coordinate point and the sub-to-be-deviated coordinate point; Deviated path vector based on the deviated coordinate point , expected deviation from the path vector and an actual return path vector to determine an actual deviation path of the deviation coordinate point when a deviation between the actual inspection path and the preset inspection path is detected; Determine a sub-deviated path of the sub-deviated coordinate point based on the sub-deviated path vector, the sub-estimated deviated path vector, and the sub-return path vector; The actual inspection path of the inspection robot at the previous inspection node and the target inspection node of the deviated coordinate point is determined based on the actual inspection path that has not deviated, the actual deviated path of the deviated coordinate point, and the sub-deviated path of the sub-deviated coordinate point.

7. The control method of a bulk cargo terminal fault inspection robot according to claim 1, characterized in that: The inspection robot collects data at each inspection node and transmits the collected data and the actual inspection path to the control center, including: When the inspection robot reaches an inspection node in a preset inspection path, the inspection robot obtains the actual node coordinates where the inspection robot is located, and compares the actual node coordinates with the position coordinates of the inspection node to ensure that the inspection robot is at the inspection node; After the inspection node collects data, the collected data, the inspection node and the actual inspection path between the inspection node and the previous inspection node of the inspection node in the preset inspection path, and the length of the actual inspection path are transmitted to the control center respectively.

8. The control method of a bulk cargo terminal fault inspection robot according to claim 7, characterized in that: The control center analyzes the collected data, identifies inspection node failures and issues fault alarms. It generates inspection reports based on the inspection results and stores them in the control center, including: The control center pre-processes the data collected by each inspection node to determine first data, inputs the first data into a fault detection model to perform fault detection, and issues a fault alarm based on the fault detection result; The control center determines the fault information of the bulk cargo terminal based on the fault detection results of all inspection nodes and the fault alarms issued; The control center determines the total inspection path and the total inspection path length of the bulk cargo terminal based on the actual inspection path and the length of the actual inspection path between every two adjacent inspection nodes; Based on the fault information of the bulk cargo terminal, the total inspection path and the total inspection path length, the inspection results are determined and an inspection report is generated, and the preset inspection path is dynamically adjusted based on the inspection report.

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