Potential safety hazard identification method and system for inspection robot

Abstract

The embodiment of the invention discloses a potential safety hazard identification method and a potential safety hazard identification system for an inspection robot, which are used for identifying potential safety hazards when the inspection robot executes an inspection task, helping to smoothly complete the inspection task and reducing risks or loss in the inspection task process. In the application, when the inspection robot executes the inspection task, the inspection robot can obtain the foreign matter condition on the machine body of the inspection robot, if the foreign matter condition meets the preset condition, the inspection robot determines that the potential safety hazard exists, and if the foreign matter condition meets the preset condition, the inspection robot performs the inspection task. The inspection robot can stop the inspection task and execute the target operation corresponding to the foreign matter condition, and the target operation is used for solving the potential safety hazard, so that the potential safety hazard is identified and solved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method and system for identifying safety hazards of an inspection robot. Background Art

[0002] With the continuous advancement of technology and the improvement of industrial automation, inspection robots are gradually becoming a key tool for efficient and safe inspections in various industries. Inspection robots can not only work in complex and dangerous environments, reducing safety risks for personnel, but also significantly improve the efficiency and accuracy of inspections, providing safer and more efficient solutions for specific industries. Inspection robots are widely used, such as data room inspections, power distribution room inspections, substation inspections, and park inspections.

[0003] Currently, inspection robots have various shapes and sizes, and the most common shape is a car shape. When a smaller-sized inspection robot in a car shape performs inspection tasks in a park or in the wild, children or animals may climb or ride on the inspection robot, which poses a safety hazard to the children or animals and affects the inspection robot's ability to perform inspection tasks. Summary of the invention

[0004] The embodiments of the present application provide a method and system for identifying safety hazards of an inspection robot, which are used to identify safety hazards when the inspection robot performs an inspection task, help complete the inspection task smoothly, and reduce risks or losses during the inspection task.

[0005] The first aspect of the present application provides a method for identifying safety hazards of an inspection robot, comprising: When the inspection robot performs an inspection task, the inspection robot obtains the foreign matter situation on the body of the inspection robot, and the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot determines whether the foreign object meets a preset condition, wherein the preset condition is that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; If the foreign matter meets the preset condition, the inspection robot determines that there is a safety hazard; If the inspection robot determines that there is a potential safety hazard, the inspection robot stops the inspection task and performs a target operation corresponding to the foreign object situation, and the target operation is used to resolve the potential safety hazard.

[0006] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and perform the target operation corresponding to the foreign object situation. The target operation is used to resolve the safety hazard, thereby identifying and resolving the safety hazard.

[0007] In some possible implementations, after the inspection robot determines that there is a safety hazard, before executing the target operation corresponding to the foreign object situation, the inspection robot can send the foreign object situation to the server, then the server can generate a target instruction based on the foreign object situation, and send the target instruction to the inspection robot, the target instruction is used to instruct the execution of the target operation. Then, the inspection robot can stop the inspection task and request the target operation corresponding to the foreign object situation from the server, then the staff can remotely control the inspection robot by operating on the server, thereby solving the safety hazard.

[0008] In some possible implementations, the inspection robot sends the foreign object situation to the server through a first base station based on the fifth-generation mobile communication technology, and the inspection robot receives the target instruction sent by the server through a second base station based on the fifth-generation mobile communication technology, so that the server can select the optimal target operation, and due to the low-latency communication between the inspection robot and the server, the safety hazard is resolved in a timely manner.

[0009] In some possible implementations, the inspection robot has multiple built-in operations, and the target operation is one of the multiple operations. Before the inspection robot executes the target operation corresponding to the foreign object situation, the inspection robot can determine the target operation corresponding to the foreign object situation from the multiple operations. Since the inspection robot has multiple built-in operations, a target operation can be selected from them, and there is no need to determine the target operation through a third party, so that the safety hazard can be resolved in a timely manner.

[0010] In some possible implementations, the inspection robot obtains sensor information through a sensor system on its body, and the sensor information includes image information, audio information and / or foreign object weight information. The sensor system includes at least one camera, at least one microphone and / or at least one weighing device. The at least one camera is used to obtain the image information, the at least one microphone is used to obtain the audio information, and the at least one weighing device is used to obtain the foreign object weight information. The inspection robot can accurately obtain the foreign object situation based on the sensor information.

[0011] In some possible implementations, the inspection robot inputs the sensor information into a preset machine model, so that the machine model outputs the foreign object situation based on the sensor information, and the inspection robot obtains the foreign object situation output by the machine module, so that the inspection robot can obtain the foreign object situation. Moreover, due to the complexity of the inspection tasks and the terrain, through the learning of the machine model, the acquisition of foreign object situations in different situations will become more and more accurate.

[0012] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and / or expelling the foreign object through a robotic arm, thereby efficiently resolving the safety hazard.

[0013] In some possible implementations, if the inspection robot performs operations such as issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through the mechanical arm, and still fails to resolve the safety hazard, the inspection robot can send a help message to the server, and the help message is used to ask relevant personnel to resolve the safety hazard. In this way, the foreign object situation that is difficult for the inspection robot to resolve can be resolved.

[0014] In some possible implementations, the at least one activity mode includes being still, climbing, or jumping, so that the inspection robot can identify foreign objects in various activity modes.

[0015] The second aspect of the present application provides a method for identifying safety hazards of an inspection robot, comprising: When the inspection robot performs an inspection task, the inspection robot obtains the foreign matter situation on the body of the inspection robot, and the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot determines whether the foreign object meets a preset condition, wherein the preset condition is that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; If the foreign matter meets the preset condition, the inspection robot determines that there is a safety hazard; The inspection robot sends foreign object information to the server; The target instruction sent by the server to the inspection robot is generated by the server based on the foreign object situation, and is used to instruct to perform the target operation; If the inspection robot determines that there is a potential safety hazard, the inspection robot stops the inspection task and performs a target operation corresponding to the foreign object situation, and the target operation is used to resolve the potential safety hazard.

[0016] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and request the server for a target operation corresponding to the foreign object situation. Then, the staff can operate on the server to remotely control the inspection robot and resolve the safety hazard.

[0017] In some possible implementations, the inspection robot sends the foreign object situation to the server through a first base station based on the fifth generation mobile communication technology, and the server sends the target instruction to the inspection robot through a second base station based on the fifth generation mobile communication technology. This allows the server to select the optimal target operation, and due to the low-latency communication between the inspection robot and the server, the safety hazard can be resolved in a timely manner.

[0018] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and / or expelling the foreign object through a robotic arm, thereby efficiently resolving the safety hazard.

[0019] In some possible implementations, if the inspection robot performs operations such as issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through the mechanical arm, and still fails to resolve the safety hazard, the inspection robot can send a help message to the server, and the help message is used to ask relevant personnel to resolve the safety hazard. In this way, the foreign object situation that is difficult for the inspection robot to resolve can be resolved.

[0020] The third aspect of the present application provides a patrol robot for identifying potential safety hazards, comprising: An acquisition unit is used to acquire the foreign object situation on the body of the inspection robot when the inspection robot performs an inspection task. The foreign object situation includes whether there is a foreign object on the body of the inspection robot; if the foreign object exists on the body of the inspection robot, the foreign object situation also includes the type, volume, weight and / or activity mode of the foreign object.

[0021] The processing unit is used to determine whether the foreign object situation meets the preset conditions, wherein the preset conditions are that the category of the foreign object belongs to one of multiple preset categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight and / or the activity mode of the foreign object is one of at least one preset activity mode.

[0022] The processing unit is also used to determine that there is a safety hazard if the foreign matter situation meets the preset condition.

[0023] The execution unit stops the inspection task if the inspection robot determines that there is a potential safety hazard, and executes a target operation corresponding to the foreign object situation, wherein the target operation is used to resolve the potential safety hazard.

[0024] A fourth aspect of the present application provides a safety hazard identification system for an inspection robot, comprising: The inspection robot is used to obtain the foreign object situation on the body of the inspection robot when the inspection robot performs the inspection task. The foreign object situation includes whether there is a foreign object on the body of the inspection robot; if the foreign object is on the body of the inspection robot, the foreign object situation also includes the type, volume, weight and / or activity mode of the foreign object.

[0025] The inspection robot is also used to determine whether the foreign object situation meets preset conditions, wherein the preset conditions are that the category of the foreign object belongs to one of multiple preset categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode.

[0026] The inspection robot is also used to determine that there is a safety hazard if the foreign matter situation meets the preset conditions.

[0027] The inspection robot is also used to send foreign object information to the server.

[0028] The server is used to send a target instruction to the inspection robot, where the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct the execution of the target operation.

[0029] The inspection robot is also used to stop the inspection task and execute a target operation corresponding to the foreign object situation if the inspection robot determines that the safety hazard exists, and the target operation is used to resolve the safety hazard.

[0030] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and request the server for a target operation corresponding to the foreign object situation. Then, the staff can operate on the server to remotely control the inspection robot and resolve the safety hazard.

[0031] A fifth aspect of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, it enables the computer to execute the method provided by the first aspect or any possible implementation of the first aspect.

[0032] In a sixth aspect, the present application provides a computer program product, which includes computer execution instructions, which are stored in a computer-readable storage medium; at least one processor of a device can read the computer execution instructions from the computer-readable storage medium, and at least one processor executes the computer execution instructions so that the device implements the method provided by the first aspect or any possible implementation of the first aspect.

[0033] In a seventh aspect, the present application provides a communication device, which may include at least one processor, a memory, and a communication interface. At least one processor is coupled to the memory and the communication interface. The memory is used to store instructions, at least one processor is used to execute the instructions, and the communication interface is used to communicate with other communication devices under the control of at least one processor. When the instruction is executed by at least one processor, the at least one processor executes the method in the first aspect or any possible implementation of the first aspect.

[0034] An eighth aspect of the present application provides a chip system, which includes a processor for supporting the implementation of the functions involved in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0035] In a possible design, the chip system may also include a memory, which is used to store necessary program instructions and data. The chip system may be composed of a chip, or may include a chip and other discrete devices.

[0036] Among them, the technical effects brought about by the third to eighth aspects or any possible implementation methods thereof can refer to the technical effects brought about by different possible implementation methods of the first aspect or the second aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1A schematic diagram of the structure of a safety hazard identification system for an inspection robot provided in an embodiment of the present application; Figure 2 A flowchart of a method for identifying potential safety hazards of an inspection robot provided in an embodiment of the present application; Figure 3 A flowchart of a method for identifying potential safety hazards of an inspection robot provided in an embodiment of the present application; Figure 4 This is a schematic diagram of the connection method of each module in the inspection robot in the embodiment of the present application; Figure 5 This is a schematic diagram of the workflow of the inspection robot when performing an inspection task in an embodiment of the present application; Figure 6 A schematic diagram of the structure of an inspection robot for identifying potential safety hazards provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application provide a method and system for identifying safety hazards of an inspection robot, which are used to identify safety hazards when the inspection robot performs an inspection task, help complete the inspection task smoothly, and reduce risks or losses during the inspection task.

[0039] The embodiments of the present application are described below in conjunction with the accompanying drawings.

[0040] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0041] For a schematic diagram of the structure of a safety hazard identification system for an inspection robot provided in an embodiment of the present application, please refer to Figure 1 As shown, the safety hazard identification system 100 for the inspection robot includes: an inspection robot 110 and a server 120.

[0042] In the embodiment of the present application, the inspection robot 110 is a special robot, which is an intelligent robot that can replace manual equipment inspection and maintenance. The inspection robot 110 is composed of a mobile carrier, communication equipment and detection equipment, and can work in remote control or fully autonomous operation mode. The inspection robot 110 is widely used in many fields such as electricity, data centers, oil and gas fields, etc., to perform inspection, recording, reporting and other tasks, aiming to improve work efficiency, ensure safety and reduce labor costs. For example, in the power field, the inspection robot 110 of the substation is used for substation equipment inspection operations; in the data center, the inspection robot 100 is used to complete the inspection of the internal equipment and supporting infrastructure of the data center cabinet. Common inspection robots 110 include inspection drones, outdoor inspection robots and indoor inspection robots, which are used to perform safe, stable and efficient inspections of various equipment and facilities.

[0043] In addition, the inspection robot 110 is also an automated device that can operate autonomously in various environments, perform monitoring, detection, data collection, and other tasks, and feed back the results to the control system or operator. The key technical features and common functions of the inspection robot 110 include autonomous navigation and positioning, multi-sensor fusion, artificial intelligence and machine learning, data collection and analysis, human-computer interaction, etc. These functions enable the inspection robot to complete inspection tasks efficiently and accurately, improving safety and efficiency.

[0044] The server 120 may have relatively large differences due to different configurations or performances, and may include at least one central processing unit (CPU) (e.g., at least one processor) and memory, and at least one storage medium (e.g., at least one mass storage device) for storing applications or data. Among them, the memory and the storage medium may be temporary storage or permanent storage. The program stored in the storage medium may include at least one module, and each module may include a series of instruction operations on the server 120. Furthermore, the central processing unit may be configured to communicate with the storage medium and execute a series of instruction operations in the storage medium on the server 120. The server 120 may also include at least one power supply, at least one wired or wireless network interface, at least one input and output interface, and / or at least one operating system, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, NetWare, etc. In some feasible implementations, the server 120 may also be a cloud server, which is not limited here.

[0045] The server 120 may be a server cluster composed of several servers, or a cloud computing service center, which is not limited in the present embodiment. Since the server 120 needs to respond to service requests and process them, and provide reliable services, generally speaking, the server should have the ability to undertake and guarantee services, and the server 120 needs to have strong processing capabilities, high stability, high reliability, high security, scalability, and manageability.

[0046] Currently, inspection robots have various shapes and sizes, and the most common shape is a car shape. When a smaller-sized inspection robot in a car shape performs inspection tasks in a park or in the wild, children or animals may climb or ride on the inspection robot, which poses a safety hazard to the children or animals and affects the inspection robot's ability to perform inspection tasks.

[0047] To this end, an embodiment of the present application proposes a safety hazard identification method and system for a patrol robot, which is used to identify safety hazards when the patrol robot performs patrol tasks, help complete the patrol tasks smoothly, and reduce risks or losses during the patrol tasks.

[0048] The inspection robot 110 is used to obtain the foreign matter situation on the body of the inspection robot when the inspection robot performs the inspection task, and the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot 110 is further used to determine whether the foreign object meets a preset condition, wherein the preset condition is that the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; The inspection robot 110 is also used to determine that there is a safety hazard if the foreign matter meets the preset condition; The inspection robot 110 is further used to send a foreign object situation to the server, where the foreign object situation is used to indicate to the inspection robot that the safety hazard exists; The server 120 is used to send a target instruction to the inspection robot, where the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct to perform the target operation; The inspection robot 110 is also used to stop the inspection task and execute a target operation corresponding to the foreign object situation if the inspection robot determines that the safety hazard exists, and the target operation is used to resolve the safety hazard.

[0049] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and perform the target operation corresponding to the foreign object situation. The target operation is used to resolve the safety hazard, thereby identifying and resolving the safety hazard.

[0050] For details, please refer to Figure 2 The first embodiment of the present application provides a method for identifying safety hazards of an inspection robot, which mainly includes the following steps: 201. When the inspection robot performs an inspection task, the inspection robot obtains information about foreign objects on the body of the inspection robot.

[0051] In some possible implementations, the inspection tasks include aerial inspection tasks, park inspection tasks, and field inspection tasks. When the inspection robot is in the form of a drone, the inspection robot can perform aerial inspection tasks, park inspection tasks, and field inspection tasks; when the inspection robot is in the form of a car or a multi-legged creature, the inspection robot can perform park inspection tasks and field inspection tasks. It should be noted that the inspection robot can be in a variety of different forms, and the types of inspection tasks it can perform are not limited.

[0052] It should be noted that the inspection robot is a whole, and any part of the inspection robot belongs to the body of the inspection robot. For example, if the inspection robot is in the form of a car, animals and children may climb onto the roof of the car; if the inspection robot is in the form of a drone, birds may stay on the top of the drone. Then, if the inspection task is continued, animals or children may be harmed.

[0053] In some possible implementations, the foreign object situation includes whether there is a foreign object on the body of the inspection robot. In some possible implementations, if there is a foreign object on the body of the inspection robot, the foreign object situation also includes the type, volume, weight and / or activity mode of the foreign object, which is not limited here.

[0054] Exemplarily, when the inspection robot performs inspection tasks in the air, the foreign object detected is no foreign object; another exemplary case, when the inspection robot performs inspection tasks in the wild, the foreign object detected is the presence of a foreign object, and the foreign object is a monkey, the volume of the foreign object is about 2 cubic meters, the weight of the foreign object is 10 kilograms, and / or the activity mode of the foreign object is climbing; another exemplary case, when the inspection robot performs inspection tasks in the park, the foreign object detected is the presence of a foreign object, and the foreign object is a child, the volume of the foreign object is about 6 cubic meters, the weight of the foreign object is 30 kilograms, and / or the activity mode of the foreign object is static or jumping. This is only an example and is not limited.

[0055] In some possible implementations, the inspection robot may obtain sensor information through a sensor system on the body, and the sensor information includes image information, audio information and / or foreign object weight information, which is not limited here. Then, the inspection robot may obtain the foreign object situation based on the sensor information.

[0056] In some possible implementations, the sensing system includes at least one camera, at least one microphone and / or at least one weighing device, wherein the at least one camera is used to obtain the image information, the at least one microphone is used to obtain the audio information, and the at least one weighing device is used to obtain the weight information of the foreign object.

[0057] Exemplarily, the built-in sensing system of the inspection robot includes five cameras, which are respectively arranged at different positions on the body of the inspection robot. The five cameras can take pictures and videos, that is, the pictures and videos are part of the sensing information; another exemplary embodiment, the built-in sensing system of the inspection robot includes four microphones, which are respectively arranged at different positions on the body of the inspection robot. The four microphones can acquire sounds near the inspection robot to obtain audio, that is, the audio is part of the sensing information; another exemplary embodiment, the built-in sensing system of the inspection robot includes three weighing devices, which are respectively arranged at different positions on the body of the inspection robot. The three weighing devices can acquire weight information of objects climbed onto the body of the inspection robot, that is, the weight information is part of the sensing information.

[0058] In the embodiment of the present application, after the inspection robot obtains the sensor information, it can process the sensor information to obtain the foreign object situation.

[0059] In some possible implementations, the inspection robot can input the sensing information obtained through the sensing system into a preset machine model so that the machine model outputs the foreign object situation based on the sensing information. Then, the inspection robot can obtain the foreign object situation output by the machine module.

[0060] In some possible implementations, the preset machine model can be pre-trained by other equipment and built into the inspection robot. In some possible implementations, the preset machine model can be learned and updated in the process of processing sensor information to obtain an updated machine model, and then the inspection robot can use the updated machine model to process new sensor information to obtain new foreign matter conditions. This is not limited here.

[0061] 202. The inspection robot determines whether the foreign object situation meets the preset conditions.

[0062] In some possible implementations, the preset condition may be that the category of the foreign object belongs to one of the preset multiple categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode. Exemplarily, the preset multiple categories may be animals, children, still life, etc.; the preset volume may be 1 cubic meter; the preset weight may be 1 kilogram; the preset at least one activity mode includes stillness, climbing or jumping, etc.

[0063] In some possible implementations, the preset condition may be that the category of the foreign object belongs to one of the preset multiple categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and the activity mode of the foreign object is one of at least one preset activity mode; in some possible implementations, the preset condition may be one or more conditions of the category of the foreign object belongs to one of the preset multiple categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and the activity mode of the foreign object is one of at least one preset activity mode. This is not limited here.

[0064] 203. If the foreign matter situation meets the preset condition, the inspection robot determines that there is a safety hazard.

[0065] In the embodiment of the present application, the potential safety hazard may be a risk of accident or accidental damage caused by foreign matter on the body of the inspection robot, for example, an animal or a child climbing or staying on the body of the inspection robot. This is not limited here.

[0066] Exemplarily, the preset condition may be one of the following conditions: the category of the foreign object belongs to one of the preset multiple categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and the activity mode of the foreign object is one of at least one preset activity mode. Exemplarily, the preset condition may be two of the following conditions: the category of the foreign object belongs to one of the preset multiple categories, the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight, and the activity mode of the foreign object is one of at least one preset activity mode. This is not limited here.

[0067] 204. If the inspection robot determines that the potential safety hazard exists, the inspection robot stops the inspection task.

[0068] In some possible implementations, if the inspection robot determines that there is a safety hazard, the inspection robot can forcibly stop the inspection task, thereby preventing the safety hazard from evolving into an accident.

[0069] 205. The inspection robot executes a target operation corresponding to the foreign object situation, where the target operation is used to resolve the safety hazard.

[0070] In some possible implementations, the inspection robot has multiple operations pre-built in, and the target operation is one of the multiple operations. Then, before the inspection robot executes the target operation corresponding to the foreign object situation, the inspection robot can determine the target operation corresponding to the foreign object situation from the multiple operations.

[0071] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through a robotic arm, one or more of which are not limited here.

[0072] Exemplarily, if the foreign object is a monkey climbing on the body of the inspection robot, then the corresponding target operation may be issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through the robotic arm; another example is that if the foreign object is a child jumping on the body of the inspection robot, then the corresponding target operation may be issuing a flashing light warning to the foreign object through the built-in light of the inspection robot.

[0073] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and perform the target operation corresponding to the foreign object situation. The target operation is used to resolve the safety hazard, thereby identifying and resolving the safety hazard.

[0074] The above-mentioned embodiment 1 describes that the processing unit of the inspection robot itself determines the target operation. In the following embodiment 2, the inspection robot asks the server to send a target indication through the communication unit. The target indication is used to indicate the target operation, so that the inspection robot can perform the target operation based on the target indication.

[0075] For details, please refer to Figure 3 The second embodiment of the present application provides a method for identifying safety hazards of an inspection robot, which mainly includes the following steps: 301. When the inspection robot performs an inspection task, the inspection robot obtains the foreign matter situation on the body of the inspection robot.

[0076] 302. The inspection robot determines whether the foreign object situation meets the preset conditions.

[0077] 303. If the foreign matter situation meets the preset condition, the inspection robot determines that there is a safety hazard.

[0078] 304. If the inspection robot determines that the safety hazard exists, the inspection robot stops the inspection task.

[0079] Steps 301-304 are the same as steps 201-204 and are not described in detail here.

[0080] 305. The inspection robot sends foreign matter information to the server.

[0081] In the technical solution of the embodiment of the present application, the inspection robot and the server can communicate through various different communication systems, such as the long term evolution (LTE) system, the communication system of the fifth generation (5th generation, 5G) mobile communication technology, and other similar communication systems. In addition, the communication system can also be applicable to future-oriented communication technologies, all of which are applicable to the technical solution provided in the embodiment of the present application. The system architecture and business scenarios described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided in the embodiment of the present application. Those skilled in the art will appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0082] In some possible implementations, the inspection robot sends the foreign object situation to the server via a first base station based on the fifth generation mobile communication technology.

[0083] 306. The server sends a target instruction to the inspection robot, where the target instruction is generated by the server based on the foreign object situation, and is used to instruct to perform the target operation.

[0084] In some possible implementations, the server has multiple operations pre-installed in it, and the target operation is one of the multiple operations. Then, the server can determine the target operation corresponding to the foreign object situation from the multiple operations.

[0085] In some possible implementations, the inspection robot may receive the target instruction sent by the server through a second base station based on the fifth generation mobile communication technology. In some possible implementations, the first base station and the second base station may be the same base station or different base stations, which is not limited here.

[0086] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through a robotic arm, one or more of which are not limited here.

[0087] Exemplarily, if the foreign object is a monkey climbing on the body of the inspection robot, then the corresponding target operation may be issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, and expelling the foreign object through the robotic arm; another example is that if the foreign object is a child jumping on the body of the inspection robot, then the corresponding target operation may be issuing a flashing light warning to the foreign object through the built-in light of the inspection robot.

[0088] 307. The inspection robot executes a target operation corresponding to the foreign object situation, where the target operation is used to resolve the safety hazard.

[0089] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, expelling the foreign object through a robotic arm, and / or sending a help message to the server, where the help message is used to ask relevant personnel to resolve the safety hazard.

[0090] In some possible implementations, if the inspection robot has executed operations such as issuing a loud warning to the foreign object through the inspection robot's built-in speaker, issuing a flashing light warning to the foreign object through the inspection robot's built-in light, and expelling the foreign object through a robotic arm, but still fails to resolve the safety hazard, the inspection robot can send a help message to the server, which is used to ask relevant personnel to resolve the safety hazard.

[0091] For example, if the foreign object is a child jumping on the body of the inspection robot, then the corresponding target operation may be that the inspection robot can send a help message to the server, and the help message is used to ask relevant personnel to resolve the safety hazard.

[0092] In an embodiment of the present application, when the inspection robot performs an inspection task, the inspection robot can obtain the foreign object situation on the body of the inspection robot, and check whether the foreign object situation meets the preset conditions. If the foreign object situation meets the preset conditions, the inspection robot determines that there is a safety hazard. Then, the inspection robot can stop the inspection task and request the server for a target operation corresponding to the foreign object situation. Then, the staff can operate on the server to remotely control the inspection robot and resolve the safety hazard.

[0093] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0094] In some possible implementations, the inspection robot is equipped with an environmental perception module, a control and processing module, a motion module, a power module, a communication module, an interactive display module, and a pan-tilt camera module for performing inspection tasks.

[0095] It should be noted that the environment perception module includes one or more of a laser radar (e.g., a 32-line laser radar), multiple pairs of ultrasonic sensors (e.g., 9 pairs), an inertial measurement unit (IMU) attitude module, a thermal imaging camera, a high-definition camera, an ordinary camera, and an anti-collision bar, which are used to perceive the surrounding environment in real time. Among them, the laser radar is used to perform 360° environmental scanning, generate a real-time two-dimensional map, and support the simultaneous localization and mapping (SLAM) function; the ultrasonic sensor is used to provide accurate distance detection of obstacles to ensure the obstacle avoidance capability of the inspection robot; the thermal imaging camera is used to detect temperature anomalies for fire warning or personnel heat source identification; the high-definition camera is used for high-resolution capture and monitoring of important scenes; the ordinary camera is used to cover multi-angle real-time monitoring and support inspection without blind spots; the IMU attitude module is used to provide acceleration and angular velocity information for monitoring the motion state and attitude adjustment of the inspection robot; the anti-collision bar is used to perceive obstacles through physical touch and trigger an emergency stop as the last line of defense.

[0096] The control and processing module includes the main control board, high-power board, industrial computer, artificial intelligence algorithm box and controller. Among them, the main control board is the core processing module of the system, responsible for coordinating the signal interaction between the above modules and performing data processing; the artificial intelligence algorithm box integrates the navigation, obstacle avoidance and artificial intelligence recognition algorithms of the inspection robot for efficient calculation; the high-power board is used to drive high-power components (such as motors) and provide stable power output and control signals; the controller is used to run complex algorithms, applications and data processing tasks to ensure stable and efficient operation of the system.

[0097] Exemplarily, the motion module includes two active front wheels, two rear wheels as follow-up omnidirectional wheels, two drive motors, and a driver, which are used to enable the autonomous movement and navigation of the inspection robot. Among them, the motion module includes a driver and a drive motor. The driver is used to provide the voltage and current and control signals required for the motor operation, control the direction and speed of the motor, and prevent the motor from overloading and overheating; the drive motor is used to control the movement of the inspection robot, and the speed and direction of the motor are changed by controlling the motor current of the front wheel, thereby controlling the steering and movement of the inspection robot.

[0098] Exemplarily, the power module includes a wireless contactless charging mode: a power receiving end, a power management module, and a lithium iron phosphate lithium battery pack (low temperature version) can be used normally in a low temperature environment (-20°, -50°). In some possible implementations, the power receiver can be a wireless power receiving end, which is used to achieve fast and safe power supply through wireless power technology without human intervention; the power management module is used to manage battery power supply, monitor power status, and provide overcurrent and overvoltage protection; the lithium battery pack (such as the low temperature version) is used to provide a stable power supply for the inspection robot, and can operate normally in a low temperature environment.

[0099] In some possible implementations, the communication module may include Wi-Fi and 4G / 5G dual-mode networking modules for data upload and remote control. Among them, the 4G / 5G dual-mode networking module is used to achieve remote communication, real-time data upload and remote task control, adapting to complex network environments; Wi-Fi is used to support remote control of the inspection robot's path, operation function switching, etc. within the local area network.

[0100] In some possible implementations, the inspection robot also includes an interactive display module. For example, the interactive display module may include a high-brightness integrated Android display, a six-microphone board, and an outdoor waterproof constant-resistance aluminum shell tweeter for human-computer interaction and real-time information display. It also has a dual display function and supports video and text playback. This is not limited here. Among them, the high-brightness integrated Android industrial display is used to display videos, abnormal information scrolling subtitles and real-time status; the outdoor waterproof constant-resistance aluminum shell tweeter is used to support voice broadcasts and alarm prompts to improve the information dissemination effect; the six-microphone board is used to collect sound signals in the environment, reduce background noise, and improve voice clarity.

[0101] In some possible implementations, the pan-tilt camera module may include a pan-tilt 360° panoramic camera module, which is equipped with a high-definition camera and an infrared thermal imaging module to achieve panoramic capture and video evidence collection without blind spots. Among them, the pan-tilt camera module may include a pan-tilt pole, a pan-tilt camera array, and a servo motor. Among them, the pan-tilt pole is used to adjust the height of the camera device to meet different field of view requirements; the pan-tilt camera array includes 4 ordinary camera devices, as well as a high-definition and an infrared camera, and supports 360° rotation, pitch and other multi-angle adjustments to meet monitoring needs; the servo motor is used to accurately control the movement of the lifting rod to ensure stable positioning of the equipment.

[0102] like Figure 4 The figure shows the connection mode of the above modules. The following is a detailed description.

[0103] In some possible implementations, the environmental perception module is connected to the control and processing module and the power module (for example, via USB 3.0 / Ethernet / serial port). The environmental perception module can upload lidar, point cloud data, and ultrasonic obstacle avoidance data to the control and processing module for environmental perception and artificial intelligence algorithm processing.

[0104] The control and processing module is connected to the environment perception module, the motion module, the interaction module, the communication module, and the power module (for example, through a high-speed bus (CAN / RS485)). The control and processing module receives data from the environment perception module and processes it, and then sends instructions to the motion module, the interaction module, and the communication module.

[0105] The interactive display module is connected to the control and processing module and the power module (eg, via UART / Ethernet) and is used to receive display and voice commands from the control and processing module and display real-time information or feedback status to the user.

[0106] The communication module is connected to the control and processing module and the power module (e.g., via USB 3.0 / Ethernet / serial port) to transmit data to the cloud or control center, receive remote commands, and be used for remote control or data analysis.

[0107] The power module connects the control and processing module, motion module, perception module, and interaction module for DC power distribution. It is used to provide adaptive power to each module according to the scheduling of the control and processing module, monitor the battery status and feed back to the control and processing module to remind the power supply or adjust the power consumption strategy.

[0108] The motion module is connected to the control and processing module and the power module (for example, through the CAN bus) to receive navigation instructions from the control and processing module, drive the chassis through the motor, adjust the speed, direction, etc., and receive power support from the power module.

[0109] The lifting camera module is connected to the control and processing module and the power module (for example, via UART / Ethernet) to send the collected image and video data (including data collected by thermal imaging, high-definition cameras and ordinary cameras) back to the core control module for environmental monitoring and abnormality identification.

[0110] In some possible implementations, in addition to performing inspection tasks, the inspection robot can also achieve the following tasks or functions: technological replacement (the inspection robot can perform inspection tasks 24 hours a day without interruption, reducing manpower input and reducing costs), task automation (supporting scheduled inspections, automatic navigation and other functions to replace tedious manual inspections), precise task execution (through artificial intelligence algorithms and sensor fusion technology, high-precision inspections, abnormality identification and real-time alarms are achieved), remote monitoring and control (through 5G / 4G / Wi-Fi communication modules, managers can remotely view the status and issue instructions at any time to achieve remote duty), abnormal alarms (abnormal behaviors, fire hazards, illegal intrusions, etc. can be detected in real time and quickly alarmed), fast data processing (built-in high-performance artificial intelligence chips, real-time processing of environmental data and camera images to ensure inspection efficiency), interactive design (the screen supports the display of emoticons and scrolling subtitles to enhance affinity and make the device easier to accept), voice broadcast function (task status broadcasts, warning reminders and information interaction can be performed to facilitate users information), user-friendliness (supports remote task setting via mobile phone or computer, simplifying the operation process), all-weather operation (waterproof, dustproof, anti-collision design, adapting to severe weather (such as rain, snow, strong wind, etc.)), night inspection capability (combined with infrared thermal imaging and high-definition camera, it can work normally in low-light or no-light environment), wide application scenarios (suitable for industrial parks, public places, communities, warehousing and logistics, etc.), long battery life (efficient power management system and low power consumption design, for example, achieving more than 10 hours of inspection endurance), green alternative (robot inspection reduces dependence on fuel vehicles, reduces carbon emissions, and complies with the concept of sustainable development), modular architecture (each functional module is designed independently to facilitate rapid maintenance, replacement and upgrade), fault isolation (modular design ensures that a single module failure will not affect the overall operation and improve system reliability), easy to expand (AI algorithms, sensors or communication modules can be upgraded according to needs, and new functions can be added), big data capabilities (support cloud storage and analysis of inspection data to explore potential hidden dangers), etc., are not limited here.

[0111] In some possible implementations, such as Figure 5 As shown, when the inspection robot performs the inspection task, its workflow can be as follows: S1. Startup and initialization: Start the power module, the inspection robot enters the initialization state, and the core control module loads the operating system and task configuration; S2, Environmental Perception: The LiDAR starts scanning the surrounding environment, generates a map in real time, identifies possible obstacles, and detects close-range obstacles through ultrasonic sensors; S3, Path Planning: The core control module uses the path planning algorithm to determine the best inspection path based on the current map and perception data; S4, Movement and Inspection: The inspection robot starts autonomous movement according to the path planning instructions. During the movement, the motion control module continuously adjusts the direction and speed to avoid dynamic obstacles; S5. Abnormal detection and alarm: Cameras and sensors use artificial intelligence algorithms to analyze data and identify abnormal or dangerous behaviors. When an abnormality is detected, the system automatically sends an alarm signal and uploads relevant data to the remote platform through the communication module; S6. Remote monitoring and management: The operator can check the working status of the inspection robot through the remote platform and perform necessary scheduling and control; S7, task completion and data upload: After completing the inspection task, the inspection robot automatically returns to the starting position or the designated charging station, and the task log and data are uploaded to the cloud platform through the communication module for subsequent analysis.

[0112] In order to better implement the above-mentioned solution of the embodiment of the present application, relevant devices for implementing the above-mentioned solution are also provided below.

[0113] See also Figure 6 As shown, an inspection robot 600 for identifying potential safety hazards provided in an embodiment of the present application may include: The acquisition unit 601 is used to obtain the foreign object situation on the body of the inspection robot 600 when the inspection robot 600 performs the inspection task. The foreign object situation includes whether there is a foreign object on the body of the inspection robot 600; if the foreign object exists on the body of the inspection robot 600, the foreign object situation also includes the type, volume, weight and / or activity mode of the foreign object.

[0114] The processing unit 602 is used to determine whether the foreign object situation meets the preset conditions, wherein the preset conditions are that the volume of the foreign object is greater than the preset volume, the weight of the foreign object is greater than the preset weight and / or the activity mode of the foreign object is one of at least one preset activity mode.

[0115] The processing unit 602 is also used to determine that there is a safety hazard if the foreign matter situation meets the preset condition.

[0116] The execution unit 603 stops the inspection task if the inspection robot 600 determines that there is a safety hazard, and executes a target operation corresponding to the foreign object situation, where the target operation is used to resolve the safety hazard.

[0117] In some possible implementations, the inspection robot for identifying safety hazards also includes: a communication unit 604, which is used to send the foreign object situation to the server, and receive a target instruction sent by the server, wherein the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct the execution of the target operation.

[0118] In some possible implementations, the acquisition module 601 can be implemented based on the environment perception module and the control and processing module, the processing unit 602 can be implemented based on the control and processing module, the execution unit 603 can be implemented based on the control and processing module, the motion module, the interactive display module, etc., and the communication unit 604 can be implemented based on the communication module, which is not limited here.

[0119] In some possible implementations, the acquisition unit 601, the processing unit 602, the execution unit 603 and the communication unit 604 may exist independently of the environment perception module, the control and processing module, the motion module, the power module, the communication module, the interactive display module and the pan-tilt camera module, and are used to implement a method for identifying safety hazards of an inspection robot in the present application, which is not limited here.

[0120] In some possible implementations, the communication unit 604 is specifically used to send the foreign object situation to the server through a first base station based on the fifth generation mobile communication technology; and receive the target instruction sent by the server through a second base station based on the fifth generation mobile communication technology.

[0121] In some possible implementations, the inspection robot has multiple built-in operations, the target operation is one of the multiple operations, and the processing unit 602 is further used to determine the target operation corresponding to the foreign object situation from the multiple operations.

[0122] In some possible implementations, the acquisition unit 601 is specifically used to acquire sensor information through a sensor system on the body of the inspection robot, and the sensor information includes image information, audio information and / or foreign object weight information. The sensor system includes at least one camera, at least one microphone and / or at least one weighing device. The at least one camera is used to acquire the image information, the at least one microphone is used to acquire the audio information, and the at least one weighing device is used to acquire the foreign object weight information; the foreign object situation is acquired based on the sensor information.

[0123] In some possible implementations, the acquisition unit 601 is specifically used to input the sensing information into a preset machine model so that the machine model outputs the foreign object situation based on the sensing information; and acquire the foreign object situation output by the machine module.

[0124] In some possible implementations, the target operation includes: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, expelling the foreign object through a robotic arm, and / or sending a help message to the server, where the help message is used to ask relevant personnel to resolve the safety hazard.

[0125] In some possible implementations, the at least one activity mode includes standing still, climbing, or jumping.

[0126] It should be noted that the information interaction, execution process, etc. between the modules / units of the above-mentioned device are based on the same concept as the method embodiment of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown above in the present application, and will not be repeated here.

[0127] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a program, and the program executes some or all of the steps recorded in the above method embodiment.

[0128] Next, another communication device provided by the embodiment of the present application is introduced. Figure 7 As shown, the communication device 700 includes: Receiver 701, transmitter 702, processor 703 and memory 705. In some embodiments of the present application, the receiver 701, transmitter 702, processor 703 and memory 705 may be connected via a bus or other means, wherein: Figure 7 The example of connecting through bus is taken in the following.

[0129] The memory 705 may include a read-only memory and a random access memory, and provides instructions and data to the processor 703. A portion of the memory 705 may also include a non-volatile random access memory (NVRAM). The memory 705 stores an operating system and operating instructions, executable units or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

[0130] The processor 703 controls the operation of the communication device 700, and the processor 703 may also be referred to as a central processing unit (CPU). In a specific application, the various components of the communication device 700 are coupled together through a bus system, wherein the bus system may include a power bus, a control bus, and a status signal bus in addition to a data bus. However, for the sake of clarity, various buses are referred to as bus systems in the figure.

[0131] The method disclosed in the above embodiment of the present application can be applied to the processor 703, or implemented by the processor 703. The processor 703 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 703. The above processor 703 can be a general processor, a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 705, and the processor 703 reads the information in the memory 705 and completes the steps of the above method in combination with its hardware.

[0132] The receiver 701 may be used to receive input digital or character information and generate signal input related to relevant settings and function control. The transmitter 702 may include a display device such as a display screen. The transmitter 702 may be used to output digital or character information through an external interface.

[0133] In an embodiment of the present application, the processor 703 is used to execute the aforementioned method for identifying safety hazards of the inspection robot.

[0134] In another possible design, the chip built into the inspection robot 600 includes: a processing unit and a communication unit, wherein the processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, a pin or a circuit, etc. The processing unit may execute the computer execution instructions stored in the storage unit, so that the chip in the terminal executes the method for sending wireless report information of any one of the above-mentioned first aspects. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc., and the storage unit may also be a storage unit in the terminal located outside the chip, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0135] The processor mentioned in any of the above places may be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the above method.

[0136] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0137] Through the description of the above implementation methods, the technicians in the relevant field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation method in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0138] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0139] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A method for identifying safety hazards of an inspection robot, characterized in that: include: When the inspection robot performs an inspection task, the inspection robot obtains the foreign matter situation on the body of the inspection robot, and the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot determines whether the foreign object situation meets preset conditions, wherein the preset conditions are that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; If the foreign matter situation meets the preset conditions, the inspection robot determines that there is a safety hazard; If the inspection robot determines that the safety hazard exists, the inspection robot stops the inspection task and performs a target operation corresponding to the foreign object situation, and the target operation is used to resolve the safety hazard.

2. The method according to claim 1, characterized in that: After the inspection robot determines that there is a potential safety hazard, before executing the target operation corresponding to the foreign object situation, the method further includes: The inspection robot sends the foreign object situation to the server; The inspection robot receives a target instruction sent by the server, wherein the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct execution of the target operation.

3. The method according to claim 2, characterized in that: The inspection robot sends the foreign object information to the server including: The inspection robot sends the foreign object situation to the server through a first base station based on the fifth generation mobile communication technology; The inspection robot receives the target instruction sent by the server including: The inspection robot receives the target instruction sent by the server through a second base station based on the fifth generation mobile communication technology.

4. The method according to claim 1, characterized in that: The inspection robot has multiple built-in operations, the target operation is one of the multiple operations, and before the inspection robot performs the target operation corresponding to the foreign object situation, the method further includes: The inspection robot determines the target operation corresponding to the foreign object situation from the plurality of operations.

5. The method according to any one of claims 1 to 4, characterized in that: The inspection robot obtains the foreign matter situation on the body of the inspection robot including: The inspection robot obtains sensor information through a sensor system on the body, wherein the sensor information includes image information, audio information and / or foreign object weight information, and the sensor system includes at least one camera, at least one microphone and / or at least one weighing device, wherein the at least one camera is used to obtain the image information, the at least one microphone is used to obtain the audio information, and the at least one weighing device is used to obtain the foreign object weight information; The inspection robot obtains the foreign object situation based on the sensor information.

6. The method according to claim 4, characterized in that: The inspection robot obtains the foreign object situation based on the sensor information, including: The inspection robot inputs the sensing information into a preset machine model, so that the machine model outputs the foreign matter situation based on the sensing information; The inspection robot obtains the foreign matter situation output by the machine module.

7. The method according to any one of claims 1 to 4, characterized in that: The target operations include: issuing a loud warning to the foreign object through the built-in speaker of the inspection robot, issuing a flashing light warning to the foreign object through the built-in light of the inspection robot, expelling the foreign object through a robotic arm, and / or sending a help message to the server, wherein the help message is used to ask relevant personnel to resolve the safety hazard.

8. A method for identifying safety hazards of an inspection robot, characterized in that: include: When the inspection robot performs an inspection task, the inspection robot obtains the foreign matter situation on the body of the inspection robot, and the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot determines whether the foreign object situation meets preset conditions, wherein the preset conditions are that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; If the foreign matter situation meets the preset conditions, the inspection robot determines that there is a safety hazard; The inspection robot sends foreign matter information to the server; The target instruction sent by the server to the inspection robot, the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct to perform the target operation; If the inspection robot determines that the safety hazard exists, the inspection robot stops the inspection task and performs a target operation corresponding to the foreign object situation, and the target operation is used to resolve the safety hazard.

9. A patrol robot for identifying potential safety hazards, characterized in that: include: an acquisition unit, configured to acquire the foreign matter situation on the body of the inspection robot when the inspection robot performs an inspection task, wherein the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; a processing unit, configured to determine whether the foreign object condition meets a preset condition, wherein the preset condition is that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; The processing unit is further configured to determine that there is a potential safety hazard if the foreign matter condition meets the preset condition; The execution unit stops the inspection task if the inspection robot determines that the safety hazard exists, and executes a target operation corresponding to the foreign object situation, wherein the target operation is used to resolve the safety hazard.

10. A safety hazard identification system for an inspection robot, characterized in that: include: The inspection robot is used to obtain the foreign matter situation on the body of the inspection robot when the inspection robot performs the inspection task, wherein the foreign matter situation includes whether there is a foreign matter on the body of the inspection robot; if there is a foreign matter on the body of the inspection robot, the foreign matter situation also includes the type, volume, weight and / or activity mode of the foreign matter; The inspection robot is further used to determine whether the foreign object situation meets preset conditions, wherein the preset conditions are that the category of the foreign object belongs to one of a plurality of preset categories, the volume of the foreign object is greater than a preset volume, the weight of the foreign object is greater than a preset weight, and / or the activity mode of the foreign object is one of at least one preset activity mode; The inspection robot is further used to determine that there is a safety hazard if the foreign matter situation meets the preset conditions; The inspection robot is also used to send foreign matter information to the server; The server is used to send a target instruction to the inspection robot, wherein the target instruction is generated by the server based on the foreign object situation, and the target instruction is used to instruct to perform the target operation; The inspection robot is also used to stop the inspection task and execute a target operation corresponding to the foreign object situation if the inspection robot determines that the safety hazard exists, and the target operation is used to resolve the safety hazard.

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