Intelligent inspection method, device, equipment and medium for robot dog based on power management

Abstract

The present invention proposes a method, device, equipment, and medium for intelligent inspection of a robot dog based on power management. The method includes: determining the first power consumption required to move from the first inspection unit to the target charging point, the target number of floors of the first inspection unit, the number of unit stairs, and the first stair size of a single-step staircase; after determining the target single-step power consumption according to the first stair size, determining the second power consumption in combination with the number of unit stairs and the target number of floors; determining the third power consumption according to the sum of the inspection power consumption of floor inspection items; determining the first redundant power based on the first power consumption, the second power consumption, and the third power consumption, and generating an inspection instruction when the first remaining power is greater than the first redundant power. According to the technical solution of the embodiment of the present invention, it is possible to dynamically calculate the redundant power through field scanning, perform inspection control in combination with the remaining power, improve power utilization, and help reduce the number of charging times and improve inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent inspection technology, and in particular to a method, device, equipment and medium for intelligent inspection of a robot dog based on power management. Background Art

[0002] Community property inspection is an important daily task for property management companies. Each building is an inspection unit, and each floor of each inspection unit has a corresponding inspection point. The traditional inspection method requires inspectors to inspect on site and record inspection information. For some residential areas with staircases, inspectors need to climb a large number of stairs, which places high demands on the physical strength of inspectors. Therefore, as some existing technologies have proposed control methods for robot dogs to climb stairs, property management companies have begun to use bionic robot dogs instead of manual inspections. After the robot dog reaches the inspection unit, it climbs to the floor that needs to be inspected. The inspectors conduct remote inspections through the cameras carried by the robot dogs. The inspectors do not need to climb a large number of stairs, and multiple robot dogs can be used for distributed inspections, which improves the inspection efficiency.

[0003] The battery on a robot dog is usually not too large. In some related technologies, a charging path can be planned according to the location of the charging point and the current inspection unit, and redundant power can be set according to the power required by the charging path. When the remaining power of the robot dog approaches or reaches the redundant power, it stops patrolling and goes to the charging point for charging. However, since climbing stairs also consumes power, in order to ensure that the robot dog has enough power to move to the charging point on any floor of any inspection unit, the value of redundant power is usually set to a large value. When the robot dog inspects an inspection unit with a lower floor, it will trigger charging too early. Not only is the power utilization rate low, but the frequent charging times will also affect the inspection efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a robot dog intelligent inspection method, device, equipment, and medium based on power management, which can dynamically adjust the redundant power according to different inspection units, improve power utilization, reduce charging times, and improve inspection efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a robot dog intelligent inspection method based on power management, which is applied to a robot dog, wherein the robot dog is equipped with a camera, and the robot dog is preset with multiple candidate inspection units, each of which corresponds to a community building, and the method includes:

[0006] Arriving at a first inspection unit based on path navigation, determining a first power consumption required to move from the first inspection unit to a target charging point, and when the first power consumption is less than the current first remaining power, determining a target floor number based on inspection floors of the first inspection unit, wherein each inspection floor includes at least one floor inspection item;

[0007] Perform a scanning operation to obtain the number of unit stairs and a first staircase size of a single staircase, determine a target single-step power consumption from a preset first mapping table according to the first staircase size, and determine a second power consumption based on the target single-step power consumption, the number of unit stairs, and the target number of floors, wherein the first mapping table records a mapping relationship between the staircase size and the power consumption of moving a single-step staircase;

[0008] Determine the inspection power consumption of each of the floor inspection items based on a preset second mapping table, and determine the sum of the inspection power consumption as the third power consumption, wherein the second mapping table records the mapping relationship between the inspection items and the operation power consumption;

[0009] determining a first redundant power based on the first power consumption, the second power consumption, and the third power consumption, and generating a patrol instruction when the first remaining power is greater than the first redundant power;

[0010] When the first inspection unit is inspected and the second inspection unit is reached, the second redundant power of the second inspection unit is determined, and a charging instruction or the inspection instruction is generated based on the second redundant power and the current second remaining power.

[0011] According to some embodiments of the present invention, the robot dog is preset with a plurality of candidate charging points, and before reaching the first inspection unit based on path navigation, the method further includes:

[0012] After the robot dog is started, the starting position, the current third remaining power and the preset inspection path of the robot dog are obtained, and the first inspection unit and the second inspection unit are determined based on the inspection path, wherein the second inspection unit is located next to the first inspection unit in the inspection path;

[0013] Determine the candidate charging point closest to the starting position as a first charging point, and determine the candidate charging point closest to the first inspection unit as a second charging point;

[0014] Determine a fourth power consumption required to move from the starting position to the first inspection unit, determine a fifth power consumption required to move from the starting position to the first charging point, and determine the sum of the power consumption from the first inspection unit to the second charging point and the fourth power consumption as a sixth power consumption;

[0015] When the third remaining power is less than or equal to the fourth power consumption and the fifth power consumption at the same time, generating a low power prompt message;

[0016] When the third remaining power is greater than the fifth power consumption and less than the fourth power consumption, or the third remaining power is greater than the fourth power consumption and less than or equal to the sixth power consumption, the charging instruction is generated based on the first charging point, and after charging is completed, the starting position is updated based on the position of the first charging point;

[0017] When the third remaining power is greater than the sixth power consumption, the device moves to the first inspection unit based on path navigation.

[0018] According to some embodiments of the present invention, determining a first power consumption required to move from the first inspection unit to a target charging point includes:

[0019] determining the second charging point as the target charging point, and determining the power consumption from the first inspection unit to the target charging point as the first power consumption;

[0020] When the first remaining power is greater than the first redundant power, a path formed by sequentially connecting the first inspection unit, any of the candidate charging points, and the second inspection unit is determined as a first path, and the candidate charging point corresponding to the first path with the smallest value is determined as a third charging point;

[0021] determining the power consumption of moving the first inspection unit to the third charging point as a seventh power consumption, and determining a third redundant power based on the seventh power consumption, the second power consumption and the third power consumption;

[0022] When the first remaining power is greater than the third redundant power, changing the target charging point to the third charging point;

[0023] When the first remaining power is less than or equal to the third redundant power, the target charging point is maintained as the second charging point.

[0024] According to some embodiments of the present invention, the first mapping table records a mapping relationship between stair size, optional upper single-step power consumption, and optional lower single-step power consumption, wherein the optional upper single-step power consumption is used to indicate the power consumption of climbing up a single-step staircase, and the optional lower single-step power consumption is used to indicate the power consumption of climbing down a single-step staircase;

[0025] Determining a target single-level power consumption from a preset first mapping table according to the first stair size, and determining a second power consumption based on the target single-level power consumption, the number of unit stairs, and the target number of floors, including:

[0026] determining a first upper single-step power consumption and a first lower single-step power consumption from the first mapping table based on the first staircase size;

[0027] The product of twice the number of unit stairs and the first upper single-level power consumption is determined as the target upper single-level power consumption, and the product of twice the number of unit stairs and the first lower single-level power consumption is determined as the target lower single-level power consumption;

[0028] The product of the target upper single-layer power consumption and the target number of layers is determined as the target upper total power consumption, and the product of the target lower single-layer power consumption and the target number of layers is determined as the target lower total power consumption;

[0029] The sum of the upper target total power consumption and the lower target total power consumption is determined as the second power consumption.

[0030] According to some embodiments of the present invention, after determining the first upper single-level power consumption and the first lower single-level power consumption from the first mapping table based on the first stair size, the method further includes:

[0031] Determine twice the first staircase size as the second staircase size, and when the second staircase size is recorded in the first mapping table, obtain the corresponding second upper single-level power consumption and second lower single-level power consumption;

[0032] When the second upper single-level power consumption is less than twice the first upper single-level power consumption, the product of the second upper single-level power consumption and the number of unit stairs is determined as the target upper single-level power consumption;

[0033] When the second single-level power consumption is less than twice the first single-level power consumption, the product of the second single-level power consumption and the unit number of stairs is determined as the target single-level power consumption.

[0034] According to some embodiments of the present invention, when the first remaining power is less than or equal to the first redundant power, the method further includes:

[0035] Determine the reachable floors of the first inspection unit based on the first remaining power, the power consumption of the target upper single floor and the estimated power consumption of each inspection floor, wherein the estimated power consumption of each floor is the sum of the inspection power consumption corresponding to each inspection floor;

[0036] When at least one of the reachable floors is a preset chargeable floor, a target charging floor is selected from the reachable floors configured as the chargeable floors, wherein the chargeable floors are provided with floor charging points;

[0037] Generate the inspection instruction and mark the target charging floor;

[0038] Each time a patrol floor is reached, the remaining power is recorded as the first floor power. After completing each patrol item, the remaining power is recorded as the second floor power. The difference between the first floor power and the second floor power is determined as the actual power consumption of the floor.

[0039] When the actual power consumption of the floor is greater than the corresponding estimated power consumption of the floor, the target charging floor is re-determined based on the power consumption of the second floor, the power consumption of the target upper single floor and the estimated power consumption of the uninspected inspection floor;

[0040] After reaching the target charging floor, the charging instruction is generated based on the floor charging point of the target charging floor.

[0041] According to some embodiments of the present invention, after generating the charging instruction based on the floor charging point of the target charging floor after reaching the target charging floor, the method further includes:

[0042] When it is determined based on a preset inspection path that the first inspection unit includes at least the second inspection unit, the target charging amount of the charging instruction is set to a full charge;

[0043] When it is determined based on the inspection path that the first inspection unit is the last inspection unit, a floor difference is determined based on the target floor number and the target charging floor, a first charging amount is determined based on the product of the target upper single-floor power consumption and the floor difference, and a second charging amount is determined based on the product of the target floor number and the target lower single-floor power consumption;

[0044] Determine a third charge amount based on the sum of the inspection power consumption of the inspection items that have not been inspected, and determine the sum of the first charge amount, the second charge amount and the third charge amount as the target charge amount;

[0045] After charging is completed based on the target charging amount, the intelligent inspection of the first inspection unit continues to be performed.

[0046] In the second aspect, an embodiment of the present invention provides a robot dog intelligent inspection device based on power management, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the robot dog intelligent inspection method based on power management as described in the first aspect above.

[0047] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a robot dog intelligent inspection device based on power management as described in the second aspect above.

[0048] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the robot dog intelligent inspection method based on power management as described in the first aspect above.

[0049] According to the power management-based intelligent inspection method for a robot dog according to an embodiment of the present invention, there are at least the following beneficial effects: based on path navigation, the robot arrives at a first inspection unit, and determines a first power consumption required to move from the first inspection unit to a target charging point; when the first power consumption is less than the current first remaining power, the target number of floors is determined based on the inspection floors of the first inspection unit, wherein each of the inspection floors includes at least one floor inspection item; a scanning operation is performed to obtain the number of unit stairs and the first stair size of a single staircase, and the target single-level power consumption is determined from a preset first mapping table according to the first stair size; a second power consumption is determined based on the target single-level power consumption, the number of unit stairs and the target number of floors, wherein the first A mapping table records the mapping relationship between the size of stairs and the power consumption of moving a single-step staircase; based on the preset second mapping table, the inspection power consumption of each floor inspection item is determined, and the sum of the inspection power consumption is determined as the third power consumption, wherein the second mapping table records the mapping relationship between the inspection items and the operation power consumption; based on the first power consumption, the second power consumption and the third power consumption, the first redundant power is determined, and when the first remaining power is greater than the first redundant power, an inspection instruction is generated; when the first inspection unit is inspected and reaches the second inspection unit, the second redundant power of the second inspection unit is determined, and a charging instruction or the inspection instruction is generated based on the second redundant power and the current second remaining power. According to the technical solution of the embodiment of the present invention, the second power consumption can be dynamically calculated through field scanning, the third power consumption consumed by the inspection items can be calculated in combination with the second mapping table, and the redundant power can be dynamically estimated according to the actual stair situation of each inspection unit, thereby improving power utilization, reducing the number of charging times, and improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of a scenario in which a robot dog performs intelligent inspection according to an embodiment of the present invention;

[0051] Figure 2 is a flow chart of a robot dog intelligent inspection method based on power management provided by another embodiment of the present invention;

[0052] Figure 3 is a schematic diagram of performing charging judgment before starting inspection provided by another embodiment of the present invention;

[0053] Figure 4 is a complete flow chart of a robot dog intelligent inspection method based on power management provided by another embodiment of the present invention;

[0054] Figure 5 It is a structural diagram of a robot dog intelligent inspection device based on power management provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0056] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0057] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0058] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0059] The embodiments of the present invention provide a method, device, equipment, and medium for intelligent inspection of a robot dog based on power management, wherein the method for intelligent inspection of a robot dog based on power management includes: arriving at a first inspection unit based on path navigation, determining a first power consumption required to move from the first inspection unit to a target charging point, and when the first power consumption is less than the current first remaining power, determining a target number of floors based on the inspection floors of the first inspection unit, wherein each of the inspection floors includes at least one floor inspection item; performing a scanning operation to obtain the number of unit stairs and the first stair size of a single stair, determining a target single-level power consumption from a preset first mapping table according to the first stair size, and determining a first number of floors based on the target single-level power consumption, the number of unit stairs, and the target floor. Second power consumption, wherein the first mapping table records the mapping relationship between the size of the stairs and the power consumption of moving a single-step staircase; based on the preset second mapping table, the inspection power consumption of each of the floor inspection items is determined, and the sum of the inspection power consumption is determined as the third power consumption, wherein the second mapping table records the mapping relationship between the inspection items and the operation power consumption; based on the first power consumption, the second power consumption and the third power consumption, the first redundant power is determined, and when the first remaining power is greater than the first redundant power, an inspection instruction is generated; when the first inspection unit is inspected and reaches the second inspection unit, the second redundant power of the second inspection unit is determined, and a charging instruction or the inspection instruction is generated based on the second redundant power and the current second remaining power. According to the technical solution of the embodiment of the present invention, the second power consumption can be dynamically calculated through field scanning, the third power consumption consumed by the inspection items can be calculated in combination with the second mapping table, and the redundant power can be dynamically estimated according to the actual stair situation of each inspection unit, thereby improving power utilization, reducing the number of charging times, and improving inspection efficiency.

[0060] First, refer to Figure 1 , Figure 1 The schematic diagram of the scenario of the robot dog performing intelligent inspection provided in the embodiment of the present invention is as follows. The robot dog 10 of the embodiment is equipped with a camera. The robot dog 10 is preset with a plurality of candidate inspection units, each of which corresponds to a residential building.

[0061] It should be noted that the robot dog 10 of this embodiment is a common bionic robot dog, which can achieve operations such as movement, climbing stairs, and calling camera shooting by controlling bionic joints after programming. Those skilled in the art are familiar with how to configure the robot dog 10. The specific hardware of the robot dog 10 is not limited here, and only relevant improvements are made to the control method.

[0062] It should be noted that the application scenario of this embodiment is a staircase building, that is, each candidate inspection unit of this embodiment is a staircase building, which can be a staircase residence, a staircase office building, etc. Application scenarios that do not involve climbing stairs are not within the scope of discussion of this embodiment and will not be repeated later.

[0063] The following is based on the Figure 1 The schematic diagram of the intelligent inspection shown in the figure further illustrates the technical solution of the embodiment of the present invention.

[0064] Reference Figure 2 , Figure 2 A flowchart of a robot dog intelligent inspection method based on power management provided by an embodiment of the present invention, the robot dog intelligent inspection method based on power management includes but is not limited to the following steps:

[0065] S10, based on the path navigation, reaching the first inspection unit, determining the first power consumption required to move from the first inspection unit to the target charging point, and when the first power consumption is less than the current first remaining power, determining the target floor number based on the inspection floors of the first inspection unit, wherein each inspection floor includes at least one floor inspection item;

[0066] S20, performing a scanning operation to obtain the number of unit stairs and the first stair size of a single stair, determining a target single-step power consumption from a preset first mapping table according to the first stair size, and determining a second power consumption based on the target single-step power consumption, the number of unit stairs and the target number of floors, wherein the first mapping table records a mapping relationship between the stair size and the power consumption of moving a single stair;

[0067] S30, determining the inspection power consumption of the inspection items on each floor based on a preset second mapping table, and determining the sum of the inspection power consumption as the third power consumption, wherein the second mapping table records the mapping relationship between the inspection items and the operation power consumption;

[0068] S40, determining a first redundant power based on the first power consumption, the second power consumption, and the third power consumption, and generating a patrol instruction when the first remaining power is greater than the first redundant power;

[0069] S50, when the first inspection unit is inspected and the second inspection unit is reached, a second redundant power of the second inspection unit is determined, and a charging instruction or an inspection instruction is generated based on the second redundant power and the current second remaining power.

[0070] It should be noted that property inspections usually set up various inspection points. The inspection points in this embodiment are located in the staircase building, such as the water and electricity equipment, security equipment, etc. on each floor. This embodiment takes a staircase building as an inspection unit, and each inspection unit has at least one inspection floor, and there is at least one inspection point in the inspection floor, and each inspection point has at least one inspection item.

[0071] It is worth noting that in this embodiment, not all floors in the inspection unit are limited to inspection floors. For example, in a 5-story inspection unit, a fire hydrant is set every 2 floors. With fire hydrants as inspection points, the 1st, 3rd and 5th floors with fire hydrants are inspection floors, and the 2nd and 4th floors are not determined as inspection floors. Since the inspection points and inspection items can be determined and set in advance, when the inspection needs to be performed every day, the robot dog can be started and the inspection path composed of multiple candidate inspection units can be sent to the robot dog. At the same time, the inspection items are also sent to the robot dog. The location of the specific inspection point is recorded in the inspection item. The robot dog determines the inspection floor of each candidate inspection unit based on the relevant location information.

[0072] It is worth noting that the target number of floors in this embodiment is not the number of inspection floors, but the number of floors that need to be climbed to cover all inspection floors. For example, in the above 5-floor example, if the inspection floors are the 2nd and 4th floors, then the target number of floors is 4, that is, to complete the inspection of the 4th floor, you must at least climb to the 4th floor, instead of the number of inspection floors 2, otherwise it will result in the inability to reach the highest inspection floor.

[0073] It should be noted that, when the candidate inspection units are determined, those skilled in the art are familiar with how to perform path planning, and this embodiment does not limit the specific method of path planning.

[0074] It should be noted that in the community inspection scenario, the target charging point can be a location in the community that can provide power, such as sockets set up for public facilities in the community, charging piles for electric bicycles, property management offices, etc. The prior art has proposed various charging devices for robot dogs, which can realize automatic charging under the premise of having charging equipment. This embodiment does not improve the charging structure, and will not be elaborated in the following.

[0075] It should be noted that the cell may include multiple candidate charging points, and for the sake of path optimization, each candidate inspection unit has a corresponding target charging point, such as the charging point closest to the candidate inspection unit, or a charging point located halfway along the path to the next candidate inspection unit. The method for determining the target charging point is not limited here, and the corresponding target charging point can be determined after the first inspection unit is determined. Of course, when the target charging point is determined, those skilled in the art are familiar with how to determine the charging path through path planning, and calculate the first power consumption based on the path length of the charging path. This embodiment does not limit the specific calculation method of the first power consumption.

[0076] It should be noted that when the first power consumption is greater than or equal to the first remaining power, the first remaining power of the robot dog is just enough or insufficient to go to the target charging point, and it is impossible to have the power to perform the inspection operation. In this case, a charging reminder message can be sent to the remote inspection personnel. After the charging is completed through manual operation, the robot dog returns to the first inspection unit to execute the technical solution of this embodiment. Therefore, this embodiment is based on the premise that the first power consumption is less than the first remaining power, and determines whether to perform the inspection at least when there is enough power to go to the target charging point. If the first redundant power calculated in the subsequent steps is greater than the first remaining power, the robot dog needs to go to the target charging point to perform charging. If the first redundant power is less than the first remaining power, the intelligent inspection can be performed.

[0077] It should be noted that after arriving at the first inspection unit, the robot dog is equipped with a camera, so it can scan the current stairs. For common staircase houses, in the absence of obstructions, the robot dog can scan from the outside of the staircase house to the door. At this time, the first stair unit can be captured within the shooting range of the camera. Therefore, a scanning operation is performed before entering the first inspection unit. The number of unit stairs of each staircase unit and the size of the first stair of a single-level staircase can be determined. The specific image recognition algorithm is an existing technology and will not be elaborated here.

[0078] For example, for most staircase buildings, there are usually two staircase units between adjacent floors, and each staircase unit has multiple steps, for example Figure 1 As shown, in the first inspection unit 21, from the 1st floor to the 2nd floor, it is necessary to climb the first stair unit 211 and the second stair unit 212 in sequence. The first stair unit 211 and the second stair unit 212 have the same number of stairs, and the size of each stair is also the same. This embodiment performs subsequent estimation operations on the assumption that all stair units have the same number of stairs and the same size of each stair. If the number of stairs in different stair units of the same staircase building is different, or the size of a single stair is different, the operation of this embodiment can also be performed after reaching the first inspection unit 21 to perform the first estimation to obtain the first redundant power. After climbing each stair unit, a scan is performed before the next stair unit to determine the number of unit stairs and the size of the first stair, and the calculation is re-executed to obtain the first redundant power. It is only necessary to subtract the product value of the number of unit stairs and the target single-level power consumption from the second power consumption.

[0079] It should be noted that if Figure 1 As shown, the first staircase size includes the height and length of a single staircase. Since the robot dog 10 has a certain longitudinal height, the staircase located at a lower position is in a downward oblique view. The corresponding height and length can be calculated from the captured image by a relevant image algorithm, for example Figure 1As shown, the length of a single staircase can be determined by scanning as X1 and the height as Y1.

[0080] It should be noted that the first mapping table records the power consumption corresponding to each set of stair sizes. The robot dog works differently when climbing stairs of different heights, so the power consumption is different. The mapping relationship between stair size and power consumption can be determined in advance by testing and recorded as the first mapping table. Of course, the power consumption corresponding to the stair size within a certain range can be the same, so the first mapping table can also record the mapping relationship between the stair size interval and the power consumption of moving a single stair. After arriving at the first inspection unit, the first mapping table is queried according to the scanned first stair size to obtain the target single-level power consumption. After completing the inspection of the first inspection unit and arriving at the second inspection unit, the stair size of the second inspection unit is scanned for the next table lookup, thereby realizing the dynamic calculation of the climbing power of different candidate inspection units.

[0081] It should be noted that after determining the target single-level power consumption, since the number of unit stairs is also obtained by scanning, the target number of floors is also determined, the number of unit stairs corresponds to one stair unit, and according to the above description, each floor has two stair units, and the second power consumption can be calculated by multiplication, such as Figure 1 As shown, the second power consumption = number of unit stairs × 2 × target single-level power consumption × target number of floors.

[0082] It should be noted that each inspection floor can include at least one inspection item, and the inspection items of different inspection floors may be different. For robot dog inspections, it is usually remotely controlled by inspection personnel, and remote inspections are performed by taking photos or videos. For example, for health inspections, it is only necessary to take multiple photos of the health area. For the inspection of security equipment, remote inspections need to be performed through remote videos. Therefore, the power consumption of each inspection item can be simply estimated. This embodiment maintains the mapping relationship between each inspection item and the operating power consumption of the robot dog through a second mapping table to determine the inspection power consumption of each inspection item. When the inspection items of the inspection floor are pre-set, the third power consumption can be obtained by summing the inspection power consumption. The third power consumption is used to represent the power consumption required to execute all inspection items in the first inspection unit.

[0083] It should be noted that after obtaining the first power consumption, the second power consumption and the third power consumption, the first redundant power calculated by summing up can support the robot dog to climb to each inspection floor, perform corresponding inspection tasks, climb down the stairs from the highest inspection floor to return to the standby position of the first inspection unit, and go to the target charging point. Therefore, when the first remaining power is greater than the first redundant power, the robot dog can normally complete the inspection operation of the first inspection unit, generate inspection instructions and perform intelligent inspections.

[0084] It should be noted that, in this embodiment, after the first inspection unit obtains the first redundant power, the first redundant power is not applied to all subsequent candidate inspection units. Instead, the calculated first redundant power is only valid for the first inspection unit. After completing the intelligent inspection of the first inspection unit, the data of the first redundant power is deleted in the storage device of the robot dog. After reaching the second inspection order, the second inspection unit is taken as the target and the above steps S10 to S40 are re-executed to obtain the second redundant power, that is, the stairs of the second inspection unit are scanned to obtain the stair size and the number of unit stairs, the target number of floors is determined according to the inspection floors of the second inspection unit, and the second power consumption of the second inspection unit is calculated according to the above data, etc., which will not be repeated here. The redundant power of this embodiment is only effective for the candidate inspection unit currently located. There is no need to set a larger redundant power value in the robot dog. The redundant power is recalculated after each candidate inspection unit is reached, so that the redundant power is dynamically updated according to the actual inspection needs of the candidate inspection unit. Since the dynamically calculated redundant power must be less than or equal to the redundant power set based on the risk upper limit, the number of times the robot dog is triggered to charge before performing an intelligent inspection of a patrol unit can be effectively reduced, and more power can be used as much as possible to improve power utilization, thereby improving inspection efficiency.

[0085] In addition, in one embodiment, referring to Figure 3 , the robot dog has multiple candidate charging points preset, refer to Figure 4 Before executing step S10, the following steps are also included but not limited to:

[0086] S01, after the robot dog is started, obtaining the starting position of the robot dog, the current third remaining power and the preset inspection path, and determining the first inspection unit and the second inspection unit based on the inspection path, wherein the second inspection unit is located next to the first inspection unit in the inspection path;

[0087] S02, determining the candidate charging point closest to the starting position as the first charging point, and determining the candidate charging point closest to the first inspection unit as the second charging point;

[0088] S03, determining a fourth power consumption required to move from the starting position to the first inspection unit, determining a fifth power consumption required to move from the starting position to the first charging point, and determining the sum of the power consumption from the first inspection unit to the second charging point and the fourth power consumption as a sixth power consumption;

[0089] S04, when the third remaining power is less than or equal to the fourth power consumption and the fifth power consumption at the same time, generating a low power prompt message;

[0090] S05, when the third remaining power is greater than the fifth power consumption and less than the fourth power consumption, or the third remaining power is greater than the fourth power consumption and less than or equal to the sixth power consumption, generating a charging instruction based on the first charging point, and updating the starting position based on the position of the first charging point after charging is completed;

[0091] S06: When the third remaining power is greater than the sixth power consumption, move to the first inspection unit based on path navigation.

[0092] It should be noted that, for patrol devices in the prior art, it is usually necessary to limit the start-up location to a charging point or a specific location, which is not applicable to the field of property management. However, by adopting the technical solution of this embodiment, the robot dog can be started at any location in the community.

[0093] It should be noted that this embodiment first obtains the starting position of the robot dog, the current third remaining power and the preset inspection path. Since the robot dog can move based on path navigation, the starting position can also be determined by simple positioning technology, which will not be elaborated here. After obtaining the inspection path, the first candidate inspection unit to be visited can be determined as the first inspection unit, and the next one of the first inspection unit can be determined as the second inspection unit. Figure 3 As shown, the inspection path is the first inspection unit 21 and the second inspection unit 22 in sequence. Figure 3 For the purpose of illustration, each path is simplified into a straight line. However, in actual use, each path can be of any shape, and the subsequent steps can be performed according to the specific path length.

[0094] It should be noted that according to the description of the above embodiment, a cell may include multiple candidate charging points. Therefore, after determining the starting position, the first inspection unit, and the second inspection unit, this embodiment needs to determine the next executable operation based on the third remaining power, and ensure that the robot dog has enough power to complete it. Therefore, the working conditions that may occur after starting this embodiment include insufficient power, being able to charge at the nearest charging point, insufficient power to perform inspection at the first inspection unit, insufficient power to go to the second inspection unit after the inspection, and sufficient power. Therefore, this embodiment first determines the first charging point and the second charging point based on all the possible working conditions mentioned above. The first charging point is closest to the starting position of the robot dog, and the second charging point is closest to the first inspection unit.

[0095] It is worth noting that the first charging point and the second charging point may be the same candidate charging point. For the applicability of the solution, even if they are the same candidate charging point, this embodiment sets them as three different parameters for subsequent calculation to avoid path errors caused by erroneous multiplexing of data.

[0096] For example, Figure 3As shown, the distances between the three charging points and the starting position of the robot dog 10 are C1, C2 and C3 respectively. Since C1 has the smallest value, the corresponding charging point is determined to be the first charging point 31. Similarly, the second charging point 32 is closest to the first inspection unit 21, which will not be repeated here.

[0097] It should be noted that after determining the first charging point and the second charging point, the power consumption of each path can be determined according to the unit power consumption of the moving path. In this embodiment, the power consumption from the starting position to the first inspection unit is taken as the fourth power consumption. For example Figure 3 The power consumption corresponding to the D4 path in the figure; the fifth power consumption required to move from the starting position to the first charging point, for example Figure 3 The power consumption corresponding to the C1 path; the sum of the power consumption from the first inspection unit to the second charging point and the fourth power consumption is determined as the sixth power consumption, for example Figure 3 The power consumption corresponding to the middle path D4+D6.

[0098] It should be noted that in step S04, the third remaining power is not enough to support the robot dog to go to the nearest first charging point and first inspection unit, so the robot dog cannot complete a complete end-to-end movement, and a low-power prompt message is generated to notify the inspection personnel to manually move the robot dog for charging.

[0099] It should be noted that in step S05, if the third remaining power is greater than the fifth power consumption, the robot dog can go to the first charging point for charging, and if it is less than the fourth power consumption, the robot dog cannot go to the first inspection unit. At this time, no manual intervention is required, and the robot dog is directly controlled to go to the first charging point for charging. After charging is completed, the above calculation is performed again with the first charging point as the starting position, which will inevitably trigger step S07 of this embodiment and go to the first inspection unit to perform inspection. If the robot dog with full power cannot go to the first inspection unit, the inspection area is larger than the reachable range of the robot dog, which is not within the scope of discussion of this embodiment.

[0100] It should be noted that in step S06, the third remaining power is greater than the sixth power consumption. After reaching the first inspection unit, the robot dog still has enough power to go to the second charging point. Since this embodiment is based on dynamic calculations based on field scanning, it is impossible to determine whether the first remaining power after reaching the first inspection unit can trigger an inspection. However, even if it is not enough to trigger an inspection, it still has enough power to go to the nearest second charging point for charging. Therefore, in order to improve the inspection efficiency, when it can still go to the second charging point after arriving at the first inspection unit, charging in advance on the way to the first inspection unit is not considered, which will lead to an unnecessary increase in the number of charging times.

[0101] In addition, in one embodiment, referring to Figure 4In step S10, determining the first power consumption required to move from the first inspection unit to the target charging point includes but is not limited to the following steps:

[0102] S11, determining the second charging point as the target charging point, and determining the power consumption of moving from the first inspection unit to the target charging point as the first power consumption;

[0103] S12, when the first remaining power is greater than the first redundant power, a path formed by sequentially connecting the first inspection unit, any candidate charging point, and the second inspection unit is determined as a first path, and a candidate charging point corresponding to the first path with the smallest value is determined as a third charging point;

[0104] S13, determining the power consumption of the first inspection unit moving to the third charging point as the seventh power consumption, and determining a third redundant power based on the seventh power consumption, the second power consumption and the third power consumption;

[0105] S14, when the first remaining power is greater than the third redundant power, changing the target charging point to the third charging point;

[0106] S15: When the first remaining power is less than or equal to the third redundant power, the target charging point is maintained as the second charging point.

[0107] It should be noted that the second charging point is closest to the first inspection unit, so in this embodiment, the second charging point is first determined as the target charging point, and then the first power consumption is determined, for example Figure 3 The power consumption corresponding to path D6 is shown in FIG.

[0108] It should be noted that when the first remaining power is greater than the first redundant power, the inspection of the first inspection unit can be completed, and the target charging point is the closest to the first inspection unit, but is not necessarily located on the path to the second inspection unit, such as Figure 3 As shown, the second charging point 32 is on the upper side of the first inspection unit 21, but the second inspection unit 22 is on the lower side of the first inspection unit 21. If charging is required after completing the inspection of the first inspection unit 21, first go to the second charging point 32 to charge and then go to the second inspection unit 22. The travel path is longer and some parts of the path may overlap. Therefore, the second charging point 32 is not necessarily the best charging point on the way from the first inspection unit 21 to the second inspection unit 22.

[0109] It should be noted that, in order to determine the above-mentioned optimal charging point, in this embodiment, a first path is constructed based on the first inspection unit as the starting point, any candidate charging point as the passing point, and the second inspection unit as the end point. The candidate charging point included in the shortest first path is used as the third charging point, so that after the first inspection unit completes the inspection, the path to go to the charging point and then to the second inspection unit is the shortest, improving the power utilization rate and the inspection efficiency. Of course, the third charging point may also be the same candidate charging point as the second charging point. In this case, the second charging point can be maintained as the target charging point. This embodiment mainly describes the situation where the third charging point and the second charging point are different.

[0110] Exemplarily, as Figure 3 shown, a path is constructed with the first inspection unit 21, any candidate charging point, and the second inspection unit 22. The third charging point 33 shown is determined according to the first path with the minimum path length. At this time, the path constructed with the first inspection unit 21, the third charging point 33, and the second inspection unit 22 is D7 + L2. If the second charging point 32 is used as the passing point, the path D6 + L3 constructed by the first inspection unit 21, the second charging point 32, and the second inspection unit 22 will necessarily satisfy D7 + L2 < D6 + L3. The situations of other candidate charging points are similar and will not be repeated here. Therefore, in this embodiment, the third charging point 33 can be determined according to the shortest first path. Figure 3

[0111] Figure 3 It should be noted that after determining the third charging point, the power consumption of moving the first inspection unit to the third charging point is determined as the seventh power consumption, that is, the power consumption corresponding to the D7 path shown in. The third redundant power is determined according to the seventh power consumption, the second power consumption, and the third power consumption. By replacing the first power consumption in the above embodiment with the seventh power consumption, when the first remaining power is greater than the third redundant power, the robot dog can go to the first inspection unit to complete the inspection and go to a better third charging point for charging. At this time, the third charging point can be updated as the target charging point; if the first remaining power is less than or equal to the third redundant power, there may not be enough power to go to the third charging point. Since the second charging point is the closest to the first inspection unit, the second charging point is still maintained as the target charging point to ensure charging. Through the technical solution of this embodiment, the charging point with the optimal path or the closest charging point can be dynamically selected as the target charging point according to the remaining power, improving the charging flexibility.

[0112] Figure 4 In addition, in an embodiment, referring to , the first mapping table records the mapping relationship of the stair size, the optional power consumption for climbing a single step up, and the optional power consumption for climbing a single step down. The optional power consumption for climbing a single step up is used to indicate the power consumption of climbing a single step up the stairs, and the optional power consumption for climbing a single step down is used to indicate the power consumption of climbing a single step down the stairs; Step S20 specifically includes but is not limited to the following steps:

[0113] S21, determining a first upper single-level power consumption and a first lower single-level power consumption from a first mapping table based on a first staircase size;

[0114] S22, determining the product of twice the number of unit stairs and the first upper single-level power consumption as the target upper single-level power consumption, and determining the product of twice the number of unit stairs and the first lower single-level power consumption as the target lower single-level power consumption;

[0115] S23, determining the product of the target upper single-layer power consumption and the target number of layers as the target upper total power consumption, and determining the product of the target lower single-layer power consumption and the target number of layers as the target lower total power consumption;

[0116] S24, determining the sum of the upper target total power consumption and the lower target total power consumption as the second power consumption.

[0117] It should be noted that in the scenario of climbing stairs, climbing up and down stairs cannot be equated with round trips during cruising. Round trips during cycling are usually movements in two directions of the same route. However, when climbing up stairs, the robot dog needs to convert electrical energy into kinetic energy and gravitational potential energy. When climbing down stairs, since part of the gravitational potential energy is converted into kinetic energy, less electrical energy is required to do the same work. Therefore, climbing up a single step of stairs consumes more electrical energy than climbing down a single step of stairs. In order to improve the accuracy of power calculation, this embodiment further distinguishes between optional upper single-step power consumption and optional lower single-step power consumption in the first mapping table, for example Figure 1 As shown, when the size of the first staircase is (X1, Y1), the power consumed by climbing one staircase is the upper power consumption 1, and the power consumed by climbing the next staircase is the lower power consumption 1.

[0118] It should be noted that, according to the description of the above embodiment, each staircase includes two staircase units. Therefore, when calculating the power consumption, the number of unit stairs needs to be calculated twice. Figure 1 As shown, the number of unit stairs is N. Under the premise that the size of the first staircase is (X1, Y1), the power consumption of the first upper level is 1. When calculating the total power consumption of climbing one floor of stairs, the target upper power consumption = N×2×upper power consumption 1; similarly, when calculating the total power consumption of climbing the next floor of stairs, the target lower power consumption = N×2×lower power consumption 1.

[0119] It should be noted that after obtaining the target upper single-layer power consumption and the target lower single-layer power consumption, multiplying them according to the target number of layers can obtain the corresponding target upper total power consumption and target lower total power consumption, and the sum of the target upper total power consumption and the target lower total power consumption can be determined as the second power consumption.

[0120] In addition, in one embodiment, referring to Figure 4After executing step S21, the following steps are also included but not limited to:

[0121] S211, determining twice the size of the first staircase as the size of the second staircase, and when the size of the second staircase is recorded in the first mapping table, obtaining the corresponding second upper single-level power consumption and second lower single-level power consumption;

[0122] S212, when the second upper single-level power consumption is less than twice the first upper single-level power consumption, the product of the second upper single-level power consumption and the unit number of stairs is determined as the target upper single-level power consumption;

[0123] S213, when the second lower single-level power consumption is less than twice the first lower single-level power consumption, the product of the second lower single-level power consumption and the unit number of stairs is determined as the target lower single-level power consumption.

[0124] It should be noted that for some larger robot dogs, or inspection units with smaller staircases, the robot dog may be able to climb two steps at a time. Since the robot dog is driven by a motor, the power consumed by climbing two steps is not necessarily linearly related to the power consumed by climbing one step. It is even possible that the power consumption of the two is the same. In this case, controlling the robot dog to climb up or down more stairs each time can better save energy, while also increasing the climbing speed and improving inspection efficiency.

[0125] It should be noted that the first staircase size can include Figure 1 The length and width shown in the figure, in this embodiment, after determining the size of the first staircase, twice the size of the first staircase is used as the size of the second staircase. Since the first mapping table records the climbing power consumption corresponding to the size of the staircase that the robot dog can support, when the size of the second staircase is recorded in the first mapping table, it can be determined that the robot dog supports climbing the second staircase size. Figure 1 As shown, X2=2X1, Y2=2Y1, or, when the first mapping table is recorded in interval form, the subsequent operation can also be performed when X2≥2X1, Y2≥2Y1 is satisfied. Of course, when the second staircase size is not recorded, the operation of this embodiment is not performed, and the embodiment based on the first staircase size described above can be performed.

[0126] It should be noted that when the size of the second staircase is recorded in the first mapping table, the purpose of executing this embodiment is to reduce energy consumption. If the power consumption of the second upper single level is greater than or equal to twice the power consumption of the first upper single level, then it is obvious that the energy consumption of climbing one stair each time is better, and the solution of this embodiment can be omitted. Therefore, it is necessary to satisfy that the power consumption of the second upper single level is less than twice the power consumption of the first upper single level in order to calculate the target upper single-layer power consumption based on the power consumption of the second upper single level. Since two steps are climbed each time, the value of the number of unit stairs should be only half, which is offset by the double number of unit stairs corresponding to each floor. Therefore, the actual calculation is reflected as the target upper single-layer power consumption = the second upper single-level power consumption × the number of unit stairs. The target lower single-layer power consumption is the same, and it will not be repeated here.

[0127] In addition, in one embodiment, referring to Figure 4 In step S40, when the first remaining power is less than or equal to the first redundant power, the process further includes but is not limited to the following steps:

[0128] S61, determining the reachable floors of the first inspection unit based on the first remaining power, the power consumption of the target upper single floor, and the estimated power consumption of each inspection floor, wherein the estimated power consumption of each floor is the sum of the inspection power consumption corresponding to each inspection floor;

[0129] S62, when at least one reachable floor is a preset chargeable floor, selecting a target charging floor from the reachable floors configured as chargeable floors, wherein the chargeable floors are provided with floor charging points;

[0130] S63, generating an inspection instruction and marking the target charging floor;

[0131] S64, each time a patrol floor is reached, the remaining power is recorded as the first floor power, and after each patrol item is completed, the remaining power is recorded as the second floor power, and the difference between the first floor power and the second floor power is determined as the actual power consumption of the floor;

[0132] S65, when the actual power consumption of the floor is greater than the estimated power consumption of the corresponding floor, the target charging floor is re-determined based on the power consumption of the second floor, the power consumption of the target upper single floor, and the estimated power consumption of the uninspected inspection floor;

[0133] S66, after arriving at the target charging floor, generating a charging instruction based on the floor charging point of the target charging floor.

[0134] It should be noted that when the first remaining power is greater than the first redundant power, intelligent inspection can be started when the power is sufficient. When the first remaining power is less than the first redundant power, if the robot dog goes directly to the target charging point for charging, it can ensure that the robot dog will not shut down due to insufficient power, but it will generate power consumption to and from the target charging point, and it will also consume a certain amount of travel time. In this scenario, this embodiment first determines the estimated power consumption of each inspection floor, and adds the estimated power consumption to the target single-floor power consumption of the corresponding value to determine the power required to complete the inspection of any floor, and then determines the reachable floors in combination with the first remaining power.

[0135] Exemplarily, taking the power ratio as an example, the power consumption of a single floor on the target is 1% as an example, and the first remaining power is 3% as an example. The estimated power consumption of the inspection floor of the first floor is 0.5%, the estimated power consumption of the inspection floor of the second floor is 0.3%, and the estimated power consumption of the inspection floor of the third floor is 0.8%. The total power consumption for completing the inspection floors of the first floor is 0.5% (floor 1 does not need to climb), and the total power consumption for completing the inspection floors of the second floor is 0.5%+1%+0.3%=1.8%. Similarly, the total power consumption for completing the inspection floors of the third floor is superimposed on the power consumption of the inspection floors of the second floor, that is, 1.8%+1%+0.8%=3.6%, and the first remaining power is 3%, so the reachable floors are the inspection floors of the first and second floors.

[0136] It should be noted that the robot dog can be charged through a common 220V power socket. In residential buildings, each floor may be equipped with an emergency power socket, a socket for public electrical equipment, etc. In this embodiment, the inspection floors with charging sockets can be pre-configured as rechargeable floors, and the robot dog can execute charging instructions on any rechargeable floor. Therefore, when at least one accessible floor is a rechargeable floor, the robot dog does not need to go to the target charging point for charging, but can climb to the rechargeable floor to perform charging, reducing the charging commuting time and improving inspection efficiency.

[0137] It should be noted that the target charging floor can be any optional charging floor. For example, the lowest optional charging floor can be used as the target charging floor for a conservative strategy, or the highest optional charging floor among the reachable floors can be used as the target charging floor for an aggressive strategy. This embodiment does not limit the specific strategy. After the target charging floor is determined, a patrol instruction is directly generated to start the patrol.

[0138] It should be noted that the battery power consumption rate is usually higher in low-power scenarios than in high-power scenarios, and the power consumption of inspection items is a reference value. It is likely that when encountering complex inspection items, more time will be spent on collecting inspection information, resulting in the power consumption of inspection items being greater than the power consumption of items. Therefore, this embodiment records the remaining power as the first floor power at each inspection floor reached, and records it as the second floor power after the inspection is completed. The difference between the second floor power and the first floor power is determined as the actual power consumption of the floor. When the actual power consumption of the floor is greater than the estimated power consumption of the floor, the target charging floor is re-determined to avoid consuming more inspection power on the current inspection floor and failing to reach the predetermined target charging floor. The method for re-determining the target charging floor can refer to the method in the above step S61, and the current inspection floor can be used as the starting floor, which will not be repeated here.

[0139] In addition, in one embodiment, referring to Figure 4 After executing step S66, the following steps are also included but not limited to:

[0140] S71, when it is determined based on the preset inspection path that the first inspection unit includes at least the second inspection unit, the target charging amount of the charging instruction is set to a full charge;

[0141] S72, when it is determined based on the inspection path that the first inspection unit is the last inspection unit, the floor difference is determined based on the target floor number and the target charging floor, the first charging amount is determined based on the product of the target upper single-floor power consumption and the floor difference, and the second charging amount is determined based on the product of the target floor number and the target lower single-floor power consumption;

[0142] S73, determining a third charging amount based on the sum of the inspection power consumption of the inspection items that have not been inspected, and determining the sum of the first charging amount, the second charging amount and the third charging amount as the target charging amount;

[0143] S74, after charging is completed based on the target charging amount, continue to perform the intelligent inspection of the first inspection unit.

[0144] It should be noted that when charging, this embodiment does not perform full charging every time, but performs dynamic adjustment based on the completion of the inspection items. In step S71, if a second inspection unit is also included, it can be determined that the first inspection unit is not the last candidate inspection unit, and the subsequent demand for power is high. When charging is performed, the robot dog is fully charged to ensure that it can go to the second inspection unit and perform as many inspection items as possible.

[0145] It should be noted that when the first inspection unit is the last inspection unit, the inspection can be determined to be completed after the inspection items of the first inspection unit are completed. Charging on the target charging floor is an emergency operation. It may take a long time to fully charge the battery, resulting in a long interruption in the upload of the inspection information, which is not conducive to the inspection efficiency. In order to improve the inspection efficiency, charging on the target charging floor only needs to meet the inspection needs of the current first inspection unit and be enough to go downstairs. After uploading the inspection information of the inspection items, you can either send a low-battery message to prompt the inspectors to recycle after returning to the starting point of the first inspection unit, or go to the second charging point for charging if there is enough remaining power. At this time, the actions of the robot dog will no longer affect the inspection efficiency, and the charging strategy can be selected according to actual needs.

[0146] It should be noted that after reaching the target charging floor, the target charging floor can be any rechargeable floor. In this embodiment, the floor difference is determined by the target floor number and the target charging floor. For example, if the target floor number is 8 and the target charging floor is 5, the floor difference is 3. After determining the floor difference, this embodiment determines the first charging amount by multiplying the power consumption of the target upper single floor determined in the above embodiment by the floor difference. The robot dog can climb from the target charging floor to the highest inspection floor with the power of the first charging amount. Similarly, after completing the inspection of the highest inspection floor, the second charging amount is determined based on the product of the target floor number and the power consumption of the target lower single floor, so that the robot dog has the power required to go downstairs.

[0147] It should be noted that in addition to the power required for climbing the stairs, this embodiment further determines the sum of the power consumption of the inspection items that have not been inspected as the third charging amount, so that the robot dog has the power to complete the remaining inspection items. The specific power consumption of the items has been obtained when determining the third power consumption, so there is no need to obtain it repeatedly, and the data that has not been inspected can be directly filtered out for summation. The estimated power consumption of the inspection floors that have not been inspected is not summed here. This is because there may be some inspection items that have not been inspected on the target charging floor, while another part of the inspection items have been inspected. If the estimated power consumption of the floor is used for calculation, there may be a certain deviation. Therefore, this embodiment directly superimposes the power consumption of the items.

[0148] It should be noted that after obtaining the first charge amount, the second charge amount and the third charge amount, the target charge amount is obtained by summing them up. When the robot dog reaches the target charging layer, there is still some power left. This remaining power can be used as compensation for the nonlinear power consumption. Therefore, there is no need to set additional redundant power during charging. Just charge according to the target charge amount and continue to perform intelligent inspection after completion.

[0149] like Figure 5 As shown, Figure 5The present invention also provides a robot dog intelligent inspection device based on power management, including:

[0150] The processor 501 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0151] The memory 502 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 502, and the processor 501 calls and executes the robot dog intelligent inspection method based on power management in the embodiment of this application;

[0152] Input / output interface 503, used to implement information input and output;

[0153] Communication interface 504, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0154] A bus 505 that transmits information between various components of the device (e.g., the processor 501, the memory 502, the input / output interface 503, and the communication interface 504);

[0155] The processor 501 , the memory 502 , the input / output interface 503 and the communication interface 504 are connected to each other in communication within the device via the bus 505 .

[0156] An embodiment of the present application also provides an electronic device, including the power management-based robot dog intelligent inspection device as described above.

[0157] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned robot dog intelligent inspection method based on power management is implemented.

[0158] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0159] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0160] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A robot dog intelligent inspection method based on power management, characterized in that: Applied to a robot dog, the robot dog is equipped with a camera, the robot dog is preset with a plurality of candidate inspection units, each of the candidate inspection units corresponds to a residential building, the method comprises: Arriving at a first inspection unit based on path navigation, determining a first power consumption required to move from the first inspection unit to a target charging point, and when the first power consumption is less than the current first remaining power, determining a target floor number based on inspection floors of the first inspection unit, wherein each inspection floor includes at least one floor inspection item; Perform a scanning operation to obtain the number of unit stairs and a first staircase size of a single staircase, determine a target single-step power consumption from a preset first mapping table according to the first staircase size, and determine a second power consumption based on the target single-step power consumption, the number of unit stairs, and the target number of floors, wherein the first mapping table records a mapping relationship between the staircase size and the power consumption of moving a single-step staircase; Determine the inspection power consumption of each of the floor inspection items based on a preset second mapping table, and determine the sum of the inspection power consumption as the third power consumption, wherein the second mapping table records the mapping relationship between the inspection items and the operation power consumption; determining a first redundant power based on the first power consumption, the second power consumption, and the third power consumption, and generating a patrol instruction when the first remaining power is greater than the first redundant power; When the first inspection unit is inspected and the second inspection unit is reached, the second redundant power of the second inspection unit is determined, and a charging instruction or the inspection instruction is generated based on the second redundant power and the current second remaining power.

2. The method for intelligent inspection of a robot dog based on power management according to claim 1, characterized in that: The robot dog is preset with a plurality of candidate charging points. Before reaching the first inspection unit based on path navigation, the method further includes: After the robot dog is started, the starting position, the current third remaining power and the preset inspection path of the robot dog are obtained, and the first inspection unit and the second inspection unit are determined based on the inspection path, wherein the second inspection unit is located next to the first inspection unit in the inspection path; Determine the candidate charging point closest to the starting position as the first charging point, and determine the candidate charging point closest to the first inspection unit as the second charging point; Determine a fourth power consumption required to move from the starting position to the first inspection unit, determine a fifth power consumption required to move from the starting position to the first charging point, and determine the sum of the power consumption from the first inspection unit to the second charging point and the fourth power consumption as a sixth power consumption; When the third remaining power is less than or equal to the fourth power consumption and the fifth power consumption at the same time, generating a low power prompt message; When the third remaining power is greater than the fifth power consumption and less than the fourth power consumption, or the third remaining power is greater than the fourth power consumption and less than or equal to the sixth power consumption, the charging instruction is generated based on the first charging point, and after charging is completed, the starting position is updated based on the position of the first charging point; When the third remaining power is greater than the sixth power consumption, the device moves to the first inspection unit based on path navigation.

3. The method for intelligent inspection of a robot dog based on power management according to claim 2 is characterized in that: Determining a first power consumption required to move from the first inspection unit to a target charging point includes: determining the second charging point as the target charging point, and determining the power consumption from the first inspection unit to the target charging point as the first power consumption; When the first remaining power is greater than the first redundant power, a path formed by sequentially connecting the first inspection unit, any of the candidate charging points, and the second inspection unit is determined as a first path, and the candidate charging point corresponding to the first path with the smallest value is determined as a third charging point; determining the power consumption of moving the first inspection unit to the third charging point as a seventh power consumption, and determining a third redundant power based on the seventh power consumption, the second power consumption and the third power consumption; When the first remaining power is greater than the third redundant power, changing the target charging point to the third charging point; When the first remaining power is less than or equal to the third redundant power, the target charging point is maintained as the second charging point.

4. The method for intelligent inspection of a robot dog based on power management according to claim 1, characterized in that: The first mapping table records the mapping relationship between stair size, optional upper single-step power consumption, and optional lower single-step power consumption, wherein the optional upper single-step power consumption is used to indicate the power consumption of climbing up a single-step staircase, and the optional lower single-step power consumption is used to indicate the power consumption of climbing down a single-step staircase; Determining a target single-level power consumption from a preset first mapping table according to the first stair size, and determining a second power consumption based on the target single-level power consumption, the number of unit stairs, and the target number of floors, including: determining a first upper single-step power consumption and a first lower single-step power consumption from the first mapping table based on the first staircase size; The product of twice the number of unit stairs and the first upper single-level power consumption is determined as the target upper single-level power consumption, and the product of twice the number of unit stairs and the first lower single-level power consumption is determined as the target lower single-level power consumption; The product of the target upper single-layer power consumption and the target number of layers is determined as the target upper total power consumption, and the product of the target lower single-layer power consumption and the target number of layers is determined as the target lower total power consumption; The sum of the upper target total power consumption and the lower target total power consumption is determined as the second power consumption.

5. The method for intelligent inspection of a robot dog based on power management according to claim 4 is characterized in that: After determining a first upper single-level power consumption and a first lower single-level power consumption from the first mapping table based on the first stair size, the method further includes: Determine twice the first staircase size as the second staircase size, and when the second staircase size is recorded in the first mapping table, obtain the corresponding second upper single-level power consumption and second lower single-level power consumption; When the second upper single-level power consumption is less than twice the first upper single-level power consumption, the product of the second upper single-level power consumption and the number of unit stairs is determined as the target upper single-level power consumption; When the second single-level power consumption is less than twice the first single-level power consumption, the product of the second single-level power consumption and the unit number of stairs is determined as the target single-level power consumption.

6. The method for intelligent inspection of a robot dog based on power management according to claim 4 or 5, characterized in that: When the first remaining power is less than or equal to the first redundant power, the method further includes: Determine the reachable floors of the first inspection unit based on the first remaining power, the power consumption of the target upper single floor and the estimated power consumption of each inspection floor, wherein the estimated power consumption of each floor is the sum of the inspection power consumption corresponding to each inspection floor; When at least one of the reachable floors is a preset chargeable floor, a target charging floor is selected from the reachable floors configured as the chargeable floors, wherein the chargeable floors are provided with floor charging points; Generate the inspection instruction and mark the target charging floor; Each time a patrol floor is reached, the remaining power is recorded as the first floor power. After completing each patrol item, the remaining power is recorded as the second floor power. The difference between the first floor power and the second floor power is determined as the actual power consumption of the floor. When the actual power consumption of the floor is greater than the corresponding estimated power consumption of the floor, the target charging floor is re-determined based on the power consumption of the second floor, the power consumption of the target upper single floor and the estimated power consumption of the uninspected inspection floor; After reaching the target charging floor, the charging instruction is generated based on the floor charging point of the target charging floor.

7. The method for intelligent inspection of a robot dog based on power management according to claim 6, characterized in that: After the charging instruction is generated based on the floor charging point of the target charging floor after reaching the target charging floor, the method further includes: When it is determined based on a preset inspection path that the first inspection unit includes at least the second inspection unit, the target charging amount of the charging instruction is set to a full charge; When it is determined based on the inspection path that the first inspection unit is the last inspection unit, a floor difference is determined based on the target floor number and the target charging floor, a first charging amount is determined based on the product of the target upper single-floor power consumption and the floor difference, and a second charging amount is determined based on the product of the target floor number and the target lower single-floor power consumption; Determine a third charge amount based on the sum of the inspection power consumption of the inspection items that have not been inspected, and determine the sum of the first charge amount, the second charge amount and the third charge amount as the target charge amount; After charging is completed based on the target charging amount, the intelligent inspection of the first inspection unit continues to be performed.

8. A robot dog intelligent inspection device based on power management, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the robot dog intelligent inspection method based on power management as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: Including the robot dog intelligent inspection device based on power management as described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the robot dog intelligent inspection method based on power management as described in any one of claims 1 to 7.

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