Rail robot inspection control method and device, electronic equipment and medium

Abstract

The invention relates to an inspection control method and device for a rail robot, electronic equipment and a medium, and the method comprises the steps: obtaining the current electric quantity and the current inspection plan of the rail robot, and determining the total electric quantity consumption of the rail robot for executing the current inspection plan; if the current electric quantity is less than the sum of the total electric quantity consumption and a preset electric quantity alarm value, determining a target inspection task from the plurality of inspection tasks; and adding a recharging task after the target inspection task to obtain an updated inspection plan, so that the rail robot performs inspection according to the updated inspection plan. According to the method provided by the invention, when the current electric quantity of the rail robot is not enough to execute the complete current inspection plan, the target inspection task closest to the charging pile before the electric quantity alarm is found from the inspection tasks, and the recharging task is added into the current inspection plan; after the recharging task is completed, uncompleted inspection tasks in the current inspection plan are connected, and it is guaranteed that the whole current inspection plan is completed smoothly.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a patrol control method, device, electronic equipment and medium for a rail robot. Background Art

[0002] Regarding the power control scheme of the rail robot when performing various inspection tasks, there are the following two control schemes in the prior art. The first one is to obtain the planned movement data, planned operation data, real-time data of movement obstacles and real-time data of operation obstacles, analyze the actual movement path data and the actual operation path data, calculate the overall energy consumption data, and obtain the charge state data of the mobile robot's lithium battery based on Kalman filter analysis. According to the total energy consumption of the robot and the remaining power before operation, energy management is performed before performing movement operations and operation operations, and the post-operation state data of the mobile robot's lithium battery is collected, so as to perform energy management after performing movement operations and operation operations, etc. Based on the above scheme, the mobile robot can be energy managed before and after use to ensure that the mobile robot can complete the task smoothly and coherently, and avoid overcharging or power failure during the execution of the task due to improper power management.

[0003] The second method is to obtain a reference target point and create a target task; the reference target point is a pre-deployed target point; the power consumption of the target task is predicted to obtain the predicted power consumption of the target task; and the robot is controlled to perform the target task based on the predicted power consumption. Through the above method, the power consumption of the target task can be predicted, and the robot can be controlled to perform the target task based on the predicted power consumption without having to return to charge midway, which improves the user experience and has strong ease of use and practicality.

[0004] The above two solutions have the following defects:

[0005] The first one is that the remaining power is greater than the total energy consumption of the robot, and the energy management analysis result is to execute the operation. This is a risky judgment for an unattended robot, which will result in the robot not having enough power to return for charging after completing the planned task.

[0006] The second method also only considers the power consumption of completing the task, but not the power consumption of recharging. At the same time, this solution does not consider the complete execution of multiple tasks, and does not reasonably arrange the charging link among the multiple tasks planned to be executed and the continued execution of the remaining tasks after charging is completed. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a patrol control method, device, electronic equipment and medium for a rail robot, aiming to solve at least one of the above technical problems.

[0008] In the first aspect, the technical solution of the present invention to solve the above technical problem is as follows: a patrol control method of a rail robot, the method comprising:

[0009] Obtaining the current power and current inspection plan of the rail robot, wherein the current inspection plan includes multiple inspection tasks, and positions corresponding to the multiple inspection tasks form an inspection route;

[0010] Determine the total power consumption of the rail robot in executing the current inspection plan;

[0011] If the current power is less than the sum of the total power consumption and the preset power alarm value, determine at least one candidate inspection task from the multiple inspection tasks, and the at least one candidate inspection task is at least one inspection task corresponding to the current power of the multiple inspection tasks when the current power is greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value;

[0012] Determine, from the at least one candidate inspection task, a candidate inspection task that is closest to the charging pile as a target inspection task;

[0013] A recharging task is added after the target inspection task to obtain an updated inspection plan, so that the rail robot performs inspection according to the updated inspection plan.

[0014] The beneficial effects of the present invention are as follows: firstly, the total power consumption required to execute the current inspection plan is evaluated, and when the current power of the rail robot is insufficient to execute the complete current inspection plan, the target inspection task closest to the charging pile before the power alarm is found from each inspection task, and the recharging task is added to the current inspection plan. After the recharging task is completed, the unfinished inspection tasks in the current inspection plan are connected to ensure the smooth completion of the entire current inspection plan.

[0015] Based on the above technical solution, the present invention can also be improved as follows.

[0016] Further, the determining of the total power consumption of the rail robot in executing the current inspection plan includes:

[0017] Determine the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task;

[0018] The total power consumption is determined based on the number of all inspection tasks, the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task.

[0019] Furthermore, the power alarm value is determined based on the following method:

[0020] Obtaining the amount of electricity required for the track robot to travel from the point on the track farthest from the charging pile to the charging pile;

[0021] 1.5 times of the required power is determined as the power alarm value.

[0022] Furthermore, the current inspection plan is determined based on the following method:

[0023] Get at least one pending task;

[0024] Determine the power consumption of the track robot traveling to the location corresponding to each of the tasks to be processed, and the power consumption of executing each of the tasks to be processed;

[0025] Determine the power consumption corresponding to all the tasks to be processed according to the number of at least one task to be processed, the power consumption of the track robot traveling to the location corresponding to each task to be processed, and the power consumption of executing each task to be processed;

[0026] According to the power consumption corresponding to all the tasks to be processed and the preset power consumption condition, a current inspection plan that meets the power consumption condition is generated.

[0027] Furthermore, if the total power consumption corresponding to the current inspection plan does not meet the preset power consumption condition, the method further includes:

[0028] After the rail robot performs the recharging task, a power evaluation is performed on the remaining power of the rail robot to determine whether the remaining power is greater than the power consumption corresponding to the inspection task performed by the rail robot after the recharging task according to the evaluation result.

[0029] In a second aspect, in order to solve the above technical problems, the present invention also provides a patrol control device for a rail robot, the device comprising:

[0030] An acquisition module is used to acquire the current power of the rail robot and the current inspection plan, wherein the current inspection plan includes multiple inspection tasks, and the positions corresponding to the multiple inspection tasks form an inspection route;

[0031] A total power determination module, used to determine the total power consumption of the rail robot in executing the current inspection plan;

[0032] A candidate inspection task determination module, used to determine at least one candidate inspection task from the multiple inspection tasks when the current power is less than the sum of the total power consumption and the preset power alarm value, wherein the at least one candidate inspection task is at least one inspection task corresponding to the current power of the multiple inspection tasks being greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value;

[0033] A target inspection task determination module, used to determine, from the at least one candidate inspection task, a candidate inspection task that is closest to the charging pile as the target inspection task;

[0034] The inspection module is used to add a recharging task after the target inspection task to obtain an updated inspection plan so that the rail robot can perform inspection according to the updated inspection plan.

[0035] In the third aspect, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the inspection control method of the rail robot of the present application is implemented.

[0036] In a fourth aspect, in order to solve the above-mentioned technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the inspection control method of the rail robot of the present application is implemented.

[0037] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments of the present invention are briefly introduced below.

[0039] Figure 1 A schematic flow chart of a patrol control method of a rail robot provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of an inspection route compilation interface provided by an embodiment of the present invention;

[0041] Figure 3 A schematic flow chart of another inspection control method of a rail robot provided by an embodiment of the present invention;

[0042] Figure 4 A schematic structural diagram of a patrol control device for a rail robot provided by one embodiment of the present invention;

[0043] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0045] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0046] The solution provided by the embodiment of the present invention can be applied to any application scenario where a rail inspection robot needs to be inspected and controlled. The solution provided by the embodiment of the present invention can be executed by any electronic device, including at least one of the following: a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart vehicle-mounted device.

[0047] The embodiment of the present invention provides a possible implementation method, such as Figure 1 As shown, a flowchart of a patrol control method of a rail robot is provided. The scheme can be executed by any electronic device, for example, a terminal device, or a terminal device and a server. For the convenience of description, the method provided by the embodiment of the present invention will be described below by taking the terminal device as the execution subject as an example. Figure 1 The method may include the following steps:

[0048] Step S10, obtaining the current power of the rail robot and the current inspection plan, wherein the current inspection plan includes a plurality of inspection tasks, and the positions corresponding to the plurality of inspection tasks form an inspection route;

[0049] Step S20, determining the total power consumption of the rail robot in executing the current inspection plan;

[0050] Step S30, if the current power is less than the sum of the total power consumption and the preset power alarm value, determine at least one candidate inspection task from the multiple inspection tasks, the at least one candidate inspection task being at least one inspection task corresponding to the current power of the multiple inspection tasks being greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value;

[0051] Step S40, determining the candidate inspection task with the shortest distance to the charging pile from the at least one candidate inspection task as the target inspection task;

[0052] Step S50, adding a recharging task after the target inspection task to obtain an updated inspection plan, so that the rail robot performs inspection according to the updated inspection plan.

[0053] Through the method of the present invention, the total power consumption required to execute the current inspection plan is first evaluated, and when the current power of the rail robot is insufficient to execute the complete current inspection plan, the target inspection task closest to the charging pile before the power alarm is found from each inspection task, and the recharging task is added to the current inspection plan. After the recharging task is completed, the unfinished inspection tasks in the current inspection plan are connected to ensure the smooth completion of the entire current inspection plan.

[0054] The solution of the present invention is further described below in conjunction with the following specific embodiments. In this embodiment, a patrol control method of a rail robot provided may include the following steps:

[0055] Step S10, obtaining the current power of the rail robot and the current inspection plan, wherein the current inspection plan includes a plurality of inspection tasks, and the positions corresponding to the plurality of inspection tasks form an inspection route;

[0056] The current inspection plan may include multiple inspection tasks, and the inspection robot may perform each inspection task according to the inspection route. The current power of the track robot refers to the power before performing the current inspection task.

[0057] Step S20, determining the total power consumption of the rail robot in executing the current inspection plan; that is, determining the total power consumption of the rail robot in completing the current inspection plan along the inspection route;

[0058] Among them, for the current inspection plan, the rail robot needs to consume a part of electricity when it reaches the location of each inspection task from the current position. After the rail robot reaches the location of each inspection task, it also needs to consume a part of electricity when performing the corresponding inspection task. Then, one possible implementation method of the above S20 is:

[0059] S201, determining the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task;

[0060] S202, determining the total power consumption according to the number of all inspection tasks, the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task.

[0061] The total power consumption (Ea) is equal to the sum of the power consumption of each inspection task plus the sum of the power consumption of each inspection task execution, that is, Where n is the number of all inspection tasks, Ed i represents the distance power consumption of the i-th inspection task, and Et i represents the task execution power consumption of the i-th inspection task.

[0062] The power consumption of a route in an inspection plan may be the average power consumption per kilometer. When estimating the task execution power consumption of a certain inspection task or the distance power consumption of a route in the total power consumption, the average power consumption value of the most recent five inspection tasks may also be selected.

[0063] Among them, the inspection plan for each time can be determined in the following ways:

[0064] Obtain at least one pending task; wherein the pending task refers to an inspection task that the track robot is expected to perform;

[0065] Determine the power consumption of the track robot traveling to the location corresponding to each of the tasks to be processed, and the power consumption of executing each of the tasks to be processed;

[0066] The power consumption corresponding to all the tasks to be processed is determined based on the number of at least one task to be processed, the power consumption of the rail robot traveling to the position corresponding to each task to be processed, and the power consumption of executing each task to be processed; this implementation process can be implemented based on the above-mentioned method of determining the total power consumption, which will not be repeated here.

[0067] According to the power consumption corresponding to all the tasks to be processed and the preset power consumption condition, a current inspection plan that meets the power consumption condition is generated.

[0068] Among them, the preset power consumption condition refers to the condition set when considering the power consumed by the rail robot when traveling from the location corresponding to a task to be processed to the location of the charging pile, so that the rail robot can have sufficient power to travel to the location of the charging pile.

[0069] Optionally, the power consumption condition is that the power consumption corresponding to all pending tasks is not greater than a set ratio of the current power of the track robot. The set ratio may be 80%. The current power is a dynamically changing value.

[0070] As an example, see Figure 2In the interface shown, users can set the inspection route corresponding to the current inspection plan based on this interface. The inspection route may include the route number, route name, total route length, starting point, end point, number of nodes, power consumption estimate, creation time and operation permission identification (edit and delete) corresponding to each inspection task.

[0071] The route number is used to identify the route, the total route length refers to the distance from the starting point to the end point of the inspection route corresponding to an inspection task, and the number of nodes refers to the number of location points corresponding to other inspection tasks that the inspection route corresponding to an inspection task passes through. The power consumption estimate refers to the power required to drive to the location of an inspection task and execute the inspection task.

[0072] Step S30, if the current power is less than the sum of the total power consumption and the preset power alarm value, determine at least one candidate inspection task from the multiple inspection tasks, the at least one candidate inspection task being at least one inspection task corresponding to the current power of the multiple inspection tasks being greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value;

[0073] Step S40, determining the candidate inspection task with the shortest distance to the charging pile from the at least one candidate inspection task as the target inspection task;

[0074] Step S50, adding a recharging task after the target inspection task to obtain an updated inspection plan, so that the rail robot performs inspection according to the updated inspection plan.

[0075] Among them, when the current power is less than the sum of the total power consumption and the preset power alarm value, it means that the current power of the rail robot is low and may not be enough to support the completion of all inspection tasks. At this time, at least one candidate inspection task can be determined from the multiple inspection tasks, that is, the inspection task that can be completed based on the current power. Then, from at least one candidate inspection task, the candidate inspection task with the closest distance to the charging pile is determined as the target inspection task. In this way, after the rail robot completes the target inspection task, it can drive to the charging pile for charging, and then continue to perform the inspection task after the recharging task to complete the execution of the current inspection plan.

[0076] Optionally, if the current power level is not less than the sum of the total power consumption and a preset power alarm value, it means that the current power level of the rail robot is sufficient to support the completion of all inspection tasks. At this time, the current inspection plan can be kept unchanged.

[0077] Optionally, the power alarm value is determined based on:

[0078] Obtaining the amount of electricity required for the track robot to travel from the point on the track farthest from the charging pile to the charging pile;

[0079] 1.5 times of the required power is determined as the power alarm value.

[0080] Optionally, the power alarm value may also default to 20% of the required power.

[0081] Optionally, if the total power consumption corresponding to the current inspection plan does not meet a preset power consumption condition, the method further includes:

[0082] After the rail robot performs the recharging task, the remaining power of the rail robot is evaluated to determine whether the remaining power is greater than the corresponding power consumption of the rail robot when performing the inspection task after the recharging task. In this way, during the inspection task after the recharging task, it can be determined in real time whether the recharging task needs to be inserted again.

[0083] In order to better illustrate and understand the principle of the method provided by the present invention, the scheme of the present invention is described below in conjunction with an optional specific embodiment. It should be noted that the specific implementation of each step in the specific embodiment should not be understood as a limitation to the scheme of the present invention. On the basis of the principle of the scheme provided by the present invention, other implementations that can be thought of by those skilled in the art should also be considered within the scope of protection of the present invention.

[0084] In this embodiment, see Figure 3 , the scheme includes the following steps:

[0085] Step 1, set the power alarm value;

[0086] Step 2: Prepare inspection routes;

[0087] Step 3, based on the current power of the track robot and the compiled inspection route, the power consumption is estimated, that is, the total power consumption is estimated;

[0088] Step 4: Prepare an inspection plan based on the estimated total power consumption;

[0089] Step 5: Execute the inspection plan. If the current power is less than the sum of the total power consumption and the preset power alarm value, add a charging task (recharge task).

[0090] Step 6, after executing the recharging task, adjust the power consumption estimate, that is, re-estimate the total power consumption of all inspection tasks after the recharging task, and return to step 2 based on the estimated power consumption and the preset power consumption conditions, that is, readjust the inspection route after the recharging task.

[0091] Compared with the prior art, the solution of the present invention has the following beneficial effects:

[0092] 1. By judging the current power consumption and the total power consumption of multiple tasks in the execution plan, add charging tasks at appropriate task locations to ensure the smooth execution of the overall plan. During the execution process, the actual driving power consumption and action power consumption are recorded, and feedback is provided to optimize the power consumption estimate of the inspection plan, dynamically responding to power issues during the unattended robot inspection process.

[0093] 2. Ensure the complete execution of the inspection plan, deal with power issues during execution, and take into account the power consumption required for recharging.

[0094] 3. Adaptively optimize power consumption estimation to improve power consumption changes caused by external factors such as environmental changes and equipment aging.

[0095] Based on Figure 1 Based on the same principle as the method shown in , the embodiment of the present invention also provides a patrol control device 20 for a rail robot, such as Figure 4 As shown in , the inspection control device 20 of the rail robot may include an acquisition module 210, a total power determination module 220, a candidate inspection task determination module 230, a target inspection task determination module 240 and an inspection module 250, wherein:

[0096] An acquisition module 210 is used to acquire the current power of the rail robot and the current inspection plan, wherein the current inspection plan includes a plurality of inspection tasks, and positions corresponding to the plurality of inspection tasks form an inspection route;

[0097] A total power determination module 220 is used to determine the total power consumption of the rail robot in executing the current inspection plan;

[0098] A candidate inspection task determination module 230 is used to determine at least one candidate inspection task from the multiple inspection tasks when the current power is less than the sum of the total power consumption and the preset power alarm value, wherein the at least one candidate inspection task is at least one inspection task corresponding to the current power of the multiple inspection tasks being greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value;

[0099] A target inspection task determination module 240 is used to determine, from the at least one candidate inspection task, a candidate inspection task that is closest to the charging pile as a target inspection task;

[0100] The inspection module 250 is used to add a recharging task after the target inspection task to obtain an updated inspection plan so that the rail robot can perform inspection according to the updated inspection plan.

[0101] Optionally, when determining the total power consumption of the rail robot in executing the current inspection plan, the total power determination module is specifically used to:

[0102] Determine the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task;

[0103] The total power consumption is determined based on the number of all inspection tasks, the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task.

[0104] Optionally, the power alarm value is determined based on the following method:

[0105] Obtaining the amount of electricity required for the track robot to travel from the point on the track farthest from the charging pile to the charging pile;

[0106] 1.5 times of the required power is determined as the power alarm value.

[0107] Optionally, the current inspection plan is determined based on the following method:

[0108] Get at least one pending task;

[0109] Determine the power consumption of the track robot traveling to the location corresponding to each of the tasks to be processed, and the power consumption of executing each of the tasks to be processed;

[0110] Determine the power consumption corresponding to all the tasks to be processed according to the number of at least one task to be processed, the power consumption of the track robot traveling to the location corresponding to each task to be processed, and the power consumption of executing each task to be processed;

[0111] According to the power consumption corresponding to all the tasks to be processed and the preset power consumption condition, a current inspection plan that meets the power consumption condition is generated.

[0112] Optionally, if the total power consumption corresponding to the current inspection plan does not meet a preset power consumption condition, the device further includes:

[0113] The re-estimation module is used to evaluate the remaining power of the rail robot after the rail robot performs the recharging task, so as to determine whether the remaining power is greater than the corresponding power consumption of the rail robot when performing the inspection task after the recharging task according to the evaluation result.

[0114] The inspection control device of the rail robot in the embodiment of the present invention can execute the inspection control method of the rail robot provided in the embodiment of the present invention, and the implementation principle is similar. The actions performed by each module and unit in the inspection control device of the rail robot in each embodiment of the present invention correspond to the steps in the inspection control method of the rail robot in each embodiment of the present invention. For the detailed functional description of each module of the inspection control device of the rail robot, please refer to the description in the corresponding inspection control method of the rail robot shown in the previous text, which will not be repeated here.

[0115] Among them, the inspection control device of the above-mentioned rail robot can be a computer program (including program code) running in a computer device, for example, the inspection control device of the rail robot is an application software; the device can be used to execute the corresponding steps in the method provided in an embodiment of the present invention.

[0116] In some embodiments, the inspection control device of the rail robot provided by the embodiment of the present invention can be implemented in a combination of software and hardware. As an example, the inspection control device of the rail robot provided by the embodiment of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the inspection control method of the rail robot provided by the embodiment of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0117] In other embodiments, the inspection control device of the rail robot provided by the embodiment of the present invention can be implemented in a software manner. Figure 4 The invention shows an inspection control device of a rail robot stored in a memory, which may be software in the form of a program and a plug-in, and includes a series of modules, including an acquisition module 210, a total power determination module 220, a candidate inspection task determination module 230, a target inspection task determination module 240 and an inspection module 250, for implementing the inspection control method of the rail robot provided in an embodiment of the invention.

[0118] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0119] Based on the same principle as the method shown in the embodiments of the present invention, an electronic device is also provided in the embodiments of the present invention, which may include but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the method shown in any embodiment of the present invention by calling the computer program.

[0120] In an alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0121] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0122] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0123] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0124] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0125] The electronic device may also be a terminal device. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0126] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment.

[0127] According to another aspect of the present invention, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the implementation modes of the above-mentioned various embodiments.

[0128] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0129] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] The computer-readable storage medium provided by the embodiment of the present invention may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0131] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0132] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A patrol control method for a rail robot, characterized in that: The following steps are involved: Obtaining the current power and current inspection plan of the rail robot, wherein the current inspection plan includes multiple inspection tasks, and positions corresponding to the multiple inspection tasks form an inspection route; Determine the total power consumption of the rail robot in executing the current inspection plan; If the current power is less than the sum of the total power consumption and the preset power alarm value, determine at least one candidate inspection task from the multiple inspection tasks, and the at least one candidate inspection task is at least one inspection task corresponding to the current power of the multiple inspection tasks when the current power is greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value; Determine, from the at least one candidate inspection task, a candidate inspection task that is closest to the charging pile as a target inspection task; A recharging task is added after the target inspection task to obtain an updated inspection plan, so that the rail robot performs inspection according to the updated inspection plan.

2. The method according to claim 1, characterized in that Determining the total power consumption of the rail robot in executing the current inspection plan includes: Determine the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task; The total power consumption is determined based on the number of all inspection tasks, the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task.

3. The method according to claim 1, characterized in that: The power alarm value is determined based on the following method: Obtaining the amount of electricity required for the track robot to travel from the point on the track farthest from the charging pile to the charging pile; 1.5 times of the required power is determined as the power alarm value.

4. The method according to any one of claims 1 to 3, characterized in that The current inspection plan is determined based on the following: Get at least one pending task; Determine the power consumption of the track robot traveling to the location corresponding to each of the tasks to be processed, and the power consumption of executing each of the tasks to be processed; Determine the power consumption corresponding to all the tasks to be processed according to the number of at least one task to be processed, the power consumption of the track robot traveling to the location corresponding to each task to be processed, and the power consumption of executing each task to be processed; According to the power consumption corresponding to all the tasks to be processed and the preset power consumption condition, a current inspection plan that meets the power consumption condition is generated.

5. The method according to any one of claims 1 to 3, characterized in that If the total power consumption corresponding to the current inspection plan does not meet the preset power consumption condition, the method further includes: After the rail robot performs the recharging task, a power evaluation is performed on the remaining power of the rail robot to determine whether the remaining power is greater than the power consumption corresponding to the inspection task performed by the rail robot after the recharging task according to the evaluation result.

6. A patrol control device for a rail robot, characterized in that: include: An acquisition module is used to acquire the current power of the rail robot and the current inspection plan, wherein the current inspection plan includes multiple inspection tasks, and the positions corresponding to the multiple inspection tasks form an inspection route; A total power determination module, used to determine the total power consumption of the rail robot in executing the current inspection plan; A candidate inspection task determination module, used to determine at least one candidate inspection task from the multiple inspection tasks when the current power is less than the sum of the total power consumption and the preset power alarm value, wherein the at least one candidate inspection task is at least one inspection task corresponding to the current power of the multiple inspection tasks being greater than the sum of the power consumption corresponding to executing all candidate inspection tasks and the power alarm value; A target inspection task determination module, used to determine, from the at least one candidate inspection task, a candidate inspection task that is closest to the charging pile as the target inspection task; The inspection module is used to add a recharging task after the target inspection task to obtain an updated inspection plan so that the rail robot can perform inspection according to the updated inspection plan.

7. The device according to claim 6, characterized in that When determining the total power consumption of the rail robot in executing the current inspection plan, the total power determination module is specifically used to: Determine the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task; The total power consumption is determined based on the number of all inspection tasks, the power consumption of the rail robot traveling along the inspection route to the location corresponding to each inspection task, and the power consumption of executing each inspection task.

8. The device according to claim 6, characterized in that The power alarm value is determined based on the following method: Obtaining the amount of electricity required for the track robot to travel from the point on the track farthest from the charging pile to the charging pile; 1.5 times of the required power is determined as the power alarm value.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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