Project location inspection method, device and equipment, storage medium and product

Abstract

The invention discloses a project location inspection method, device and equipment, a storage medium and a product, and the method comprises the steps: firstly, reading the tag information of an electronic tag of a project location based on a reader through responding to an inspection instruction inputted by a user, and determining the positioning information of the electronic tag; the method comprises the following steps: acquiring positioning information of an electronic tag, then controlling a robot to move according to the positioning information of the electronic tag, and finally acquiring field engineering information based on the robot so as to detect the field construction condition. Therefore, according to the embodiment of the invention, the field engineering information is acquired through the robot, and the movement control of the robot is realized based on the electronic tag of the engineering location, so that the automatic inspection of the engineering location is realized, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a method, device, equipment, storage medium and product for project site inspection. Background Art

[0002] During the construction process, it is necessary to monitor the construction status of the project. Currently, this is usually done through manual on-site supervision or remote inspection with cameras. Manual supervision is inefficient. To remotely monitor the project site with cameras, it is necessary to set up a camera at the project site, aim the camera at the project site, and then control the camera at the project site through the control room to achieve remote supervision. Since the camera is fixed, it is necessary to move the camera manually when inspecting the project site, which is time-consuming, labor-intensive, and inefficient. Summary of the invention

[0003] Based on this, the present disclosure provides a method, device, equipment, storage medium and product for project site inspection, which can obtain on-site project information through a robot, and realize the robot's mobile control based on the electronic tags at the project site, thereby realizing automatic inspection of the project site and improving inspection efficiency.

[0004] To achieve the above purpose, the present disclosure provides a method for inspecting a project site, including:

[0005] In response to the inspection instruction input by the user, the tag information of the electronic tag at the location of the project to be inspected is read by the reader, and the positioning information of the electronic tag is determined;

[0006] Controlling the movement of the robot according to the positioning information of the electronic tag;

[0007] Based on the robot, on-site engineering information is obtained to detect the on-site construction situation.

[0008] As an improvement of the above solution, the acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes:

[0009] When the robot moves to the first electronic tag, the on-site engineering information is acquired based on the robot to detect the on-site construction situation; wherein the first electronic tag is any one of all the electronic tags at the location of the project;

[0010] or,

[0011] During the movement of the robot, the location of the project is photographed based on a camera to obtain a perception image;

[0012] When a designated detection scene is detected based on the perception image, the robot is controlled to stop moving and obtain on-site engineering information to detect the on-site construction situation, until the on-site construction situation of the designated detection scene is detected, and the robot is controlled to continue moving;

[0013] or,

[0014] During the movement of the robot, in response to the real-time detection instructions received from the construction personnel, the robot is controlled to pause moving and obtain on-site engineering information to detect the on-site construction conditions, until the construction personnel's continue moving instructions are received and the robot is controlled to continue moving.

[0015] As an improvement of the above scheme, it also includes:

[0016] When the robot moves to the first electronic tag, based on the preset correspondence between the tag information and the construction precautions, the first construction precautions are determined according to the tag information of the first electronic tag, and the first construction precautions are output by the robot to inform the construction personnel;

[0017] or,

[0018] When the designated detection scene is detected based on the perceived image, designated construction precautions are determined according to the designated detection scene based on the correspondence between the pre-set scene and the construction precautions, and the designated construction precautions are output by the robot to inform the construction personnel.

[0019] As an improvement of the above scheme, in response to the inspection instruction input by the user, the tag information of the electronic tag at the location of the project to be inspected is read by the reader, and the positioning information of the electronic tag is determined; and the movement of the robot is controlled according to the positioning information of the electronic tag, including:

[0020] In response to an inspection instruction input by a user, the robot is controlled to move to an initial position in a location of a project to be inspected according to pre-input initial position information;

[0021] Based on the positioning of the second electronic tag by the reader, the positioning information of the second electronic tag is obtained, and the robot is controlled to move according to the positioning information of the second tag until all the electronic tags at the project site are inspected tags; or, based on the preset tag information of the second electronic tag read by the reader, the robot is controlled to move according to the positioning information in the preset tag information until all the electronic tags at the project site are inspected tags; wherein the second electronic tag is the electronic tag closest to the reader among all the uninspected tags in the current inspection round, and the reader is arranged on the robot;

[0022] When the robot moves to the second electronic tag, the second electronic tag is set as the inspected tag;

[0023] In response to all the electronic tags at the project site being the inspected tags, the current inspection round is ended, and all the electronic tags are reset to be the uninspected tags.

[0024] As an improvement of the above solution, after acquiring on-site engineering information based on the robot to detect on-site construction conditions, the method further includes:

[0025] When it is determined based on the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures.

[0026] As an improvement of the above solution, controlling the movement of the robot according to the positioning information of the electronic tag includes:

[0027] Based on the set construction step information, the robot is controlled to move according to the positioning information of the electronic tag corresponding to each construction step in turn; wherein the tag information of each electronic tag corresponds to one of the construction steps.

[0028] As an improvement of the above solution, the setting of the construction step information and controlling the movement of the robot according to the positioning information of the electronic tag corresponding to each construction step in turn include:

[0029] Determine a construction sequence according to preset construction step information, and control the movement of the robot according to the construction sequence;

[0030] In the process of the robot moving according to the construction sequence, a target electronic tag identifier is determined based on the pre-stored correspondence between the construction steps and the tag identifiers; wherein the target electronic tag identifier is a tag identifier corresponding to the construction step currently to be inspected in the construction sequence;

[0031] The robot is controlled to move to the target electronic tag according to the positioning information of the target electronic tag; wherein the target electronic tag is an electronic tag at the location of the project, and the tag information of the target electronic tag matches the target electronic tag identifier.

[0032] As an improvement of the above solution, before controlling the movement of the robot according to the positioning information of the electronic tag, the method further includes:

[0033] When the reader reads the electronic tag of the project location, the project location is photographed based on a camera;

[0034] Determine the preset installation position of the electronic tag according to the tag information of the read electronic tag;

[0035] In the image of the project site, if a flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is installed in place; if no flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is not installed in place;

[0036] When the number of electronic tags whose tag information is read is equal to the required number of electronic tags, and the electronic tags are installed in place, the robot is controlled to perform an inspection operation at the project site; wherein the required number of electronic tags is determined based on the image of the project site;

[0037] When the number of electronic tags whose tag information is read is not equal to the required number of electronic tags, or the electronic tags are not installed in place, the robot outputs information to remind the staff to make corrections.

[0038] As an improvement of the above solution, the acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes:

[0039] The project site is photographed by a camera to obtain actual construction images; wherein the actual construction images are used to compare with pre-stored standard quality images to determine the on-site construction conditions based on the comparison results; the camera is set on the retractable robot arm of the robot.

[0040] As an improvement of the above solution, when it is determined according to the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind the construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures, including:

[0041] Uploading the on-site engineering information to the management platform, so that when the management platform determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal;

[0042] or,

[0043] When the robot determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends reminder information corresponding to the on-site construction quality or safety measures that do not meet the standards to the management platform so that the management platform sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal, or controls the warning module on the robot to work, so as to prompt the staff to make rectifications.

[0044] To achieve the above purpose, the embodiment of the present disclosure further provides a project site inspection device, including:

[0045] The tag information acquisition module is used to respond to the inspection instruction input by the user, read the tag information of the electronic tag at the location of the project to be inspected based on the reader, and determine the location information of the electronic tag;

[0046] A mobile control module, used to control the movement of the robot according to the positioning information of the electronic tag;

[0047] The on-site information acquisition module is used to acquire on-site engineering information based on the robot to detect the on-site construction situation.

[0048] To achieve the above-mentioned purpose, the embodiments of the present disclosure also provide a project site inspection device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the project site inspection method as described in any of the above embodiments.

[0049] To achieve the above-mentioned purpose, the embodiments of the present disclosure also provide a non-volatile computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the non-volatile computer-readable storage medium is located is controlled to execute the engineering site inspection method as described in any of the above embodiments.

[0050] To achieve the above objectives, the embodiments of the present disclosure further provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the engineering site inspection method as described in any of the above embodiments.

[0051] Compared with the prior art, the method, device, equipment, storage medium and product for inspecting the project site disclosed in the embodiments of the present disclosure first respond to the inspection instruction input by the user, read the tag information of the electronic tag at the project site to be inspected based on the reader, and determine the positioning information of the electronic tag; then, control the movement of the robot according to the positioning information of the electronic tag, and finally, obtain the on-site project information based on the robot to detect the on-site construction situation. It can be seen that the embodiments of the present disclosure obtain the on-site project information through the robot, and realize the movement control of the robot based on the electronic tag at the project site, realize the automatic inspection of the project site, and improve the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solution of the present disclosure, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 It is a flowchart of a method for inspecting a project site provided by an embodiment of the present disclosure;

[0054] Figure 2 It is a structural schematic diagram of a project site inspection device provided by an embodiment of the present disclosure;

[0055] Figure 3 It is a structural schematic diagram of an engineering site inspection device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0057] See also Figure 1 , is a flow chart of a method for inspecting a project site provided by an embodiment of the present disclosure. Specifically, the method for inspecting a project site includes steps S1 to S3:

[0058] S1. In response to an inspection instruction input by a user, the tag information of the electronic tag at the location of the project to be inspected is read by a reader, and the positioning information of the electronic tag is determined.

[0059] Specifically, the method of an embodiment of the present disclosure can be applied to a robot. A user can input an inspection instruction on a management platform or terminal, which is forwarded to the robot by the management platform or terminal through a wireless network, or a display screen is provided on the robot. The display screen is touch-sensitive, and the size of the display screen can be determined according to the body of the robot. Inspection instructions can be input through an application in the display screen, or the user can input the inspection instructions into the robot by voice. It is worth noting that the input method of the inspection instruction can be set according to the actual situation and is not limited here. Optionally, the number of electronic tags at the project site is set according to the actual situation and is not limited here.

[0060] It can be understood that the tag information of the electronic tag can be the tag information pre-set in the electronic tag, including location information (such as longitude and latitude information), which is used as positioning information. The tag information of the electronic tag can also include positioning information determined when the reader and the electronic tag interact in real time based on RFID positioning technology, which is not limited here.

[0061] S2. Control the movement of the robot according to the positioning information of the electronic tag.

[0062] Specifically, the electronic tag can be set on the construction personnel, the construction object or the boundary of the project site. The electronic tag is used to guide the movement of the robot. The on-site project information is collected by the robot. The tag information of the electronic tag set at the boundary of the project site contains information indicating that the function of the electronic tag is to limit the robot's movement range, so as to limit the robot within a certain movement range. It is worth noting that the order of the robot's movement between the electronic tags can be: first move to the nearest uninspected electronic tag, or based on the order of the electronic tags set by the user (for example, the user sets the order of the electronic tags according to the order of the construction steps or according to the geographical location of the electronic tags), move according to the order of the electronic tags.

[0063] It should be noted that at the project site, the robot moves based on the tag information of the electronic tag. The robot can move back and forth for inspection, or it can inspect on time as needed, etc. The specific inspection interval, inspection number and other parameters can be set according to actual conditions and are not limited here.

[0064] S3. Acquire on-site engineering information based on the robot to detect on-site construction conditions.

[0065] Specifically, on-site engineering information can be collected through various sensors (such as temperature sensors, humidity sensors, etc.) and cameras and other equipment. On-site engineering information includes but is not limited to engineering quality information and safety measures. On-site construction conditions include but are not limited to the degree of project completion (such as project quality or project progress, etc.) and the implementation of safety measures. The degree of project completion and the implementation of safety measures are analyzed.

[0066] For example, the safety measures are first checked, such as whether a safety fence is set up at the project site and whether the construction workers are wearing safety helmets. These checks can be carried out through image recognition checks by the camera on the mobile robot. When the safety measures do not meet the standards, rectification is carried out through voice prompts. Secondly, the on-site construction quality is checked, including the inspection of hidden projects. The mobile robot goes to the hidden project site and takes images through the camera. Based on the captured images, it is judged whether the engineering quality of the hidden project meets the standard index requirements.

[0067] It is worth noting that the project site inspection method can be executed during the construction process to check the safety measures in the construction process or the project quality (i.e., on-site construction quality); the method can also be executed during the completion acceptance stage, and can also be executed after the completion and maintenance, such as the inspection of resource operation and maintenance such as manholes. It can be understood that the stage after completion and operation belongs to the category of resource management. The execution stage of the project site inspection method can be set according to actual conditions and is not limited here.

[0068] Compared with the prior art, the disclosed embodiment acquires on-site engineering information through a robot and locates the electronic tags at the engineering site through a reader to realize the mobile control of the robot, thereby realizing automatic inspection at the engineering site and improving inspection efficiency.

[0069] In a preferred embodiment, the acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes:

[0070] When the robot moves to the first electronic tag, the on-site engineering information is acquired based on the robot to detect the on-site construction situation; wherein the first electronic tag is any one of all the electronic tags at the location of the project;

[0071] or,

[0072] During the movement of the robot, the location of the project is photographed based on a camera to obtain a perception image;

[0073] When a designated detection scene is detected based on the perception image, the robot is controlled to stop moving and obtain on-site engineering information to detect the on-site construction situation, until the on-site construction situation of the designated detection scene is detected, and the robot is controlled to continue moving;

[0074] or,

[0075] During the movement of the robot, in response to the real-time detection instructions received from the construction personnel, the robot is controlled to pause moving and obtain on-site engineering information to detect the on-site construction conditions, until the construction personnel's continue moving instructions are received and the robot is controlled to continue moving.

[0076] For example, in a round of inspection, the robot moves to each electronic tag in turn to collect on-site engineering information. Or, when encountering a specific place, it will stop for special inspection until the completion. For example, for excavation projects, it is necessary to conduct a depth inspection, so it is necessary to stop to obtain the corresponding depth information and compare it with the preset standard depth requirements. If it meets the standard depth requirements, the engineering quality of the excavation project is qualified, and a reminder can be made to proceed to the next step. If it does not meet the standard depth requirements, a reminder is given to continue excavation. Alternatively, the construction personnel can send real-time detection instructions or continue moving instructions to the robot through the terminal. When the robot receives the real-time detection instruction, it will pause and obtain on-site engineering information to detect the on-site construction situation. When the robot receives the continue moving instruction, it will resume the mobile state and continue to move according to the positioning information of the electronic tag.

[0077] Furthermore, the method further comprises:

[0078] When the robot moves to the first electronic tag, based on the preset correspondence between the tag information and the construction precautions, the first construction precautions are determined according to the tag information of the first electronic tag, and the first construction precautions are output by the robot to inform the construction personnel;

[0079] or,

[0080] When the designated detection scene is detected based on the perceived image, designated construction precautions are determined according to the designated detection scene based on the correspondence between the pre-set scene and the construction precautions, and the designated construction precautions are output by the robot to inform the construction personnel.

[0081] Exemplarily, the inspection method for the project site also includes informing the construction personnel of the construction precautions, and the specific notification methods include the following: 1. When the reader reads the tag information of the electronic tag at the project site, the read tag information includes a pre-set tag identifier. First, based on the tag information of the electronic tag at the project site read by the reader, the read tag information is parsed to obtain the corresponding tag identifier, and then the construction precautions corresponding to the tag identifier are found, and the construction personnel are informed through voice or text. Preferably, the construction personnel are reminded of the construction precautions by voice broadcast. 2. The correspondence between the tag information and the construction precautions actually includes the correspondence between the tag identifier and the construction steps, and the correspondence between the construction steps and the construction precautions. First, based on the tag information of the electronic tag at the project site read by the reader, the read tag information is parsed to obtain the corresponding tag identifier, and then the corresponding construction steps are determined according to the parsed tag identifier, and then the corresponding construction steps are found according to the determined construction steps, and the construction precautions found are informed to the construction personnel through voice or text.

[0082] In a preferred embodiment, in response to the inspection instruction input by the user, the tag information of the electronic tag at the location of the project to be inspected is read by the reader, and the positioning information of the electronic tag is determined; and the movement of the robot is controlled according to the positioning information of the electronic tag, including:

[0083] In response to an inspection instruction input by a user, the robot is controlled to move to an initial position in a location of a project to be inspected according to pre-input initial position information;

[0084] Based on the positioning of the second electronic tag by the reader, the positioning information of the second electronic tag is obtained, and the robot is controlled to move according to the positioning information of the second tag until all the electronic tags at the project site are inspected tags; or, based on the preset tag information of the second electronic tag read by the reader, the robot is controlled to move according to the positioning information in the preset tag information until all the electronic tags at the project site are inspected tags; wherein the second electronic tag is the electronic tag closest to the reader among all the uninspected tags in the current inspection round, and the reader is arranged on the robot;

[0085] When the robot moves to the second electronic tag, setting the second electronic tag as the inspected tag;

[0086] In response to all the electronic tags at the project site being the inspected tags, the current inspection round is ended, and all the electronic tags are reset to be the uninspected tags.

[0087] Specifically, the robot's mobile control process is as follows: 1. Before locating the electronic tag at the project site, obtain the initial location information of the project site, and navigate the robot to the initial position in the project site according to the initial location information of the project site. Exemplarily, assuming that the project site is a communication line construction site, such as an optical cable line construction site, the steps for navigating the robot to the project site are as follows: (1) Obtain the optical cable line information to be inspected, such as the location information (such as longitude and latitude) of the electronic tag at the inspection starting point, optical cable information, and hand hole information. The optical cable line information can be input by the user on the robot's display screen, or obtained by the robot from the terminal application software. (2) Start the robot's navigation system, such as the Beidou navigation system, and navigate the robot to the optical cable line construction site according to the location information of the optical cable line to be inspected (such as the location information of the electronic tag at the inspection starting point). 2. After the robot moves to the initial position of the optical cable line construction site, it first locates the electronic tags at the project site, selects the nearest uninspected electronic tags, and controls the movement of the robot according to the positioning information of the nearest uninspected electronic tags. When the robot moves to the nearest uninspected electronic tag, it marks the electronic tag as inspected, and collects on-site project information for detecting on-site construction conditions. Then, repeat step 2, traverse all electronic tags in turn, until all electronic tags are marked as inspected, and the current inspection round ends.

[0088] Optionally, at the end of the current inspection round, all the electronic tags are set as the uninspected tags. Specifically, at the end of the current inspection round, all electronic tags are marked as uninspected, and a new round of inspection is started when the user inputs the inspection instruction again or reaches the set inspection time node.

[0089] In a preferred embodiment, controlling the movement of the robot according to the positioning information of the electronic tag includes:

[0090] Based on the set construction step information, the robot is controlled to move according to the positioning information of the electronic tag corresponding to each construction step in turn; wherein the tag information of each electronic tag corresponds to one of the construction steps.

[0091] Specifically, the method can be applied to the robot, which is provided with a reader for reading the tag information of the electronic tag at the project site, the tag information includes the tag identification and custom information, etc., and can also include the positioning information determined based on the positioning technology or the longitude and latitude information recorded in the preset tag information, etc. At least one electronic tag is set at the project site, and the method is particularly suitable for the project site where multiple electronic tags are set. The type of the electronic tag can be a widely used radio frequency identification (RFID) electronic tag. It can be understood that the type of the electronic tag can be any tag that can achieve positioning, and is not limited here.

[0092] Exemplarily, a temporary RFID electronic tag is set at a limited position of the activity range of the construction personnel and the robot, and the temporary RFID electronic tag is set as an active RFID electronic tag. The active RFID electronic tag has a red or yellow shell and is equipped with an indicator light. When the RFID electronic tag is read, the configured indicator light will flash. Specifically, RFID electronic tags of different work types are temporarily installed on different construction personnel, and different information is written on each RFID electronic tag. For example, the RFID electronic tag installed on the A construction personnel records "A construction personnel, responsible for opening the manual manhole cover", the RFID electronic tag installed on the B construction personnel records "B construction personnel, responsible for wearing the tester", and the RFID electronic tag installed on the C construction personnel records "C construction personnel, responsible for laying optical cables", etc. The number of RFID electronic tags and the corresponding tag information can be set according to the number of construction personnel and the type of work. The RFID electronic tag is installed and pasted on the construction personnel's work clothes or safety protection equipment. Temporary RFID electronic tags are set at limited positions of the robot's activity range, such as installing temporary RFID electronic tags at several corners of the cordon at the project site to limit the robot's activity range. If the cordon is a rectangle, install an RFID tag at each of the four diagonals. If it is a triangle, install an RFID tag at each vertex. More RFID tags can be installed as needed. The robot does not need to use a positioning navigation system for navigation during the inspection process, and is suitable for places with weak satellite positioning signals.

[0093] Specifically, construction step information is stored in advance, and at least one electronic tag is set at the construction site corresponding to each construction step. The correspondence between the construction steps and the electronic tags is stored in advance. During the construction inspection process, the robot is positioned by using the electronic tags corresponding to each construction step, and is guided to the corresponding construction site to collect on-site engineering information.

[0094] In a preferred embodiment, after acquiring on-site engineering information based on the robot to detect on-site construction conditions, the method further includes:

[0095] When it is determined based on the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures.

[0096] Exemplarily, the on-site engineering information can be analyzed by the robot, or the management platform can analyze the on-site engineering information uploaded by the robot to determine whether the on-site construction quality meets the standards and whether the safety measures meet the standards. When the on-site construction quality does not meet the standards or the on-site safety measures do not meet the standards, a warning module installed on the robot will issue a warning or send the non-compliance information to the terminal to remind the construction personnel to rectify the non-compliant areas. When the on-site construction quality or safety measures corresponding to the same construction step are detected to be non-compliant for multiple times, the robot will generate a warning message and report it to the management platform or the management platform will generate a warning message to remind supervisors to handle it.

[0097] In a preferred embodiment, the control of the robot movement based on the set construction step information and in turn according to the positioning information of the electronic tag corresponding to each construction step includes:

[0098] Determine a construction sequence according to preset construction step information, and control the movement of the robot according to the construction sequence;

[0099] In the process of the robot moving according to the construction sequence, a target electronic tag identifier is determined based on the pre-stored correspondence between the construction steps and the tag identifiers; wherein the target electronic tag identifier is a tag identifier corresponding to the construction step currently to be inspected in the construction sequence;

[0100] The robot is controlled to move to the target electronic tag according to the positioning information of the target electronic tag; wherein the target electronic tag is an electronic tag at the location of the project, and the tag information of the target electronic tag matches the target electronic tag identifier.

[0101] Specifically, the method can be applied during the construction process or after the construction is completed. The robot pre-stores all the construction steps of this construction (i.e., construction step information) and also pre-stores the correspondence between the construction steps and label identifications. It can be understood that the robot has pre-determined which electronic tags are needed for each construction step.

[0102] In one example, taking the method applied in the construction process as an example, the construction personnel perform each construction step in the order of the construction step information. After completing the work corresponding to the current construction step, the robot is sent the information that the current construction step has been completed through the terminal carried or by voice, etc., instructing the robot to find a matching electronic tag from the read electronic tags according to the tag identification corresponding to the next construction step, and then control the robot to move according to the positioning information of the electronic tag, so that the robot can reach the construction location of the next construction step to collect on-site engineering information. For example, if the next construction step is that the construction personnel are going to open the manhole cover process, the temporary electronic tag on the A construction personnel is read, and the navigation automatically moves to the A construction personnel, and the voice prompt system is started to inform the construction precautions; if the next construction step is that the construction personnel C is going to lay the optical cable in the well, the electronic tag on the C construction personnel is read, and the navigation automatically moves to the C construction personnel, and the voice prompt system is started to inform the construction precautions, such as the gas inspection before entering the well. The location, work type and corresponding work precautions of the installation construction personnel are determined by the electronic tags of the construction personnel, and the corresponding construction personnel are located by navigation, and the corresponding work precautions are prompted. It is understandable that the robot also has the function of reminding construction workers of construction tasks and precautions; in addition, when a construction process of a construction worker is completed, the construction worker who has completed the process can remove the corresponding temporary RFID electronic tag. When all processes at the construction site are completed, all temporary RFID electronic tags at the limited positions within the activity range of the construction workers and the robot can be removed.

[0103] In another example, taking the application of the method after the completion of construction as an example, after all construction steps are completed, the robot checks the construction results of each construction step one by one. Preferably, the robot controls the movement of the robot according to the construction sequence. Optionally, the robot can also control the movement of the robot according to the importance of the construction steps. The inspection order of each construction step can be set according to actual conditions and is not limited here. It is only necessary to ensure that the robot has inspected all construction steps that need to be inspected.

[0104] In a preferred embodiment, before controlling the movement of the robot according to the positioning information of the electronic tag, the method further includes:

[0105] When the reader reads the electronic tag of the project location, the project location is photographed based on a camera;

[0106] Determine the preset installation position of the electronic tag according to the tag information of the read electronic tag;

[0107] In the image of the project site, if a flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is installed in place; if no flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is not installed in place;

[0108] When the number of electronic tags whose tag information is read is equal to the required number of electronic tags, and the electronic tags are installed in place, the robot is controlled to perform an inspection operation at the project site; wherein the required number of electronic tags is determined based on the image of the project site;

[0109] When the number of electronic tags whose tag information is read is not equal to the required number of electronic tags, or the electronic tags are not installed in place, the robot outputs information to remind the staff to make corrections.

[0110] Specifically, taking the case where the project site is an optical cable line to be inspected and the electronic tag is a temporary RFID electronic tag, before the inspection, the robot determines whether the RFID electronic tag of the optical cable line to be inspected is installed. If it is installed in place, the inspection begins. If the RFID electronic tag is not installed in place, an alarm message will be issued.

[0111] Exemplarily, the RFID reader (i.e., reader) of the RFID system on the robot is first used to read the temporary RFID electronic tag, and then the visual module is used to determine whether the installation position of the RFID electronic tag is in place. For example, when the RFID electronic tag is read, the indicator light of the installed RFID electronic tag will flash to determine whether the temporary RFID electronic tag is in place. For example, if the information read is construction worker A, and the image captured by the visual module shows that the temporary RFID electronic tag on construction worker A is not flashing, it means that the installation is not in place. If the installation is not in place, a prompt will be issued through the robot's voice system, requiring the construction worker to make corrections. Preferably, the communication module uploads the information that the RFID electronic tag is not installed correctly to the management platform at the same time, and issues a prompt to the construction worker through the terminal. If it is checked that the RFID electronic tag has been installed in place, the visual module will be activated to capture the images of the cordon and construction workers at the project site to determine the number of electronic tags required. For example, if it is determined through the image that there are 5 construction workers on site and the cordon is a rectangle, then a total of 9 temporary RFID electronic tags are needed, that is, the required number of electronic tags is 9. Then the required number of electronic tags is compared with the number of electronic tags whose tag information is read. If the two are equal, the next step of inspection is carried out.

[0112] In a preferred embodiment, the acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes:

[0113] The project site is photographed by a camera to obtain actual construction images; wherein the actual construction images are used to compare with pre-stored standard quality images to determine the on-site construction conditions based on the comparison results; the camera is set on the retractable robot arm of the robot.

[0114] Exemplarily, the on-site construction situation is confirmed by the visual module, and the installation quality is confirmed by comparing the image taken by the robot (such as the actual construction image or the actual construction video) with the standard quality image. Specifically, the retractable robot arm camera in the robot's visual module is used to shoot the project site, and the image of the project site is input into the robot's intelligent calculation module for matching judgment. At the same time, the content of the on-site construction is checked at a fixed point (the robot does not move, similar to the current supervision engineer using the on-site supervision method to check the construction quality) or patrol along the line (the robot automatically navigates along the construction line, and the current supervision engineer patrols the construction quality). The camera is used to record or take pictures at all times, and the image of the on-site construction situation is obtained. The image is compared with the standard quality image pre-stored in the robot through the image similarity algorithm. If there is an inconsistency, the voice system will be activated to prompt the construction personnel to make rectifications. If there is no rectification after multiple prompts and warnings, a message will be sent to the management platform to notify the supervision personnel to go to the site for processing. For example, the RFID reader on the robot is activated to check whether the RFID electronic tag on the optical cable identification plate is installed. If it is not installed, the construction personnel are reminded to install it, and the information is triggered to feedback to the management platform to realize remote visual intelligent patrol monitoring.

[0115] In a preferred embodiment, when it is determined according to the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind the construction personnel to rectify the construction steps for which the on-site construction quality or safety measures do not meet the standards, including:

[0116] Uploading the on-site engineering information to the management platform, so that when the management platform determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal;

[0117] or,

[0118] When the robot determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends reminder information corresponding to the on-site construction quality or safety measures that do not meet the standards to the management platform so that the management platform sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal, or controls the warning module on the robot to work, so as to prompt the staff to make rectifications.

[0119] Specifically, the method is applied to the site inspection system of the project, which includes a robot, a management platform and a terminal. The overall design idea of ​​the method is to set up ultra-high frequency RFID module, intelligent computing module, perception module, visual module, touch screen, operating system and voice module on the movable robot to realize remote visual monitoring of the construction quality of the on-site optical cable line. The various functional modules of the perception module intelligent computing module robot interact with the intelligent computing module through wired or wireless transmission lines to realize the robot replacing manual inspection of the optical cable project site. The terminal can be replaced by a mobile phone or a dedicated smart terminal. It should have the functions of information exchange with the management platform and the robot, control, positioning, and robot search. The terminal has the function of receiving the dispatch information of the management platform, requiring the operation and maintenance management personnel to go to the site for processing, and feedback the confirmation results after processing to the management platform. The management platform is responsible for managing the robot, processing the returned data, and then dispatching the work to the terminal, which is handed over to the operation and maintenance management personnel to go to the site for processing. For ease of understanding, the following briefly introduces the various parts of the site inspection system of the project: (1) Display screen: The interactive interface of the robot. The display screen is touch-type, the same as various existing display screens, and the size of the display screen can be determined according to the body of the robot. The electronic tag information of the starting point to be navigated can be input through the application in the display screen, such as the RFID electronic tag information on the A# hand hole (geographic location, latitude and longitude and other basic information), and stored in the robot's memory.

[0120] (2) Operating system: used for system management of the robot, which can be consistent with the operating system on the mobile phone.

[0121] (3) Power module: This module includes a solar photovoltaic power generation system, a rechargeable battery, and a power interface. When the robot is working outdoors, it can start solar energy to charge the battery, or the battery can be charged through the power interface. When the battery fails or the battery life is insufficient, an alarm message should be issued and fed back to the management platform, which will then dispatch the work to the operation and maintenance manager to go to the site for repair.

[0122] (4) RFID module: This module includes an RFID card reader (i.e. reader), an antenna and an RFID electronic tag. The antenna is a phase matrix antenna, which can emit multiple radio frequency signals according to the phase difference. The RFID electronic tag is installed on dumb resources such as manhole covers, and the RFID electronic tag realizes its positioning function through the information emitted by the phase matrix antenna. First, the antenna of the RFID reader emits high-frequency radio waves to sense the information on the RFID electronic tags installed on the optical cable, pole line, and manhole within 100 meters. When the RFID electronic tag receives the induced current, it encodes and feeds back the information in the RFID electronic tag to the RFID reader. The information read by the RFID is input into the storage module (the input storage module provides the basic data for automatic navigation for the next intelligent calculation, such as AB section optical cable, electronic tag number 05# (this data is the basic data calculated by the intelligent calculation module, and so on). In the intelligent calculation module, according to the read RFID electronic tag information, the basic information is compared through information, and the information that is successfully matched is sent to the robot. Then the robot judges the next moving direction of the robot according to the input instruction, thereby realizing the automatic shifting function. If the match If it is unsuccessful, it will also send instructions to the robot, and it will feedback the output waiting instructions to the management platform. After the construction is completed, RFID electronic tags need to be installed on the optical cable. Through the RFID reader on the robot, it can read whether the RFID electronic tags on the optical cable have been installed. If the RFID reader cannot read or write information or the read information does not match the pre-stored information, the site will send an alarm reminder through the voice system to remind the construction personnel whether to install the RFID electronic tags or check whether the installed RFID electronic tags are correct. At the same time, it will also send unread instructions to the management platform and distribute work orders to the corresponding project managers. Therefore, through RFID electronic tags, it can provide navigation directions for robots, and also check whether the electronic tags in the optical cable line construction process are installed in place or whether the information in the electronic tags is correct, so as to realize intelligent inspection.

[0123] (5) Intelligent computing module: The core of intelligent inspection of the construction quality of optical cable lines. The intelligent computing module is responsible for the label information processing of RFID electronic tags, the obstacle avoidance computing power processing in the perception module, and the image recognition computing power processing in the vision module, as well as feeding back various intelligent computing information to the management platform. The intelligent computing module is equipped with corresponding edge computing chips and image processing chips, etc., and has intelligence and edge computing functions. The edge computing chip is responsible for processing the tag information of the RFID electronic tag read by the RFID module and matching and identifying the electronic tag information retrieved from the storage module. If the pairing is successful, the latitude and longitude of the successfully matched RFID electronic tag can be read through the RFID reader, and instructions can be issued to the robot to predict the next movement direction of the robot and realize automatic navigation and displacement. The perception module can use laser or millimeter wave radar for detection. When the perception module detects an obstacle, the intelligent computing module issues instructions to the robot, and the robot waits. Then the visual module (such as a camera) takes an image to identify the shape of the obstacle and transmits it back to the intelligent computing module for analysis and judgment by the edge computing power of the intelligent computing module, giving the robot new displacement instructions to avoid obstacles. The visual module uses a camera to check the on-site construction, and compares the photo identification with the standard information preset in the memory. If the match is unsuccessful, a prompt sound will be issued through the voice system, and an alarm message will be sent to the management platform to remind relevant staff. In addition, the intelligent computing module also automatically checks the battery life of the robot regularly, analyzes and judges, and gives alarm information to remind the inspection personnel of the next work content, such as stopping inspection and replacing batteries.

[0124] (6) Visual module: This module mainly uses a 360-degree retractable camera, and the camera is installed on a retractable robot arm. When conducting on-site inspections, the robot arm can be retracted as needed to check the safety quality of the optical cable lines along the way (standard quality images are preset in the robot storage module in advance). For example, when inspecting the excavated optical cable trench, it is not appropriate to inspect the trench side because of the accumulation of earth at the trench side. At this time, the retractable robot arm is started and the camera is sent to the top of the optical cable trench for inspection. During the inspection and patrol process, the camera can be used for real-time online inspection and patrol, and the image is transmitted back to the management platform through the 5G communication module, or in an offline state, the obstacles along the way are photographed and the images are automatically saved in the storage module. Then the intelligent computing module recognizes and calculates the images and removes unqualified photos. After the inspection and patrol are completed, the inspection and patrol photos are exported to the computer to view the inspection and patrol results. Offline inspection and patrol are very good for the security and confidentiality of optical cable line information, reducing the leakage of some important information, especially sensitive information of military facilities and other units, and also reducing the communication cost when the robot is in use. The visual module also takes pictures of surrounding reference objects, and cooperates with the perception module and intelligent calculation module to avoid routes. When taking pictures on site, if the shooting angle is unreasonable, the telescopic rod can be automatically activated to extend the camera from the top of the robot for shooting.

[0125] (7) Perception module: The system mainly uses various perception sensors to perceive the surrounding obstacles encountered by the robot during the inspection process to prevent the robot from touching the obstacles and being damaged. Perceive various obstacles such as trees, poles, power lines, etc. along the optical cable line. The perception sensor can use a laser or millimeter wave radar sensor to detect and confirm the position and speed of the obstacle by emitting electromagnetic wave signals and capturing the signals reflected by the obstacles on its emission path. The perception result information of the obstacle is input into the intelligent calculation module, and then the camera in the visual module is used to collect and identify the obstacle, which is input into the intelligent calculation module. Through the path planning algorithm, a route that can avoid obstacles is output to achieve automatic obstacle avoidance. The temperature sensor can detect the surrounding ambient temperature through the infrared absorption effect, and at the same time combine with the visual module to judge special environments (such as fire). Other perception sensors can also be used to identify and judge obstacles.

[0126] (8) Voice module: This module provides voice prompts to construction workers based on the failure of the intelligent computing module to match information or the inspection process, after checking the working environment of construction workers. If the information matching fails, a certain construction will be issued as unqualified, requiring the construction workers to rectify; if the construction workers are found laying pipeline optical cables, the construction workers will be prompted to conduct gas detection and other safety precautions. This module can also receive simple voice commands from construction workers. For example, after the robot receives the command "go to construction worker A for on-site inspection", after intelligent computing analysis, the robot reads the geographic location information of construction worker A through the RFID card reader, and then the robot automatically moves to the side of construction worker A according to the navigation.

[0127] (9) Storage module: The robot is equipped with a storage card. After the inspection, the storage card can be taken out of the robot storage module and copied to a computer, or the information in the storage module can be uploaded to the management platform through the communication module. Preferably, the required information (such as standard quality images, construction step information, etc.) can be stored in the storage module in advance for the robot's automatic navigation and the inspection and matching confirmation of the construction quality.

[0128] (10) Terminal: Responsible for receiving emergency information discovered during the robot inspection process, such as robot failure, insufficient battery life, etc.; also responsible for receiving work orders issued by the management platform, such as work orders to be processed on-site, including unqualified inspection quality, failure to inspect optical cable identification plates, etc.

[0129] (11) Management platform. This platform controls and manages robots and terminals, exchanges information with them, locates them, and monitors them. It is also responsible for information feedback processing, work order distribution, and other matters.

[0130] Compared with the prior art, the method disclosed in the embodiment of the present disclosure first responds to the inspection instruction input by the user, reads the tag information of the electronic tag at the engineering location based on the reader, and determines the positioning information of the electronic tag; then controls the movement of the robot according to the positioning information of the electronic tag, and finally obtains the on-site engineering information based on the robot to detect the on-site construction situation. It can be seen that the embodiment of the present disclosure obtains on-site engineering information through the robot, and realizes the movement control of the robot based on the electronic tag at the engineering location, realizes the automatic inspection of the engineering location, and improves the inspection efficiency.

[0131] See also Figure 2 , Figure 2 : is a structural schematic diagram of a project site inspection device provided by an embodiment of the present disclosure, the project site inspection device comprising:

[0132] The tag information acquisition module 21 is used to respond to the inspection instruction input by the user, read the tag information of the electronic tag at the location of the project to be inspected based on the reader, and determine the location information of the electronic tag;

[0133] A movement control module 22, used to control the movement of the robot according to the positioning information of the electronic tag;

[0134] The on-site information acquisition module 23 is used to acquire on-site engineering information based on the robot to detect the on-site construction situation.

[0135] In one implementation, the on-site information acquisition module 23 is specifically used to:

[0136] When the robot moves to the first electronic tag, the on-site engineering information is acquired based on the robot to detect the on-site construction situation; wherein the first electronic tag is any one of all the electronic tags at the location of the project;

[0137] or,

[0138] During the movement of the robot, the location of the project is photographed based on a camera to obtain a perception image;

[0139] When a designated detection scene is detected based on the perception image, the robot is controlled to stop moving and obtain on-site engineering information to detect the on-site construction situation, until the on-site construction situation of the designated detection scene is detected, and the robot is controlled to continue moving;

[0140] or,

[0141] During the movement of the robot, in response to the real-time detection instructions received from the construction personnel, the robot is controlled to pause moving and obtain on-site engineering information to detect the on-site construction conditions, until the construction personnel's continue moving instructions are received and the robot is controlled to continue moving.

[0142] In one embodiment, the device further includes a precaution reminder module:

[0143] When the robot moves to the first electronic tag, based on the preset correspondence between the tag information and the construction precautions, the first construction precautions are determined according to the tag information of the first electronic tag, and the first construction precautions are output by the robot to inform the construction personnel;

[0144] or,

[0145] When the designated detection scene is detected based on the perceived image, designated construction precautions are determined according to the designated detection scene based on the correspondence between the pre-set scene and the construction precautions, and the designated construction precautions are output by the robot to inform the construction personnel.

[0146] In one implementation, the tag information acquisition module 21 is specifically used to:

[0147] In response to an inspection instruction input by a user, the robot is controlled to move to an initial position in a location of a project to be inspected according to pre-input initial position information;

[0148] Based on the positioning of the second electronic tag by the reader, the positioning information of the second electronic tag is obtained, and the robot is controlled to move according to the positioning information of the second tag until all the electronic tags at the project site are inspected tags; or, based on the preset tag information of the second electronic tag read by the reader, the robot is controlled to move according to the positioning information in the preset tag information until all the electronic tags at the project site are inspected tags; wherein the second electronic tag is the electronic tag closest to the reader among all the uninspected tags in the current inspection round, and the reader is arranged on the robot;

[0149] When the robot moves to the second electronic tag, the second electronic tag is set as the inspected tag;

[0150] In response to all the electronic tags at the project site being the inspected tags, the current inspection round is ended, and all the electronic tags are reset to be the uninspected tags.

[0151] In one embodiment, the device further includes a rectification prompt module, which is used to:

[0152] When it is determined based on the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures.

[0153] In one implementation, the mobile control module 22 is specifically configured to:

[0154] Based on the set construction step information, the robot is controlled to move according to the positioning information of the electronic tag corresponding to each construction step in turn; wherein the tag information of each electronic tag corresponds to one of the construction steps.

[0155] In one embodiment, the control of the robot movement based on the set construction step information and in turn according to the positioning information of the electronic tag corresponding to each construction step includes:

[0156] Determine a construction sequence according to preset construction step information, and control the movement of the robot according to the construction sequence;

[0157] In the process of the robot moving according to the construction sequence, a target electronic tag identifier is determined based on the pre-stored correspondence between the construction steps and the tag identifiers; wherein the target electronic tag identifier is a tag identifier corresponding to the construction step currently to be inspected in the construction sequence;

[0158] The robot is controlled to move to the target electronic tag according to the positioning information of the target electronic tag; wherein the target electronic tag is an electronic tag at the location of the project, and the tag information of the target electronic tag matches the target electronic tag identifier.

[0159] In one embodiment, the device further comprises an installation detection module, specifically configured to:

[0160] When the reader reads the electronic tag of the project location, the project location is photographed based on a camera;

[0161] Determine the preset installation position of the electronic tag according to the tag information of the read electronic tag;

[0162] In the image of the project site, if a flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is installed in place; if no flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is not installed in place;

[0163] When the number of electronic tags whose tag information is read is equal to the required number of electronic tags, and the electronic tags are installed in place, the robot is controlled to perform an inspection operation at the project site; wherein the required number of electronic tags is determined based on the image of the project site;

[0164] When the number of electronic tags whose tag information is read is not equal to the required number of electronic tags, or the electronic tags are not installed in place, the robot outputs information to remind the staff to make corrections.

[0165] In one implementation, the on-site information acquisition module 23 is specifically used to:

[0166] The project site is photographed based on a camera to obtain an actual construction image; wherein the actual construction image is used to compare with a pre-stored standard quality image to determine the on-site construction situation based on the comparison result; the camera is set on the retractable robot arm of the robot.

[0167] In one implementation, the rectification prompt module is specifically used to:

[0168] Uploading the on-site engineering information to the management platform, so that when the management platform determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal;

[0169] or,

[0170] When the robot determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends reminder information corresponding to the on-site construction quality or safety measures that do not meet the standards to the management platform so that the management platform sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal, or controls the warning module on the robot to work, so as to prompt the staff to make rectifications.

[0171] It is worth noting that the specific working process of the engineering site inspection device can refer to the working process of the engineering site inspection method described in the above embodiment, which will not be repeated here.

[0172] Compared with the prior art, the project site inspection device disclosed in the embodiment of the present disclosure first responds to the inspection instruction input by the user, reads the tag information of the electronic tag at the project site based on the reader, and determines the positioning information of the electronic tag; then controls the movement of the robot according to the positioning information of the electronic tag, and finally obtains the on-site project information based on the robot to detect the on-site construction situation. It can be seen that the embodiment of the present disclosure obtains the on-site project information through the robot, and realizes the movement control of the robot based on the electronic tag at the project site, realizes the automatic inspection of the project site, and improves the inspection efficiency.

[0173] See also Figure 3 , Figure 3 is a schematic diagram of the structure of a project site inspection device provided by an embodiment of the present disclosure, the project site inspection device includes a processor 31, a memory 32, and a computer program stored in the memory 32 and configured to be executed by the processor 31. When the processor 31 executes the computer program, the steps in the above-mentioned project site inspection method embodiment are implemented, for example Figure 1or, the processor 31 implements the functions of each module in the above-mentioned device embodiments when executing the computer program.

[0174] Exemplarily, the computer program may be divided into one or more modules, which are stored in the memory 32 and executed by the processor 31 to complete the present disclosure. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the inspection equipment at the engineering site. For example, the computer program may be divided into multiple modules, and the specific functions of each module are as follows:

[0175] The tag information acquisition module 21 is used to respond to the inspection instruction input by the user, read the tag information of the electronic tag at the location of the project to be inspected based on the reader, and determine the location information of the electronic tag;

[0176] A movement control module 22, used to control the movement of the robot according to the positioning information of the electronic tag;

[0177] The on-site information acquisition module 23 is used to acquire on-site engineering information based on the robot to detect the on-site construction situation.

[0178] The specific working process of each module can refer to the working process of the project site inspection device described in the above embodiment, which will not be repeated here.

[0179] The project site inspection device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The project site inspection device may include, but is not limited to, a processor 31 and a memory 32. Those skilled in the art may understand that the project site inspection device may also include input and output devices, network access devices, buses, etc.

[0180] The processor 31 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 31 is the control center of the inspection equipment at the engineering site, and uses various interfaces and lines to connect various parts of the inspection equipment at the entire engineering site.

[0181] The memory 32 can be used to store the computer program and / or module. The processor 31 realizes various functions of the inspection equipment at the engineering site by running or executing the computer program and / or module stored in the memory 32 and calling the data stored in the memory 32. The memory 32 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory 32 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0182] Wherein, if the module integrated in the inspection equipment at the engineering site is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-transient computer-readable storage medium. When the computer program is executed by the processor 31, the steps of the above-mentioned method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0183] The embodiments of the present disclosure also provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method for inspecting the engineering site as described in any of the above embodiments.

[0184] The above is a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present disclosure. These improvements and modifications are also considered to be within the scope of protection of the present disclosure.

Claims

1. A method for inspecting a project site, characterized in that: include: In response to the inspection instruction input by the user, the tag information of the electronic tag at the location of the project to be inspected is read by the reader, and the positioning information of the electronic tag is determined; Controlling the movement of the robot according to the positioning information of the electronic tag; Based on the robot, on-site engineering information is obtained to detect the on-site construction situation.

2. The method for inspecting the engineering site according to claim 1, characterized in that: The acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes: When the robot moves to the first electronic tag, the on-site engineering information is acquired based on the robot to detect the on-site construction situation; wherein the first electronic tag is any one of all the electronic tags at the location of the project; or, During the movement of the robot, the location of the project is photographed based on a camera to obtain a perception image; When a designated detection scene is detected based on the perception image, the robot is controlled to stop moving and obtain on-site engineering information to detect the on-site construction situation, until the on-site construction situation of the designated detection scene is detected, and the robot is controlled to continue moving; or, During the movement of the robot, in response to the real-time detection instructions received from the construction personnel, the robot is controlled to pause moving and obtain on-site engineering information to detect the on-site construction conditions, until the construction personnel's continue moving instructions are received and the robot is controlled to continue moving.

3. The method for inspecting the engineering site according to claim 2, characterized in that: Also includes: When the robot moves to the first electronic tag, based on the preset correspondence between the tag information and the construction precautions, the first construction precautions are determined according to the tag information of the first electronic tag, and the first construction precautions are output by the robot to inform the construction personnel; or, When the designated detection scene is detected based on the perceived image, designated construction precautions are determined according to the designated detection scene based on the correspondence between the pre-set scene and the construction precautions, and the designated construction precautions are output by the robot to inform the construction personnel.

4. The method for inspecting a project site according to claim 1, characterized in that: In response to the inspection instruction input by the user, the reader reads the tag information of the electronic tag at the location of the project to be inspected, and determines the location information of the electronic tag; Controlling the movement of the robot according to the positioning information of the electronic tag includes: In response to an inspection instruction input by a user, the robot is controlled to move to an initial position in a location of a project to be inspected according to pre-input initial position information; Based on the positioning of the second electronic tag by the reader, the positioning information of the second electronic tag is obtained, and the robot is controlled to move according to the positioning information of the second tag until all the electronic tags at the project site are inspected tags; or, based on the preset tag information of the second electronic tag read by the reader, the robot is controlled to move according to the positioning information in the preset tag information until all the electronic tags at the project site are inspected tags; wherein the second electronic tag is the electronic tag closest to the reader among all the uninspected tags in the current inspection round, and the reader is arranged on the robot; When the robot moves to the second electronic tag, the second electronic tag is set as the inspected tag; In response to all the electronic tags at the project site being the inspected tags, the current inspection round is ended, and all the electronic tags are reset to be the uninspected tags.

5. The method for inspecting a project site according to claim 1, characterized in that: After acquiring on-site engineering information based on the robot to detect on-site construction conditions, the method further includes: When it is determined based on the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures.

6. The method for inspecting a project site according to claim 1, characterized in that: The controlling the movement of the robot according to the positioning information of the electronic tag comprises: Based on the set construction step information, the robot is controlled to move according to the positioning information of the electronic tag corresponding to each construction step in turn; wherein the tag information of each electronic tag corresponds to one of the construction steps.

7. The method for inspecting a project site as claimed in claim 6, characterized in that: The method of controlling the movement of the robot based on the set construction step information and according to the positioning information of the electronic tag corresponding to each construction step in turn includes: Determine a construction sequence according to preset construction step information, and control the movement of the robot according to the construction sequence; In the process of the robot moving according to the construction sequence, a target electronic tag identifier is determined based on the pre-stored correspondence between the construction steps and the electronic tag identifiers; wherein the target electronic tag identifier is a tag identifier corresponding to the construction step currently to be inspected in the construction sequence; The robot is controlled to move to the target electronic tag according to the positioning information of the target electronic tag; wherein the target electronic tag is an electronic tag at the location of the project, and the tag information of the target electronic tag matches the target electronic tag identifier.

8. The method for inspecting a project site as claimed in claim 1, characterized in that: Before controlling the movement of the robot according to the positioning information of the electronic tag, the method further includes: When the reader reads the electronic tag of the project location, the project location is photographed based on a camera; Determine the preset installation position of the electronic tag according to the tag information of the read electronic tag; In the image of the project site, if a flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is installed in place; if no flashing indicator light is detected at a position corresponding to the preset installation position of the electronic tag, it means that the electronic tag is not installed in place; When the number of electronic tags whose tag information is read is equal to the required number of electronic tags, and the electronic tags are installed in place, the robot is controlled to perform an inspection operation at the project site; wherein the required number of electronic tags is determined based on the image of the project site; When the number of electronic tags whose tag information is read is not equal to the required number of electronic tags, or the electronic tags are not installed in place, the robot outputs information to remind the staff to make corrections.

9. The method for inspecting a project site according to claim 1, characterized in that: The acquiring of on-site engineering information based on the robot to detect on-site construction conditions includes: The project site is photographed by a camera to obtain actual construction images; wherein the actual construction images are used to compare with pre-stored standard quality images to determine the on-site construction conditions based on the comparison results; the camera is set on the retractable robot arm of the robot.

10. The method for inspecting a project site as claimed in claim 5, characterized in that: When it is determined according to the on-site engineering information that the on-site construction quality or safety measures do not meet the standards, the robot outputs information to remind the construction personnel to rectify the construction steps that do not meet the on-site construction quality or safety measures, including: Uploading the on-site engineering information to the management platform, so that when the management platform determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal; or, When the robot determines that the on-site construction quality or safety measures do not meet the standards based on the on-site engineering information, it sends reminder information corresponding to the on-site construction quality or safety measures that do not meet the standards to the management platform so that the management platform sends a maintenance work order corresponding to the on-site construction quality or safety measures that do not meet the standards to the terminal, or controls the warning module on the robot to work, so as to prompt the staff to make rectifications.

11. A project site inspection device, characterized in that: include: The tag information acquisition module is used to respond to the inspection instruction input by the user, read the tag information of the electronic tag at the location of the project to be inspected based on the reader, and determine the location information of the electronic tag; A mobile control module, used to control the movement of the robot according to the positioning information of the electronic tag; The on-site information acquisition module is used to acquire on-site engineering information based on the robot to detect the on-site construction situation.

12. A project site inspection device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method for inspecting the engineering site as claimed in any one of claims 1 to 10 is implemented.

13. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the non-transitory computer-readable storage medium is located is controlled to execute the engineering site inspection method as described in any one of claims 1 to 10.

14. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by the processor, the engineering site inspection method as described in any one of claims 1 to 10 is implemented.

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