Inspection robot inspection method and system under extreme conditions

Abstract

The invention belongs to the technical field of inspection robots, and provides an inspection robot inspection method and system under extreme conditions, and the method comprises the steps: obtaining the information of an environment where an inspection robot is located, and judging whether the inspection robot enters a severe weather inspection state or not; if the inspection robot enters the severe weather inspection state, the inspection robot enters a dormant state, and otherwise, the current position information of the inspection robot is judged; if the inspection robot cannot provide the current position information, the inspection robot enters a dormant state, and otherwise, the current electric quantity of the inspection robot is judged; if the current electric quantity of the inspection robot cannot complete the current inspection task, the inspection robot automatically divides the priority of the inspection task, the inspection robot completes the key inspection task according to the priority of the inspection task or the replacement robot executes the current inspection task, and the inspection robot returns to charge.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to an inspection method and system of inspection robots under extreme conditions. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of industrial automation and intelligent technology, inspection robots have been widely used in power inspection, pipeline monitoring, railway inspection and other fields; based on the robot's powerful autonomous navigation ability and environmental adaptability, it can efficiently perform tasks under different terrain and weather conditions. However, existing inspection robots are prone to failure in bad weather (such as storms, blizzards, etc.), and are prone to positioning loss (getting lost) in environments with poor signals (such as underground or mountainous areas), resulting in the inability to complete the task. In addition, the limitation of battery life also means that the robot is often forced to interrupt the task due to lack of power in the middle of the task.

[0004] Current solutions mostly rely on simple power prompts and task pause mechanisms, lacking intelligent exception handling and task recovery functions, which greatly reduces the reliability and operating efficiency of inspection robots. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a patrol robot inspection method and system under extreme conditions. Based on environmental perception, positioning management, task scheduling and power management, the patrol robot realizes automated intelligent patrol in bad weather, positioning loss (i.e., lost state), patrol task recovery and low power state, thereby ensuring the continuity of the patrol robot's inspection tasks and the safety and reliability of the patrol robot.

[0006] According to some embodiments, a first solution of the present invention provides a patrol robot inspection method under extreme conditions, which adopts the following technical solutions:

[0007] A patrol robot inspection method under extreme conditions, comprising:

[0008] Obtain the environment information of the inspection robot and determine whether the inspection robot has entered the severe weather inspection state;

[0009] If the inspection robot enters the severe weather inspection state, the inspection robot enters the dormant state, otherwise the current position information of the inspection robot is determined;

[0010] If the inspection robot cannot provide the current location information, the inspection robot enters a dormant state, otherwise the current power level of the inspection robot is determined;

[0011] If the current power of the inspection robot is insufficient to complete the current inspection task, the inspection robot will automatically prioritize the inspection tasks. The inspection robot will complete key inspection tasks based on the inspection task priorities or a replacement robot will perform the current inspection task. The inspection robot will then return to recharge.

[0012] As a further technical limitation, if the inspection robot enters the severe weather inspection state, the inspection robot will perform graded sleep and wake-up according to the judged severity of the weather; when the weather is extremely severe, the wake-up time of the inspection robot will be set to the first wake-up time interval; when the weather is very severe, the wake-up time of the inspection robot will be set to the second wake-up time interval; when the weather is severe, the wake-up time of the inspection robot will be set to the third wake-up time interval.

[0013] Further, the first wake-up time interval is longer than the second wake-up time interval, and the second wake-up time interval is longer than the third wake-up time interval.

[0014] As a further technical limitation, the inability of the inspection robot to provide current position information at least includes the inspection robot being in a lost state and the inspection robot being unable to recover its positioning state.

[0015] It should be noted that when the GPS signal of the inspection robot is lost or cannot provide accurate location information, the inspection robot enters a lost state. At this time, the inspection robot repositions itself through inertial navigation or visual SLAM. If the inspection robot can restore its position, the power of the inspection robot is determined. Otherwise, the inspection robot enters a sleep state and waits for the signal to be restored.

[0016] It should be noted that before determining the current power level of the inspection robot, the inspection robot predicts the time required for the inspection robot to perform the current inspection task based on historical inspection tasks and required power. The specific prediction process belongs to the prior art and will not be elaborated herein in the present invention.

[0017] As a further technical limitation, before the inspection robot completes the key inspection task according to the inspection task priority, the inspection robot determines the power required to complete the inspection tasks of each priority level according to the inspection task priority level. If the current power of the inspection robot is higher than the power required to complete the key inspection task, the inspection robot returns to recharge after completing the key inspection task, and the replacement robot performs the other remaining inspection tasks. Otherwise, the replacement robot directly performs the current inspection task and the inspection robot returns directly to recharge.

[0018] It should be noted that the inspection task priority of the inspection robot is set to two levels according to whether the inspection robot is in an abnormal state or a normal state. The abnormal state includes that the inspection robot is in a bad weather inspection state and cannot provide current location information (i.e., a lost state); when the inspection robot is in an abnormal state, the inspection task priority level of the inspection robot is high, and it is a critical inspection task at this time, otherwise the inspection task priority is low.

[0019] It should be noted that before the inspection robot returns to charge, the inspection robot plans its return path based on its own power level and the distance to the nearest charging base station. The specific path planning process belongs to the prior art and will not be described in detail in the present invention.

[0020] As a further technical limitation, before the replacement robot performs other remaining inspection tasks or the replacement robot performs the current inspection task, the inspection robot and the replacement robot conduct information coordination and linkage, the replacement robot receives the inspection tasks not performed by the inspection robot, and after determining the current position information and power level of the replacement robot, the replacement robot performs the received inspection tasks.

[0021] According to some embodiments, a second solution of the present invention provides a patrol robot inspection system under extreme conditions, which adopts the following technical solutions:

[0022] A patrol robot inspection system under extreme conditions, comprising:

[0023] A weather judgment module is configured to obtain information about the environment in which the inspection robot is located and determine whether the inspection robot has entered a severe weather inspection state;

[0024] A position determination module, which is configured to, if the inspection robot enters a severe weather inspection state, cause the inspection robot to enter a dormant state, otherwise determine the current position information of the inspection robot;

[0025] A power determination module, which is configured to, if the inspection robot cannot provide current position information, cause the inspection robot to enter a dormant state, otherwise determine the current power of the inspection robot;

[0026] The inspection judgment module is configured so that if the current power of the inspection robot cannot complete the current inspection task, the inspection robot will automatically divide the inspection task priority. The inspection robot will complete the key inspection task according to the inspection task priority or the current inspection task will be performed by a replacement robot, and the inspection robot will return to charge.

[0027] According to some embodiments, a third solution of the present invention provides a computer-readable storage medium, which adopts the following technical solution:

[0028] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the inspection method of an inspection robot under extreme conditions as described in the first solution of the present invention.

[0029] According to some embodiments, a fourth solution of the present invention provides an electronic device, which adopts the following technical solution:

[0030] An electronic device comprises a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of the inspection method of the inspection robot under extreme conditions as described in the first solution of the present invention are implemented.

[0031] According to some embodiments, a fifth solution of the present invention provides a computer program product, which adopts the following technical solution:

[0032] A computer program product includes software codes, wherein the program in the software codes executes the steps in the inspection method of an inspection robot under extreme conditions as described in the first embodiment of the present invention.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention innovatively proposes a patrol robot inspection method under extreme conditions, fully considering the patrol status in severe weather and the abnormal status of being unable to provide the current position, and performs the patrol work of the patrol robot based on environmental perception, positioning management, task scheduling and power management, solving the difficult problems of abnormal state processing and patrol task recovery of the patrol robot, and realizing the automatic intelligent patrol of the patrol robot in severe weather, positioning loss (i.e., lost state), patrol task recovery and low power state, thereby ensuring the continuity of the patrol robot's inspection task and the safety and reliability of the patrol robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0036] Figure 1 This is a flow chart of the inspection method of the inspection robot under extreme conditions in the first embodiment of the present invention;

[0037] Figure 2 This is a structural block diagram of the inspection robot inspection system under extreme conditions in the first embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0042] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and they cannot be understood as limitations on the present invention.

[0043] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0044] Embodiment 1

[0045] Embodiment 1 of the present invention introduces a patrol robot inspection method under extreme conditions.

[0046] like Figure 1 The inspection method of an inspection robot under extreme conditions shown includes the following steps:

[0047] Obtain the environment information of the inspection robot and determine whether the inspection robot has entered the severe weather inspection state;

[0048] If the inspection robot enters the severe weather inspection state, the inspection robot enters the dormant state, otherwise the current position information of the inspection robot is determined;

[0049] If the inspection robot cannot provide the current location information, the inspection robot enters a dormant state, otherwise the current power level of the inspection robot is determined;

[0050] If the current power of the inspection robot is insufficient to complete the current inspection task, the inspection robot will automatically prioritize the inspection tasks. The inspection robot will complete the key inspection tasks according to the inspection task priorities or a replacement robot will perform the current inspection task, and the inspection robot will return to charge. Otherwise, the inspection robot will perform the current inspection task.

[0051] In the process of acquiring the environmental information of the inspection robot, this embodiment monitors the meteorological data of the surrounding environment of the inspection robot in real time through the built-in environmental perception module of the inspection robot (such as: temperature and humidity sensor, anemometer, rain gauge, etc.).

[0052] The inspection robot determines whether the inspection robot is in a bad weather inspection state according to the collected environmental information data; this embodiment divides the bad weather inspection state into three levels, namely, extremely bad state, very bad state and bad state; specifically,

[0053] (1) When the environmental information obtained is extremely low temperature (temperature below -30°C) or heavy rain (precipitation exceeding 15 mm per hour) or heavy snow (snowfall exceeding 10 cm per hour) or humidity close to 100%, the efficiency of the electronic components and batteries of the inspection robot decreases, and condensation or fog is easily formed, affecting the vision or other sensors of the inspection robot, and the inspection robot is in an extremely bad state;

[0054] (2) When the environmental information obtained is severe cold (temperature between -30℃ and -10℃) or moderate rain (precipitation per hour is 5mm to 15mm) or moderate snow (snowfall per hour is 5cm to 10cm) or humidity is between 95% and 100%, the electronic components and batteries of the inspection robot are less efficient, which can easily affect the normal operation of the inspection robot, and the inspection robot is in a very bad state;

[0055] (3) When the environmental information obtained is cold (temperature is between -10℃ and 5℃) or light rain (precipitation per hour is less than 5mm) or light snow (snowfall per hour is 2cm to 5cm) or humidity is between 85% and 90%, affecting the normal work of the inspection robot, the inspection robot is in a bad state.

[0056] This embodiment performs hierarchical sleep and wake-up of the inspection robot according to the severity of the weather. Specifically:

[0057] (1) When the weather is extremely bad, the wake-up time of the inspection robot is set to the first wake-up time interval (set to 24 hours in this embodiment);

[0058] (2) When the weather is extremely bad, the wake-up time of the inspection robot is set to the second wake-up time interval (set to 3 hours in this embodiment);

[0059] (3) When the weather is bad, the wake-up time of the inspection robot is set to the third wake-up time interval (set to 1 hour in this embodiment).

[0060] It should be noted that after the inspection robot enters the dormant state, the built-in environmental perception module will continue to run and analyze micro-meteorological data in real time. When the system detects that the bad weather has subsided and the environmental conditions have improved (such as reduced wind speed, less rainfall, and restored temperature), the inspection robot will be awakened.

[0061] As one or more implementation modes, when the GPS signal of the inspection robot is lost or cannot provide accurate location information, the inspection robot enters a lost state. At this time, the inspection robot repositions itself through inertial navigation or visual SLAM. If the inspection robot can restore its position, the power of the inspection robot is determined. Otherwise, the inspection robot enters a sleep state and waits for the signal to be restored.

[0062] In this embodiment, when the inspection robot is repositioned through inertial navigation, it calculates its possible position trajectory based on the inertial navigation system (IMU) through accelerometer and gyroscope data and the most recent position information; it can provide relative position estimation in a short period of time, but due to cumulative errors, it will produce large deviations over a long period of time.

[0063] In this embodiment, when the inspection robot is repositioned through visual SLAM, the inspection robot starts the visual SLAM (simultaneous localization and mapping) system based on the preliminary trajectory information provided by inertial navigation; visual SLAM combines camera data and surrounding environment features (such as obstacles, landmarks, etc.) to build and update the environmental map in real time to improve positioning accuracy; through matching of environmental feature points, visual SLAM can calibrate the cumulative error of inertial navigation to achieve more accurate real-time positioning.

[0064] This embodiment uses the joint correction of inertial navigation and visual SLAM. If the inspection robot recovers to an acceptable positioning accuracy (such as the error is lower than a specific threshold) in a relatively short period of time, it enters the battery judgment process; if the precise positioning still cannot be restored (the error exceeds the threshold), the inspection robot enters a sleep state and waits for the GPS or signal source to recover.

[0065] This embodiment combines the multi-mode fusion positioning method of inertial navigation and visual SLAM. Even when the GPS signal is lost, the inspection robot can effectively correct the positioning error and improve the continuous positioning capability. By matching and calibrating the feature points of the environment through visual SLAM, the robot can recognize and utilize the unique landmark features in the scene to achieve accurate self-positioning. The cumulative error generated by inertial navigation is corrected through visual SLAM, which effectively solves the problem of insufficient accuracy of a single positioning method in complex environments.

[0066] It should be noted that before determining the current power level of the inspection robot, the inspection robot predicts the time required for the inspection robot to perform the current inspection task based on the historical inspection tasks and the required power level. The specific prediction process belongs to the existing technology that technical personnel in this field should know and will not be elaborated herein in the present invention.

[0067] As one or more implementation modes, before the inspection robot completes the key inspection task according to the inspection task priority, the inspection robot determines the power required to complete the inspection tasks of each priority level according to the divided inspection task priority. If the current power of the inspection robot is higher than the power required to complete the key inspection task, the inspection robot returns to recharge after completing the key inspection task, and the replacement robot performs other remaining inspection tasks. Otherwise, the replacement robot directly performs the current inspection task and the inspection robot returns directly to recharge.

[0068] In this embodiment, the inspection task priority of the inspection robot is set to two levels according to whether the inspection robot is in an abnormal state or a normal state. The abnormal state includes that the inspection robot is in a bad weather inspection state and cannot provide current location information (i.e., a lost state); when the inspection robot is in an abnormal state, the inspection task priority level of the inspection robot is high, and it is a critical inspection task at this time, otherwise the inspection task priority is low.

[0069] It should be noted that before returning to charge, the inspection robot plans its return path based on its own power level and the distance to the nearest charging base station. The specific path planning process belongs to the existing technology that technical personnel in this field should know, and the present invention will not go into details here.

[0070] As one or more implementation modes, before the replacement robot performs other remaining inspection tasks or the replacement robot performs the current inspection task, the inspection robot and the replacement robot perform information coordination and linkage, the replacement robot receives the inspection tasks not performed by the inspection robot, and after determining the current position information and power level of the replacement robot, the replacement robot performs the received inspection tasks.

[0071] In this embodiment, the inspection robot collects task status data in real time during the inspection task, including inspected areas, unfinished task points and task priorities, detection results and detailed information of the current task; the collected task status data information is uploaded to the central management system via wireless communication, or directly exchanges data point-to-point with the replacement robot; during the data uploading process, the task status information is transmitted in a standardized format, so that the replacement robot can quickly parse the task details and avoid repeated inspections, thereby improving the efficiency of task connection.

[0072] In this embodiment, when it is determined that the inspection robot is low on power or malfunctions, the task transfer module will initiate the task allocation strategy; the central management system or the inspection robot will prioritize querying nearby replacement robots, and evaluate the possibility of the replacement robot completing the current task based on the replacement robot's location information, current power level, and driving path; if the replacement robot meets the takeover conditions, the task transfer is initiated, and the inspection robot will package the unfinished tasks and transmit them to the replacement robot in the form of a task list.

[0073] This embodiment not only evaluates the position and power of the replacement robot, but also uses task list transmission technology to keep the priority and order of tasks consistent, avoid missing key inspection points, and ensure the continuity of tasks; the inspection robot marks the key tasks in the unfinished task list as "high priority tasks" and synchronously updates the replacement robot during data transmission; after receiving the unfinished task list, the replacement robot gives priority to high priority tasks and automatically plans the optimal execution path; the priority synchronization mechanism ensures the continuity of inspection tasks, enables the replacement robot to complete key tasks more effectively, and improves inspection efficiency.

[0074] The inspection method in this embodiment can be widely used in harsh environment scenarios such as power inspection, pipeline monitoring, and railway inspection. For example, in power inspection, the inspection robot can detect environmental changes in storms or extremely cold weather, and choose to enter intelligent sleep mode to protect the safety of equipment; when the weather recovers, the inspection robot will continue the inspection work; it can also be used in inspections in complex terrain or weak signal environments. For example, in power inspections in mountainous areas or underground pipeline inspection tasks, GPS signals may be lost due to complex terrain; the inspection robot will try to self-position through other means (such as visual SLAM, inertial navigation). If the positioning still cannot be restored, the inspection robot will enter intelligent sleep mode to avoid energy consumption and continue the task after the signal is restored; it will autonomously choose to return or complete the current task according to the power status and task priority, to ensure the continuity of tasks in complex business scenarios, and automatically resume unfinished tasks after charging is completed; the combination of the intelligent sleep mechanism and the return charging strategy in this embodiment enables the inspection robot to effectively save energy in harsh environments or when the power is insufficient, and extend the working life of the equipment and the task execution time.

[0075] In large-scale inspection scenarios, this embodiment can be applied to multiple inspection robots working together. The inspection robots share status information through the task management system to achieve dynamic task allocation. When a patrol robot runs out of power or goes into sleep, other patrol robots can take over its tasks to ensure the continuity of the inspection work.

[0076] This embodiment fully considers the inspection status in severe weather and the abnormal status where the current position cannot be provided, and performs the inspection work of the inspection robot based on environmental perception, positioning management, task scheduling and power management. It solves the difficult problems of abnormal status processing and inspection task recovery of the inspection robot, and realizes the automatic intelligent inspection of the inspection robot in severe weather, positioning loss (i.e., lost status), inspection task recovery and low battery status, ensuring the continuity of the inspection robot's inspection tasks and the safety and reliability of the inspection robot.

[0077] Embodiment 2

[0078] Embodiment 2 of the present invention introduces a patrol robot inspection system under extreme conditions.

[0079] like Figure 2 The inspection robot inspection system under extreme conditions shown includes:

[0080] A weather judgment module is configured to obtain information about the environment in which the inspection robot is located and determine whether the inspection robot has entered a severe weather inspection state;

[0081] A position determination module, which is configured to, if the inspection robot enters a severe weather inspection state, cause the inspection robot to enter a dormant state, otherwise determine the current position information of the inspection robot;

[0082] A power determination module, which is configured to, if the inspection robot cannot provide current position information, cause the inspection robot to enter a dormant state, otherwise determine the current power of the inspection robot;

[0083] The inspection judgment module is configured so that if the current power of the inspection robot cannot complete the current inspection task, the inspection robot will automatically divide the inspection task priority. The inspection robot will complete the key inspection task according to the inspection task priority or the current inspection task will be performed by a replacement robot, and the inspection robot will return to charge.

[0084] The detailed steps are the same as the inspection method of the inspection robot under extreme conditions provided in Example 1, and will not be repeated here.

[0085] Embodiment 3

[0086] Embodiment 3 of the present invention provides a computer-readable storage medium.

[0087] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the inspection method of an inspection robot under extreme conditions as described in Embodiment 1 of the present invention.

[0088] The detailed steps are the same as the inspection method of the inspection robot under extreme conditions provided in Example 1, and will not be repeated here.

[0089] Embodiment 4

[0090] A fourth embodiment of the present invention provides an electronic device.

[0091] An electronic device comprises a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of the inspection method of the inspection robot under extreme conditions as described in the first embodiment of the present invention are implemented.

[0092] The detailed steps are the same as the inspection method of the inspection robot under extreme conditions provided in Example 1, and will not be repeated here.

[0093] Embodiment 5

[0094] Embodiment 5 of the present invention provides a computer program product.

[0095] A computer program product includes software codes, wherein the program in the software codes executes the steps in the inspection method of an inspection robot under extreme conditions as described in the first embodiment of the present invention.

[0096] The detailed steps are the same as the inspection method of the inspection robot under extreme conditions provided in Example 1, and will not be repeated here.

[0097] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A patrol robot inspection method under extreme conditions, characterized in that: include: Obtain the environment information of the inspection robot and determine whether the inspection robot has entered the severe weather inspection state; If the inspection robot enters the severe weather inspection state, the inspection robot enters the dormant state, otherwise the current position information of the inspection robot is determined; If the inspection robot cannot provide the current location information, the inspection robot enters a dormant state, otherwise the current power level of the inspection robot is determined; If the current power of the inspection robot is insufficient to complete the current inspection task, the inspection robot will automatically prioritize the inspection tasks. The inspection robot will complete key inspection tasks based on the inspection task priorities or a replacement robot will perform the current inspection task. The inspection robot will then return to recharge.

2. A patrol robot inspection method under extreme conditions as described in claim 1, characterized in that: If the inspection robot enters the severe weather inspection state, the inspection robot will perform graded sleep and wake-up according to the judged severity of the weather; when the weather is extremely severe, the wake-up time of the inspection robot will be set to the first wake-up time interval; when the weather is very severe, the wake-up time of the inspection robot will be set to the second wake-up time interval; when the weather is severe, the wake-up time of the inspection robot will be set to the third wake-up time interval.

3. A patrol robot inspection method under extreme conditions as described in claim 2, characterized in that: The first wake-up time interval is higher than the second wake-up time interval, and the second wake-up time interval is higher than the third wake-up time interval.

4. The inspection method of an inspection robot under extreme conditions as claimed in claim 1, characterized in that: The inability of the inspection robot to provide current position information at least includes that the inspection robot is in a lost state and the inspection robot cannot recover its positioning state.

5. The inspection method of an inspection robot under extreme conditions as described in claim 1, characterized in that: Before the inspection robot completes the key inspection task according to the inspection task priority, the inspection robot determines the power required to complete the inspection tasks of each priority level according to the inspection task priority. If the current power of the inspection robot is higher than the power required to complete the key inspection task, the inspection robot returns to recharge after completing the key inspection task, and the replacement robot performs other remaining inspection tasks. Otherwise, the replacement robot directly performs the current inspection task and the inspection robot returns directly to recharge.

6. The inspection method of an inspection robot under extreme conditions as claimed in claim 1, characterized in that: Before the replacement robot performs other remaining inspection tasks or the replacement robot performs the current inspection task, the inspection robot and the replacement robot conduct information coordination and linkage. The replacement robot receives the inspection tasks that the inspection robot has not performed, and after determining the replacement robot's current position information and power level, the replacement robot performs the received inspection tasks.

7. A patrol robot inspection system under extreme conditions, characterized in that: include: A weather judgment module is configured to obtain information about the environment in which the inspection robot is located and determine whether the inspection robot has entered a severe weather inspection state; A position determination module, which is configured to, if the inspection robot enters a severe weather inspection state, cause the inspection robot to enter a dormant state, otherwise determine the current position information of the inspection robot; A power determination module, which is configured to, if the inspection robot cannot provide current position information, cause the inspection robot to enter a dormant state, otherwise determine the current power of the inspection robot; The inspection judgment module is configured so that if the current power of the inspection robot cannot complete the current inspection task, the inspection robot will automatically divide the inspection task priority. The inspection robot will complete the key inspection task according to the inspection task priority or the current inspection task will be performed by a replacement robot, and the inspection robot will return to charge.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the inspection robot inspection method under extreme conditions as described in any one of claims 1-6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the inspection robot inspection method under extreme conditions as described in any one of claims 1-6 are implemented.

10. A computer program product comprising software code, characterized in that The program in the software code executes the steps of the inspection robot inspection method under extreme conditions as described in any one of claims 1-6.

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