Control method, device and equipment of foot type inspection robot and storage medium

Abstract

The invention relates to a control method and device of a foot type inspection robot, computer equipment, a storage medium and a computer program product. The method comprises the following steps: generating an initial inspection route according to reference terrain information and an inspection task of an inspection area; in the process that the foot type inspection robot executes an inspection task according to the initial inspection route, environment information collected by the foot type inspection robot is obtained, the initial inspection route is corrected according to the environment information, and a corrected target inspection route is obtained; and controlling the foot type inspection robot to execute the inspection task according to the target inspection route. By adopting the method, the inspection task in a complex inspection scene can be met.

Description

Technical Field

[0001] The present application relates to the field of intelligent inspection technology, and in particular to a control method, device, computer equipment, computer-readable storage medium and computer program product for a foot-type inspection robot. Background Art

[0002] In the power and industrial fields, inspection is an important part of ensuring the normal operation of equipment and preventing safety accidents. As industrial inspection requirements become increasingly intelligent, automated and refined, especially in the fields of power, petrochemicals, mining and large industrial parks, the operating status of equipment requires high-frequency and continuous inspections to promptly detect potential problems and prevent large-scale production interruptions and safety accidents caused by equipment failures. The advancement of automated inspection technology is crucial to improving equipment reliability and safety, reducing equipment maintenance costs and manual inspection risks.

[0003] In traditional technology, wheeled or tracked inspection robots are used for inspection. However, when faced with complex inspection scenarios, traditional technology has the problem of being unable to efficiently meet the inspection tasks. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium and computer program product for a legged inspection robot that can meet inspection tasks in complex inspection scenarios in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a control method for a foot-type inspection robot. The method comprises:

[0006] Generate an initial inspection route based on the reference terrain information and inspection tasks of the inspection area;

[0007] In the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, the environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route;

[0008] The foot-type inspection robot is controlled to perform the inspection task according to the target inspection route.

[0009] In one of the embodiments, actual terrain information corresponding to the inspection area is obtained from the environmental information;

[0010] The initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0011] In one embodiment, the initial inspection route includes a plurality of path nodes, and the initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route, including:

[0012] Determining whether the node attribute information of each of the path nodes in the initial inspection route matches the actual terrain information;

[0013] If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0014] In one embodiment, the initial inspection route is corrected according to the actual terrain information, the target path node and the adaptive gait adjustment algorithm to obtain the target inspection route, including:

[0015] Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node;

[0016] replacing the target path node with the modified target path node;

[0017] The gait adjustment algorithm is used to adjust the inspection route in the initial inspection route that is connected to the corrected target path node, and the adjusted initial inspection route is determined as the target inspection route.

[0018] In one embodiment, the method further comprises:

[0019] Acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold;

[0020] In the process of the foot-type inspection robot moving toward the charging position according to the charging instruction, obtaining path information collected by the foot-type inspection robot;

[0021] The preset charging path is corrected according to the path information to obtain a corrected charging path, and the foot-type inspection robot is controlled to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0022] In one embodiment, the foot-type inspection robot includes a mechanical arm, and the method further includes:

[0023] Acquiring environmental information collected when the foot-type inspection robot reaches a preset operating position; the operating position is used to instruct the foot-type inspection robot to operate the equipment at the operating position;

[0024] Adjusting the preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy;

[0025] The foot-type inspection robot is controlled to operate the equipment at the operating position according to the adjusted operating strategy.

[0026] In a second aspect, the present application also provides a control device for a foot-type inspection robot. The device comprises:

[0027] A generation module, used to generate an initial inspection route according to the reference terrain information of the inspection area and the inspection task;

[0028] A correction module, used to obtain environmental information collected by the foot-type inspection robot during the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, and to correct the initial inspection route according to the environmental information to obtain a corrected target inspection route;

[0029] An execution module is used to control the foot-type inspection robot to perform the inspection task according to the target inspection route.

[0030] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0032] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0033] The control method, device, computer equipment, storage medium and computer program product of the above-mentioned foot-type inspection robot are as follows: the server first generates an initial inspection route based on the reference terrain information and inspection tasks of the inspection area; then, in the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, the server obtains the environmental information collected by the foot-type inspection robot, and corrects the initial inspection route according to the environmental information to obtain a corrected target inspection route; then, the foot-type inspection robot is controlled to perform the inspection task according to the target inspection route; since the environmental information collected by the foot-type inspection robot in the process of performing the inspection task can accurately represent the real-time environmental information in the inspection area, the server uses the environmental information to correct the initial inspection route, and can adjust the route in the initial inspection route that does not match the environmental information, thereby obtaining a target inspection route that has a higher match with the inspection area, thereby improving the accuracy of the target inspection route, and thus enabling the foot-type inspection robot to meet the inspection tasks in complex inspection scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] FIG1 is an application environment diagram of a control method for a foot-type inspection robot according to an embodiment;

[0036] FIG2 is a schematic flow chart of a control method of a foot-type inspection robot according to an embodiment;

[0037] FIG3 is a schematic diagram of a flow chart of step 202 in one embodiment;

[0038] FIG4 is a schematic diagram of a flow chart of step 302 in one embodiment;

[0039] FIG5 is a schematic diagram of a flow chart of step 402 in one embodiment;

[0040] FIG6 is a schematic flow chart of a control method of a foot-type inspection robot in another embodiment;

[0041] FIG7 is a schematic flow chart of a control method of a foot-type inspection robot in another embodiment;

[0042] FIG8 is a structural block diagram of a control device of a foot-type inspection robot in one embodiment;

[0043] FIG. 9 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In the field of industrial inspection, the traditional inspection method mainly relies on manual labor, which is not only labor-intensive and inefficient, but also has great safety hazards in some high-risk areas. In addition, the results of manual inspections rely on the subjective judgment of inspectors, which is limited by differences in experience and knowledge, and is prone to omissions and misjudgments. Especially in scenes with complex equipment and harsh environments, the uncertainty of inspection results is particularly obvious. Therefore, wheeled or tracked inspection robots have emerged to solve efficiency and safety problems. However, due to the limitations of the chassis structure, wheeled and tracked robots cannot effectively cope with complex scenes such as steps, steep slopes, rugged terrain and areas with dense obstacles. They perform poorly when passing obstacles and crossing complex terrains, and are prone to slipping, imbalance and other problems. Especially in industrial scenes, the diversity of these terrains places extremely high demands on the flexibility and stability of robots. Therefore, the adaptability and flexibility of wheeled or tracked inspection robots in complex terrains still have great limitations. On the other hand, the requirements for industrial inspections are becoming increasingly intelligent, automated, and refined, especially in the fields of power, petrochemicals, mining, and large industrial parks. The operating status of equipment requires high-frequency and continuous inspections to detect potential problems in a timely manner and prevent large-scale production interruptions and safety accidents caused by equipment failures. The advancement of automated inspection technology is crucial to improving equipment reliability and safety, reducing equipment maintenance costs, and reducing the risks of manual inspections.

[0046] Based on this, bionic footed robots based on bionic footed inspection systems are used in inspection scenarios. By imitating the natural movement mechanism of animals, bionic footed robots have extremely high flexibility and environmental adaptability, enabling them to move flexibly and operate stably in complex terrains, especially in unstructured terrains, such as gravel roads, muddy ground, steep slopes and steps. Footed robots have stronger obstacle-crossing capabilities. The footed design based on bionic principles enables the robot to actively adjust its gait and center of gravity, so as to maintain stability in unstable or obstacle-filled environments. These characteristics make the application of bionic footed robots in industrial inspections have significant advantages. However, the bionic footed robots in traditional technologies cannot meet the inspection tasks of complex inspection scenarios when facing complex terrain environments. In view of this, the present application provides a control method for a footed inspection robot so that the footed inspection robot can meet the inspection tasks in complex inspection scenarios.

[0047] The control method of the foot-type inspection robot provided in the embodiment of the present application can be applied to the application environment as shown in Figure 1. Among them, the server 102 communicates with the foot-type inspection robot 104 through the network. The data storage system can store the data that the server 102 needs to process. The data storage system can be integrated on the server 102, or it can be placed on the cloud or other network servers. The server 102 generates an initial inspection route based on the reference terrain information and inspection tasks of the inspection area. In the process of the foot-type inspection robot 104 performing the inspection task according to the initial inspection route, the environmental information collected by the foot-type inspection robot 104 is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route, and the foot-type inspection robot 104 is controlled to perform the inspection task according to the target inspection route. Among them, the server 102 can be implemented with an independent server or a server cluster composed of multiple servers.

[0048] In an exemplary embodiment, as shown in FIG2 , a control method for a foot-type inspection robot is provided, and the method is applied to the server in FIG1 as an example for explanation, and includes the following steps:

[0049] Step 201: Generate an initial inspection route according to reference terrain information of the inspection area and the inspection task.

[0050] It should be noted that the embodiments of the present application take a foot-type inspection robot as an example, and take the control of the foot-type inspection robot to perform inspection tasks as an example to describe the control process. Among them, the foot-type inspection robot adopts a bionic quadruped or hexapod structure to imitate the movement of animals on complex terrains and walk in the inspection area. Using this foot-type structure, the foot-type inspection robot can maintain good stability in different types of terrains, especially on uneven terrains, such as gravel roads, muddy ground, steep slopes, stairs, etc. In tasks that require climbing and crossing obstacles, the bionic foot-type structure can provide greater flexibility and passability, effectively making up for the limitations of traditional wheeled or tracked inspection robots in complex environments. Moreover, the bionic foot also has a variety of gait modes, such as walking, running, jumping and climbing, and can adaptively select the optimal gait according to terrain conditions, thereby improving inspection efficiency and passability. Especially in narrow spaces and high-difference terrain, the bionic foot structure can maintain stability through fine foot movements and safely pass through complex areas. This design not only improves the terrain adaptability of the inspection system, but also enables it to take more flexible response measures when dealing with emergencies and obstacles, thereby significantly improving the overall task completion rate and safety.

[0051] Among them, the inspection area refers to the area where the operating status of the equipment and lines in a certain site needs to be inspected. For example, in power inspection, the inspection area can be a power plant or a substation. The inspection task is to check the operating status of the equipment in the inspection area to timely discover and eliminate faults and ensure the normal operation of the equipment. For example, the inspection task can be to check the power equipment in the power plant, the operating sound of the transmission line, the appearance of the equipment, the numbers on the equipment's dashboard, the temperature of electrical components, etc., or to adjust the operating status of the power equipment, for example, press the switch of the equipment to turn the equipment on or off.

[0052] It is understandable that, due to the complexity of the inspection area, in order to improve the efficiency of the inspection, before performing the inspection task, the terrain information of the inspection area can be obtained in advance. In this embodiment, the pre-acquired terrain information can be used as reference terrain information, so as to generate an initial inspection route according to the reference terrain information. The initial inspection route refers to the driving path provided for the legged inspection robot before the legged inspection robot performs the inspection task.

[0053] In this embodiment, the server can first obtain point cloud information of the inspection area through a laser radar, and then draw a topographic map of the inspection area based on the point cloud information to obtain reference topographic information of the inspection area, and then generate an initial inspection route in combination with the inspection task.

[0054] Step 202, while the foot-type inspection robot is performing the inspection task according to the initial inspection route, environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route.

[0055] It should be noted that after the initial inspection route is generated, the environmental information in the inspection area may change, for example, the location of a certain device changes; or the terrain conditions change due to weather reasons. Therefore, multimodal sensors can be integrated into the legged inspection robot, such as lidar, depth camera, inertial measurement unit, ultrasonic sensor and environmental sensor, etc., so that in the process of the legged inspection robot performing the inspection task, the multimodal sensors integrated in the legged inspection robot can collect the environmental information in the inspection area in real time, fully perceive the surrounding environment, and send the collected environmental information to the server, so that the server can correct the initial inspection route according to the received environmental information.

[0056] The environmental information may include topographic information of the inspection area, relevant information of the equipment and transmission lines in the inspection area, such as the location, shape, appearance, etc. of the equipment, the shape of the transmission lines, etc. In this embodiment, the corrected initial inspection route is used as the target inspection route.

[0057] As a possible implementation, a processor can also be integrated into the legged inspection robot. The processor can be used to integrate the data collected by the multimodal sensor to build a real-time map, correct the initial inspection route according to the real-time map, and transmit the corrected initial inspection route to the server.

[0058] In this embodiment, the server can control the foot-type inspection robot to walk in the inspection area according to the initial inspection route to perform the inspection task, and obtain in real time the environmental information collected by the multimodal sensors integrated in the foot-type inspection robot during the execution of the inspection task, and then generate real-time terrain information based on the environmental information, use the real-time terrain information to correct the initial inspection route, and use the corrected initial inspection route as the target inspection route.

[0059] Step 203: Control the foot-type inspection robot to perform the inspection task according to the target inspection route.

[0060] In this embodiment, after obtaining the corrected target inspection route, the server can send the target inspection route and control instructions to the foot-type inspection robot through the network, so that the robot walks along the target inspection route according to the instructions of the control instructions, thereby performing the inspection task.

[0061] As a possible implementation, the server may send target inspection routes to the legged inspection robot multiple times while the legged inspection robot is performing an inspection task, wherein each target inspection route sent is a target inspection route obtained by the server in real time.

[0062] As a possible implementation method, the server can also control multiple legged inspection robots at the same time. The multiple legged inspection robots adopt a collaborative working mode and share data and tasks through the network. The server can combine intelligent algorithms to allocate tasks, thereby assigning tasks to each legged inspection robot and improving the execution efficiency of inspection tasks.

[0063] In the control method of the above-mentioned foot-type inspection robot, the server first generates an initial inspection route based on the reference terrain information and the inspection task of the inspection area. Then, in the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, the server obtains the environmental information collected by the foot-type inspection robot, and corrects the initial inspection route according to the environmental information to obtain the corrected target inspection route. Then, the foot-type inspection robot is controlled to perform the inspection task according to the target inspection route. Since the environmental information collected by the foot-type inspection robot in the process of performing the inspection task can accurately represent the real-time environmental information in the inspection area, the server uses the environmental information to correct the initial inspection route, and can adjust the route in the initial inspection route that does not match the environmental information, thereby obtaining a target inspection route with a higher degree of match with the inspection area, thereby improving the accuracy of the target inspection route, and thus enabling the foot-type inspection robot to meet the inspection tasks in complex inspection scenarios.

[0064] In the above scenario where the initial inspection route is modified according to the environmental information to obtain the modified target inspection route, the server can obtain the actual terrain information from the environmental information, and modify the initial inspection route according to the actual terrain information to obtain the target inspection route. In an exemplary embodiment, as shown in FIG3 , the above step 202 includes:

[0065] Step 301: Acquire actual terrain information corresponding to the inspection area from environmental information.

[0066] Among them, the actual terrain information refers to the terrain information corresponding to the inspection area when the legged inspection robot performs the inspection task according to the initial inspection route. The actual terrain information may include the location information and appearance information of each device in the inspection area, as well as the road surface information.

[0067] In this embodiment, the server can receive the environmental information sent by the foot-type inspection robot, and then filter out the coordinate points representing the terrain information from the environmental information, and then use the coordinate points to draw and obtain the actual terrain information.

[0068] Step 302: Correct the initial inspection route according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0069] The gait adjustment algorithm is an algorithm for adjusting the gait by analyzing the gait data and the motion trajectory. For example, the position, step length, and gait cycle time of the leg inspection robot can be adjusted.

[0070] In this embodiment, the server may first determine the actual terrain information to determine a new inspection route, then determine the deviation between the new inspection route and the initial inspection route, and then correct the route with the deviation according to the actual terrain information to obtain the target inspection route.

[0071] In this embodiment, the server obtains the actual terrain information corresponding to the inspection area from the environmental information, and can correct the initial inspection route according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route, so that the walking path of the footed inspection robot can be accurately adjusted, thereby improving the accuracy of the obtained target inspection route, so that the footed inspection robot can efficiently perform inspection tasks according to the target inspection route.

[0072] In the above scenario where the initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route, the route that does not match the actual terrain information can be determined according to the path nodes in the initial inspection route, so as to correct the initial inspection route. In an exemplary embodiment, the initial inspection route includes multiple path nodes, as shown in FIG4 , and the above step 302 includes:

[0073] Step 401, determining whether the node attribute information of each path node in the initial inspection route matches the actual terrain information.

[0074] The path node in the initial inspection route refers to the location point in the inspection area where the foot-type inspection robot needs to operate. For example, if the foot-type inspection robot needs to obtain the operating parameters of the power equipment in the inspection area, the location of the power equipment can be determined as a path node. The node attribute information refers to the size information, location information, orientation information, etc. corresponding to the path node.

[0075] It is understandable that when generating the initial inspection route, the walking path of the foot-type inspection robot needs to be determined based on the node attribute information of each path node in the inspection area. For example, for the inspection area of ​​the substation, the foot-type inspection robot needs to cross high-voltage isolation equipment and pass through narrow corridors during inspection, so the walking path of the foot-type inspection robot needs to be carefully planned based on the corresponding node attribute information. Therefore, if the node attribute information of the path node represented by the actual terrain information changes, the route corresponding to the node needs to be adjusted.

[0076] In this embodiment, the server can filter out the actual node information corresponding to each path node from the actual terrain information, and then compare the node attribute information of each path node with the corresponding actual node information, and determine whether the node attribute information of each path node matches the actual terrain information according to the comparison result. Optionally, if the comparison result indicates that the similarity between the node attribute information of the path node and the actual terrain information is greater than or equal to a preset threshold, it can be determined that the node attribute information of the path node matches the actual terrain information, or if the comparison result indicates that the similarity between the node attribute information of the path node and the actual terrain information is less than a preset threshold, it can be determined that the node attribute information of the path node does not match the actual terrain information.

[0077] Step 402: If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0078] The target path node refers to a path node whose node attribute information does not match the actual terrain information. It is understandable that the target path node may have inconsistent size information with the size information corresponding to the actual terrain information, or inconsistent position information with the position information corresponding to the actual terrain information, or inconsistent orientation information with the orientation information corresponding to the actual terrain information.

[0079] In this embodiment, when there is a target path node in the initial inspection route that does not match the actual terrain information, the server can modify the inconsistent information in the node attribute information of the target path node according to the actual terrain information to obtain the modified node attribute information, and then use the gait adjustment algorithm to adjust the gait of the footed inspection robot according to the modified node attribute information, thereby correcting the initial inspection route according to the adjusted gait to obtain the target inspection route.

[0080] In this embodiment, the server determines whether the node attribute information of each path node in the initial inspection route matches the actual terrain information. In the case where there is a target path node that does not match the actual terrain information, the server can correct the initial inspection route according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route. Since the target path node can accurately represent the position that needs to be corrected, the accuracy of the correction of the initial inspection route can be improved, and the matching degree between the target inspection route and the actual terrain information can be improved.

[0081] In the above scenario where the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route, the target inspection route can be obtained by correcting the node attribute information of the target path node according to the corrected node attribute information. In an exemplary embodiment, as shown in FIG5 , the above step 402 includes:

[0082] Step 501, modifying the node attribute information of the target path node according to the actual terrain information to obtain a modified target path node.

[0083] In this embodiment, when the server determines that there is a target path node, it can further determine the node attribute information that is inconsistent with the actual terrain information, and then use the corresponding attribute information in the actual terrain information to correct the inconsistent node attribute information, and update the corrected node attributes to the node attributes of the target path node, thereby obtaining the corrected target path node.

[0084] Step 502: Replace the target path node with the corrected target path node.

[0085] In this embodiment, the target path node in the initial inspection route can be updated to the revised target path node. Exemplarily, if the revised target path node is different from the position corresponding to the target path node, after the target path node is replaced with the revised target path node, the position of the target path node in the initial inspection route will also change.

[0086] Step 503: Use a gait adjustment algorithm to adjust the inspection route in the initial inspection route that is connected to the corrected target path node, and determine the adjusted initial inspection route as the target inspection route.

[0087] It should be noted that each path node in the initial inspection route corresponds to a spatial position. If the position information of the path node changes, the corresponding path information will also change after the target path node is replaced by the corrected target path node. Therefore, the inspection route associated with the corrected target path node also needs to be adjusted.

[0088] In this embodiment, the server can first use a gait adjustment algorithm to adjust the gait of the footed inspection robot, such as the step length and deflection angle, in the inspection route connected to the corrected target node, and then adjust the inspection route connected to the corrected target node according to the adjusted gait, thereby obtaining an adjusted initial inspection route, and determining the adjusted initial inspection route as the target inspection route.

[0089] In this embodiment, the server corrects the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node, then replaces the target path node with the corrected target path node, and then uses the gait adjustment algorithm to adjust the inspection route connected to the corrected target path node in the initial inspection route, and determines the adjusted initial inspection route as the target inspection route. Since the node attribute information of the target path node is corrected and the inspection route connected to the corrected target path node is adjusted, the inspection route in the initial inspection route that does not match the actual terrain information can be adjusted, thereby improving the matching degree between the determined target inspection route and the actual terrain information, thereby improving the efficiency of the foot-type inspection robot in efficiently performing inspection tasks according to the target inspection route.

[0090] During the process of the foot-type inspection robot performing the inspection task, if the power of the foot-type inspection robot is lower than the threshold, it cannot continue to perform the inspection task. Therefore, the foot-type inspection robot can be remotely controlled to automatically return for autonomous charging. In an exemplary embodiment, as shown in FIG6 , the above method further includes:

[0091] Step 601, obtaining the remaining power of the foot-type inspection robot in real time, and sending a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold.

[0092] The remaining power refers to the real-time power of the foot-type inspection robot, and the power threshold refers to the minimum power of the foot-type inspection robot that can perform the inspection task. The power threshold can be set according to the performance of the foot-type inspection robot and the difficulty of the inspection task. For example, the power threshold can be 5%, or the power threshold can also be 10%, which is not limited in this embodiment. The charging instruction is used to instruct the foot-type inspection robot to drive to the charging position for charging. Optionally, the charging instruction may include multiple preset charging paths, each charging path corresponding to the route from the position of the foot-type inspection robot to each surrounding charging position.

[0093] In this embodiment, the server can obtain the remaining power of the inspection robot in real time through the network, and then compare the remaining power with the power threshold. When the comparison result indicates that the remaining power is lower than the power threshold, the server sends instructions to the foot-type inspection robot through the network.

[0094] Step 602: While the foot-type inspection robot is moving toward a charging position according to a charging instruction, path information collected by the foot-type inspection robot is obtained.

[0095] The path information is the path information between the position of the foot-type inspection robot and the charging position. It is understandable that the charging path in the charging instruction is set based on the reference terrain information of the inspection area, however, the actual terrain information may change, therefore, when the foot-type inspection robot is driving to the charging position, the path information can be collected by the multi-mode sensor integrated in the foot-type inspection robot, so that the preset charging path can be corrected according to the collected path information.

[0096] In this embodiment, after sending a charging instruction to the leg-type inspection robot, the server may receive path information sent by the leg-type inspection robot through the network.

[0097] Step 603, correct the preset charging path according to the path information to obtain a corrected charging path, and control the foot-type inspection robot to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0098] The preset charging path refers to the path pre-planned by the server from the position of the foot-type inspection robot to the positions of multiple surrounding charging positions according to the reference terrain information. The priority of the inspection task refers to the order in which the inspection tasks are executed. For example, if the priority of the inspection task is high, the inspection task can be executed first. If the priority of the inspection task is low, other inspection tasks can be restricted before the inspection task is executed.

[0099] In this embodiment, the server can compare the path information with the preset charging path. If there is an inconsistent path, the inconsistent path information is corrected according to the path information to obtain a corrected charging path. The corrected charging path is then sent to the foot-type inspection robot. If the priority of the inspection task is high, the foot-type inspection robot can be controlled to drive to the charging position for charging according to the path information corresponding to the nearest charging position. If the priority of the inspection task is low, the foot-type inspection robot can be controlled to drive to the charging position for charging according to the path information corresponding to the idle charging position.

[0100] Optionally, the server may also select a suitable charging mode according to the priority of the inspection task, and send the determined charging mode to the foot-type inspection robot, instructing the foot-type inspection robot to charge according to the determined charging mode. For example, if the priority of the inspection task is high, the charging mode is determined to be a fast charging mode, and if the priority of the inspection task is low, the charging mode is determined to be a standard charging mode.

[0101] Optionally, the server can also dynamically adjust the power allocation strategy based on the type and complexity of the inspection task. For example, when performing high-power equipment operations or climbing tasks, the server can prioritize allocating sufficient power to ensure the smooth completion of the task, while when performing relatively simple tasks such as patrolling, it will reduce power output to extend battery life. In addition, the server can also combine deep learning algorithms to predict the remaining battery life of the battery and plan the best charging time and path in advance to avoid inspection interruptions due to power exhaustion. In addition, the server can also combine deep learning algorithms to predict future energy needs and optimize charging plans based on historical task data and energy consumption patterns; or, according to the differences in energy consumption of inspection tasks in different seasons or weather conditions, adjust the charging frequency and charging mode to achieve more intelligent energy management.

[0102] In this embodiment, the remaining power of the foot-based inspection robot is obtained in real time, and a charging instruction is sent to the foot-based inspection robot when the remaining power is lower than a power threshold. Then, in the process of the foot-based inspection robot driving to the charging position according to the charging instruction, the path information collected by the foot-based inspection robot is obtained, and then, the preset charging path is corrected according to the path information to obtain the corrected charging path, and the foot-based inspection robot is controlled to drive to the charging position for charging according to the priority of the inspection task and the corrected charging path. Since the foot-based inspection robot can be controlled to drive to the charging position according to the charging instruction, the foot-based inspection robot can charge autonomously, thereby avoiding the problem of the foot-based inspection robot being accidentally shut down due to low power and being unable to perform the inspection task.

[0103] A mechanical arm, a visual guidance system and a force feedback control system may also be integrated on the foot-type inspection robot, so that the foot-type inspection robot can also perform equipment operation and maintenance tasks. In an exemplary embodiment, as shown in FIG7 , the method further includes:

[0104] Step 701, obtaining environmental information collected when the foot-type inspection robot reaches a preset operation position; the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position.

[0105] The preset operation position refers to the position where the foot-type inspection robot needs to operate. It is understandable that before controlling the foot-type inspection robot to perform the inspection task, a corresponding operation strategy can be formulated for the equipment at each operation position. However, when the inspection task is actually performed, the environmental information at the operation position may change, for example, the position of the equipment at the operation position changes, or the operating state of the equipment changes, and the operation strategy needs to be adjusted accordingly.

[0106] Optionally, the operations performed by the foot-type inspection robot on the equipment at the operating position may include: button pressing, knob rotation, valve adjustment, component replacement, etc. The force feedback control system integrated on the foot-type inspection robot can make fine adjustments to the robotic arm, so that the foot-type inspection robot can perform various complex operations on the equipment.

[0107] In this embodiment, the server may receive, through the network, environmental information collected when the foot-type inspection robot reaches a preset operating position.

[0108] Step 702: Adjust the preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy.

[0109] In this embodiment, the server can filter out terrain information and device status information corresponding to the operation location from the environmental information. Then, if the terrain information and device status information corresponding to the preset operation strategy are inconsistent with the terrain information and device status information in the environmental information, a new operation strategy is formulated based on the terrain information and device status information in the environmental information, and the preset operation strategy is adjusted using the new operation strategy to obtain the adjusted operation strategy.

[0110] Step 703: Control the foot-type inspection robot to operate the equipment at the operating position according to the adjusted operating strategy.

[0111] In this embodiment, the server may send the adjusted operation strategy to the foot-type inspection robot through the network, so that the foot-type inspection robot can operate the equipment at the operation position according to the adjusted operation strategy.

[0112] In this embodiment, the server obtains the environmental information collected when the foot-type inspection robot reaches a preset operation position, and the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position. Then, the preset operation strategy corresponding to the operation position is adjusted according to the environmental information to obtain the adjusted operation strategy. Then, the foot-type inspection robot is controlled to operate the equipment at the operation position according to the adjusted operation strategy. Since the adjusted operation strategy is adjusted according to the actual environmental information corresponding to the operation position, the adjusted operation strategy can be more closely matched with the environmental information at the operation position, so that the foot-type inspection robot can be controlled to accurately operate the equipment at the operation position according to the adjusted operation strategy.

[0113] To facilitate understanding by those skilled in the art, the control method of the foot-type inspection robot provided by the present application is described in detail below. The method may include:

[0114] S1, generating an initial inspection route according to the reference terrain information of the inspection area and the inspection task.

[0115] S2, while the foot-type inspection robot is performing the inspection task according to the initial inspection route, obtaining environmental information collected by the foot-type inspection robot.

[0116] S3, obtaining actual terrain information corresponding to the inspection area from the environmental information.

[0117] S4, determining whether the node attribute information of each path node in the initial inspection route matches the actual terrain information.

[0118] S5, if there is a target path node that does not match the actual terrain information, the node attribute information of the target path node is corrected according to the actual terrain information to obtain a corrected target path node.

[0119] S6, replacing the target path node with the corrected target path node.

[0120] S7, using a gait adjustment algorithm to adjust the inspection route in the initial inspection route connected to the corrected target path node, and determining the adjusted initial inspection route as the target inspection route.

[0121] S8, controlling the foot-type inspection robot to perform the inspection task according to the target inspection route.

[0122] S9, obtaining environmental information collected when the foot-type inspection robot reaches a preset operating position.

[0123] S10, adjusting a preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy.

[0124] S11, controlling the foot-type inspection robot to operate the equipment at the operating position according to the adjusted operating strategy.

[0125] S12, obtaining the remaining power of the foot-type inspection robot in real time, and sending a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold.

[0126] S13, while the foot-type inspection robot is moving toward the charging position according to the charging instruction, obtaining path information collected by the foot-type inspection robot.

[0127] S14, correcting the preset charging path according to the path information to obtain a corrected charging path.

[0128] S15, controlling the foot-type inspection robot to travel to a charging position for charging according to the priority of the inspection task and the corrected charging path.

[0129] It should be noted that for the descriptions in the above S1-S15, reference may be made to the relevant descriptions in the above embodiments, and the effects are similar, so this embodiment will not be repeated here.

[0130] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0131] Based on the same inventive concept, the embodiment of the present application also provides a control device for a foot-type inspection robot for implementing the control method for a foot-type inspection robot involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more foot-type inspection robots provided below can refer to the limitations of the control method for a foot-type inspection robot above, and will not be repeated here.

[0132] In one embodiment, as shown in FIG8 , a control device for a foot-type inspection robot is provided, including: a generation module 801, a correction module 802 and an execution module 803, wherein:

[0133] A generation module 801 is used to generate an initial inspection route according to the reference terrain information of the inspection area and the inspection task;

[0134] The correction module 802 is used to obtain environmental information collected by the foot-type inspection robot during the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, and to correct the initial inspection route according to the environmental information to obtain a corrected target inspection route;

[0135] The execution module 803 is used to control the foot-type inspection robot to perform the inspection task according to the target inspection route.

[0136] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0137] In one embodiment, the correction module 802 includes:

[0138] An acquisition unit, used to acquire actual terrain information corresponding to the inspection area from environmental information;

[0139] The correction unit is used to correct the initial inspection route according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0140] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0141] In one embodiment, the initial inspection route includes a plurality of path nodes, and the correction unit is specifically used to:

[0142] Determine whether the node attribute information of each path node in the initial inspection route matches the actual terrain information;

[0143] If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0144] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0145] In one embodiment, the correction unit is specifically used to:

[0146] Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node;

[0147] replacing the target path node with the revised target path node;

[0148] The inspection route connected to the corrected target path node in the initial inspection route is adjusted using a gait adjustment algorithm, and the adjusted initial inspection route is determined as the target inspection route.

[0149] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0150] In one embodiment, the above device further comprises:

[0151] The first acquisition module is used to acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold;

[0152] A second acquisition module is used to acquire path information collected by the foot-type inspection robot when the foot-type inspection robot moves to the charging position according to the charging instruction;

[0153] The charging module is used to correct the preset charging path according to the path information to obtain the corrected charging path, and control the foot-type inspection robot to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0154] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0155] In one embodiment, the foot-type inspection robot includes a mechanical arm, and the above device also includes:

[0156] The third acquisition module is used to acquire environmental information collected when the foot-type inspection robot reaches a preset operation position; the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position;

[0157] An adjustment module, used to adjust a preset operation strategy corresponding to an operation position according to environmental information to obtain an adjusted operation strategy;

[0158] The operation module is used to control the foot-type inspection robot to operate the equipment at the operation position according to the adjusted operation strategy.

[0159] The control device of the legged inspection robot provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0160] Each module in the control device of the above-mentioned foot-type inspection robot can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0161] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG9. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store inspection routes. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method of a foot-type inspection robot is implemented.

[0162] Those skilled in the art will understand that the structure shown in FIG. 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0163] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0164] Generate an initial inspection route based on the reference terrain information and inspection tasks of the inspection area;

[0165] In the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route;

[0166] Control the foot-type inspection robot to perform inspection tasks according to the target inspection route.

[0167] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0168] Obtain the actual terrain information corresponding to the inspection area from the environmental information;

[0169] The initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0170] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0171] Determine whether the node attribute information of each path node in the initial inspection route matches the actual terrain information;

[0172] If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0173] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0174] Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node;

[0175] replacing the target path node with the revised target path node;

[0176] The inspection route connected to the corrected target path node in the initial inspection route is adjusted using a gait adjustment algorithm, and the adjusted initial inspection route is determined as the target inspection route.

[0177] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0178] Acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold;

[0179] When the foot-type inspection robot moves toward the charging position according to the charging instruction, path information collected by the foot-type inspection robot is obtained;

[0180] The preset charging path is corrected according to the path information to obtain a corrected charging path, and the foot-type inspection robot is controlled to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0181] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0182] Acquire environmental information collected when the foot-type inspection robot reaches a preset operation position; the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position;

[0183] Adjusting a preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy;

[0184] The foot-type inspection robot is controlled to operate the equipment at the operating position according to the adjusted operating strategy.

[0185] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0186] Generate an initial inspection route based on the reference terrain information and inspection tasks of the inspection area;

[0187] In the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route;

[0188] Control the foot-type inspection robot to perform inspection tasks according to the target inspection route.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] Obtain the actual terrain information corresponding to the inspection area from the environmental information;

[0191] The initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0192] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0193] Determine whether the node attribute information of each path node in the initial inspection route matches the actual terrain information;

[0194] If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0195] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0196] Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node;

[0197] replacing the target path node with the revised target path node;

[0198] The inspection route connected to the corrected target path node in the initial inspection route is adjusted using a gait adjustment algorithm, and the adjusted initial inspection route is determined as the target inspection route.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] Acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold;

[0201] When the foot-type inspection robot moves toward the charging position according to the charging instruction, path information collected by the foot-type inspection robot is obtained;

[0202] The preset charging path is corrected according to the path information to obtain a corrected charging path, and the foot-type inspection robot is controlled to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0203] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0204] Acquire environmental information collected when the foot-type inspection robot reaches a preset operation position; the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position;

[0205] Adjusting a preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy;

[0206] The foot-type inspection robot is controlled to operate the equipment at the operating position according to the adjusted operating strategy.

[0207] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0208] Generate an initial inspection route based on the reference terrain information and inspection tasks of the inspection area;

[0209] In the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route;

[0210] Control the foot-type inspection robot to perform inspection tasks according to the target inspection route.

[0211] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0212] Obtain the actual terrain information corresponding to the inspection area from the environmental information;

[0213] The initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

[0214] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0215] Determine whether the node attribute information of each path node in the initial inspection route matches the actual terrain information;

[0216] If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

[0217] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0218] Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node;

[0219] replacing the target path node with the revised target path node;

[0220] The inspection route connected to the corrected target path node in the initial inspection route is adjusted using a gait adjustment algorithm, and the adjusted initial inspection route is determined as the target inspection route.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0222] Acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold;

[0223] When the foot-type inspection robot moves toward the charging position according to the charging instruction, path information collected by the foot-type inspection robot is obtained;

[0224] The preset charging path is corrected according to the path information to obtain a corrected charging path, and the foot-type inspection robot is controlled to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

[0225] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0226] Acquire environmental information collected when the foot-type inspection robot reaches a preset operation position; the operation position is used to instruct the foot-type inspection robot to operate the equipment at the operation position;

[0227] Adjusting a preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy;

[0228] The foot-type inspection robot is controlled to operate the equipment at the operating position according to the adjusted operating strategy.

[0229] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0230] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0231] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for a foot-type inspection robot, characterized in that: The method comprises: Generate an initial inspection route based on the reference terrain information and inspection tasks of the inspection area; In the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, the environmental information collected by the foot-type inspection robot is obtained, and the initial inspection route is corrected according to the environmental information to obtain a corrected target inspection route; The foot-type inspection robot is controlled to perform the inspection task according to the target inspection route.

2. The method according to claim 1, characterized in that The step of correcting the initial inspection route according to the environmental information to obtain a corrected target inspection route includes: Acquire actual terrain information corresponding to the inspection area from the environmental information; The initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route.

3. The method according to claim 2, characterized in that The initial inspection route includes a plurality of path nodes, and the initial inspection route is corrected according to the actual terrain information and the gait adjustment algorithm to obtain the target inspection route, including: Determining whether the node attribute information of each of the path nodes in the initial inspection route matches the actual terrain information; If there is a target path node that does not match the actual terrain information, the initial inspection route is corrected according to the actual terrain information, the target path node and the gait adjustment algorithm to obtain the target inspection route.

4. The method according to claim 3, characterized in that The step of correcting the initial inspection route according to the actual terrain information, the target path node and the adaptive gait adjustment algorithm to obtain the target inspection route includes: Correcting the node attribute information of the target path node according to the actual terrain information to obtain a corrected target path node; replacing the target path node with the modified target path node; The gait adjustment algorithm is used to adjust the inspection route in the initial inspection route that is connected to the corrected target path node, and the adjusted initial inspection route is determined as the target inspection route.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquire the remaining power of the foot-type inspection robot in real time, and send a charging instruction to the foot-type inspection robot when the remaining power is lower than a power threshold; In the process of the foot-type inspection robot moving toward the charging position according to the charging instruction, obtaining path information collected by the foot-type inspection robot; The preset charging path is corrected according to the path information to obtain a corrected charging path, and the foot-type inspection robot is controlled to travel to the charging position for charging according to the priority of the inspection task and the corrected charging path.

6. The method according to any one of claims 1 to 4, characterized in that: The foot-type inspection robot includes a mechanical arm, and the method further includes: Acquiring environmental information collected when the foot-type inspection robot reaches a preset operating position; the operating position is used to instruct the foot-type inspection robot to operate the equipment at the operating position; Adjusting the preset operation strategy corresponding to the operation position according to the environmental information to obtain an adjusted operation strategy; The foot-type inspection robot is controlled to operate the equipment at the operating position according to the adjusted operating strategy.

7. A control device for a foot-type inspection robot, characterized in that: The device comprises: A generation module, used to generate an initial inspection route according to the reference terrain information of the inspection area and the inspection task; A correction module, used to obtain environmental information collected by the foot-type inspection robot during the process of the foot-type inspection robot performing the inspection task according to the initial inspection route, and to correct the initial inspection route according to the environmental information to obtain a corrected target inspection route; An execution module is used to control the foot-type inspection robot to perform the inspection task according to the target inspection route.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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