Inspection robot charging control method and system and storage medium

Abstract

The invention provides an inspection robot charging control method and system and a storage medium, and belongs to the technical field of charging control, and the method specifically comprises the steps: carrying out the determination of similar inspection times according to the inspection data of an inspection robot in different inspection times in a historical inspection process, power consumption deviation inspection positions are determined according to the analysis result of the power consumption of the similar inspection times, abnormal power consumption positions in the power consumption deviation inspection positions are determined based on the power consumption deviation times of the power consumption deviation inspection positions and the power consumption of different power consumption deviation times, and distribution data of the abnormal power consumption positions are obtained. When it is determined that the replaceable battery needs to be configured in combination with the inspection processing reliability of the inspection robot and when the electric energy of the inspection robot is insufficient, the replaceable battery is used for replacement processing, and the inspection processing reliability is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of charging control, and in particular relates to a charging control method, system and storage medium for an inspection robot. Background Art

[0002] In order to realize the charging control of the inspection robot, the invention patent application CN202110850610.0 "A control system for an inspection robot for a fully mechanized mining working face" is used to dock the inspection robot with the charging device according to the position of the inspection robot and the recognition of the RFID tag when the remaining power of the inspection robot is lower than the set threshold, thereby improving the inspection efficiency. However, there are the following technical problems: When controlling the charging of the inspection robot, the existing technical solutions ignore the generation of differentiated charging control strategies based on the needs of the inspection robot. If charging is performed when the power is insufficient during the inspection process, it will inevitably lead to the inspection processing efficiency of the inspection robot being unable to meet the requirements.

[0003] In response to the above technical problems, the present application specifically provides a charging control method, system and storage medium for an inspection robot. Summary of the invention

[0004] To achieve the purpose of the present invention, the present invention adopts the following technical solutions: According to one aspect of the present invention, a charging control method for an inspection robot is provided.

[0005] A charging control method for an inspection robot, specifically comprising: S1 determines the number of insufficient power inspections during the historical inspection process based on the charging data of the inspection robot during the historical inspection process, and uses the analysis results of the non-inspection data with different insufficient power inspection times to determine that the battery capacity of the inspection robot meets the requirements, and then proceeds to the next step; S2 takes the inspection times excluding the inspection times of insufficient power as the times of sufficient power, and when it is determined that the inspection processing reliability of the inspection robot does not meet the requirements based on the remaining power of different times of sufficient power, determines the similar inspection times based on the inspection data of the inspection robot at different inspection times in the historical inspection process; S3: determining a power consumption deviation inspection position by using the analysis result of power consumption with similar inspection times, and determining an abnormal power consumption position in the power consumption deviation inspection position based on the power consumption deviation times of the power consumption deviation inspection position and the power consumption with different power consumption deviation times; S4 obtains the distribution data of the abnormal power consumption position, and determines the need to configure a replaceable battery in combination with the inspection processing reliability of the inspection robot. When the inspection robot is short of power, the replaceable battery is used for replacement processing.

[0006] The beneficial effects of the present invention are: By utilizing the analysis results of the non-inspection data with different numbers of low-battery inspections, it is determined whether the battery capacity of the inspection robot meets the requirements, thereby realizing the determination of whether the battery capacity meets the requirements from the perspective of the number of low-battery inspections, avoiding the emergence of technical problems such as insufficient inspection processing reliability due to the inspection robot's battery power not meeting the requirements, and also laying the foundation for further determining differentiated energy replenishment measures.

[0007] Whether it is necessary to configure replaceable batteries is determined based on the distribution data of abnormal power consumption locations and the inspection processing reliability of the inspection robot. This takes into account the differences in abnormal power consumption caused by the differences in the number of abnormal power consumption locations, and combines it with the inspection processing reliability of the inspection robot. It determines from multiple angles whether it is necessary to configure replaceable batteries, which not only reduces battery costs, but also improves the inspection processing reliability of the inspection robot.

[0008] A further technical solution is that the number of insufficient power inspections is the number of inspections when the battery power of the inspection robot does not meet the requirements.

[0009] A further technical solution is that the uninspected data includes the uninspected mileage of the insufficient power inspection times and the number of uninspected devices.

[0010] A further technical solution is to determine whether the battery capacity of the inspection robot meets the requirements, specifically including: According to the analysis results of power shortage at different times of insufficient current inspection, the number of uninspected devices at different times of insufficient power inspection is determined; Performing a number of inspections that are insufficient in the number of inspections based on the number of uninspected devices; The shortage inspection times are used to determine whether the battery capacity of the inspection robot meets the requirements.

[0011] A further technical solution is that the number of shortage inspections is the number of insufficient power inspections when the number of uninspected devices is greater than a preset number of devices.

[0012] A further technical solution is that when the number of shortage inspections is greater than a preset number threshold, it is determined that the battery capacity of the inspection robot does not meet the requirements.

[0013] A further technical solution is to determine whether a replaceable battery is required, which specifically includes: Based on the distribution data of the abnormal power consumption locations, the number of abnormal power consumption locations is determined, and the inspection abnormality coefficients of different abnormal power consumption locations are determined by using the proportion of the inspection times of different abnormal power consumption locations in the inspection times with abnormal inspection times; Determine the abnormal correction factor of the inspection robot based on the weights of the inspection abnormality coefficients of different abnormal power consumption locations, and determine the correction reliability coefficient by the product of the abnormal correction factor and the inspection processing reliability; Whether it is necessary to configure a replaceable battery is determined by the modified reliability coefficient.

[0014] A further technical solution is that when the modified reliability coefficient is less than a preset reliability coefficient threshold, it is determined that a replaceable battery needs to be configured.

[0015] In a second aspect, the present invention provides a computer system comprising: a memory and a processor connected in communication, and a computer program stored in the memory and capable of running on the processor, characterized in that: when the processor runs the computer program, the above-mentioned inspection robot charging control method is executed.

[0016] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the above-mentioned inspection robot charging control method.

[0017] Other features and advantages will be described in the following description, and partly become apparent from the description, or understood by practicing the invention. The purpose and other advantages of the invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0020] Figure 1 It is a flow chart of a charging control method for an inspection robot; Figure 2 It is a flow chart for determining whether the battery capacity of the inspection robot meets the requirements; Figure 3 It is a flow chart for determining that the inspection processing reliability of the inspection robot does not meet the requirements; Figure 4 It is a flow chart of a method for determining similar inspection times. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0022] For ease of understanding, the scheme will be described below through Example 1 and Example 2. Example 1

[0023] To solve the above problems, according to one aspect of the present invention, Figure 1 According to one aspect of the present invention, a charging control method for an inspection robot is provided, which specifically includes: S1 determines the number of insufficient power inspections during the historical inspection process based on the charging data of the inspection robot during the historical inspection process, and uses the analysis results of the non-inspection data with different insufficient power inspection times to determine that the battery capacity of the inspection robot meets the requirements, and then proceeds to the next step; Furthermore, the number of insufficient power inspections is the number of inspections during which the battery power of the inspection robot does not meet the requirements.

[0024] Specifically, the uninspected data includes the uninspected mileage for the number of low-battery inspections and the number of uninspected devices.

[0025] Specifically, Figure 2 As shown, determining whether the battery capacity of the inspection robot meets the requirements specifically includes: According to the analysis results of power shortage at different times of insufficient current inspection, the number of uninspected devices at different times of insufficient power inspection is determined; Performing a number of inspections that are insufficient in the number of inspections based on the number of uninspected devices; The shortage inspection times are used to determine whether the battery capacity of the inspection robot meets the requirements.

[0026] It can be understood that the number of shortage inspections is the number of insufficient power inspections when the number of uninspected devices is greater than the preset number of devices.

[0027] Furthermore, when the number of shortage inspections is greater than a preset number threshold, it is determined that the battery capacity of the inspection robot does not meet the requirements.

[0028] In another embodiment, determining whether the battery capacity of the inspection robot meets the requirement specifically includes: S11 obtains the inspection times and the low-power inspection times of the inspection robot, and determines the number of uninspected devices with different low-power inspection times based on the analysis results of the power shortage with different low-power inspection times; S12 performs a power shortage coefficient for different power shortage inspection times based on the number of uninspected devices and the uninspected mileage; S13 determines a comprehensive shortage coefficient using the power shortage coefficients of different power shortage inspection times, and determines whether the battery capacity of the inspection robot meets the requirements based on the comprehensive shortage coefficient.

[0029] Furthermore, when the comprehensive shortage coefficient is not within a preset coefficient range, it is determined that the battery capacity of the inspection robot does not meet the requirements.

[0030] Optionally, the above step S11 includes the following contents: S111 obtains the number of low-battery inspections of the inspection robot. When the number of low-battery inspections is within a preset number interval, the process proceeds to step S112. When the number of low-battery inspections is not within the preset number interval, the process proceeds to step S113. S112 determines the number of uninspected devices at different low-power inspection times based on the analysis results of the power shortage at different low-power inspection times. When the number of uninspected devices at different low-power inspection times is less than the preset device setting value, it is determined that the battery capacity of the inspection robot meets the requirement. When there is a low-power inspection time at which the number of uninspected devices is not less than the preset device setting value, the process proceeds to step S113. S113: When the number of inspections due to insufficient power does not meet the requirement, it is determined that the battery capacity of the inspection robot does not meet the requirement; when the number of inspections due to insufficient power meets the requirement, the process proceeds to step S114; S114 takes the number of low-power inspections when the number of uninspected devices is not less than the preset device setting value as the number of shortage inspections. When the number of shortage inspections does not meet the requirement, it is determined that the battery capacity of the inspection robot does not meet the requirement. When the number of shortage inspections meets the requirement, it proceeds to step S12.

[0031] Optionally, the above step S12 includes the following contents: S121 performs power shortage coefficients of different power shortage inspection times based on the number of uninspected devices and the uninspected mileage. When the power shortage coefficients of different power shortage inspection times are all within the preset shortage coefficient interval, the process proceeds to step S122. When there is a power shortage inspection time whose power shortage coefficient is not within the preset shortage coefficient interval, the process proceeds to step S123. S122 determines the basic abnormality coefficient of the inspection robot based on the number of low-battery inspections of the inspection robot and the proportion of the number of low-battery inspections in the number of inspections. When the basic abnormality coefficient meets the requirement, it is determined that the battery capacity of the inspection robot meets the requirement. When the basic abnormality coefficient does not meet the requirement, the process proceeds to step S13. S123 When the power shortage coefficient is not within the preset shortage coefficient interval and the number of low power inspections is greater than the preset inspection number threshold, it is determined that the battery capacity of the inspection robot does not meet the requirements; when the power shortage coefficient is not within the preset shortage coefficient interval and the number of low power inspections is not greater than the preset inspection number threshold, proceed to step S13.

[0032] S2 takes the inspection times excluding the inspection times of insufficient power as the times of sufficient power, and when it is determined that the inspection processing reliability of the inspection robot does not meet the requirements based on the remaining power of different times of sufficient power, determines the similar inspection times based on the inspection data of the inspection robot at different inspection times in the historical inspection process; It should be noted that if Figure 3 As shown, determining that the inspection processing reliability of the inspection robot does not meet the requirements specifically includes: Based on the remaining power at different times of sufficient power, an average value of the remaining power at different times of sufficient power is determined; Whether the inspection processing reliability of the inspection robot meets the requirements is determined according to the average value of the remaining power at different times of sufficient power.

[0033] Furthermore, when the average value of the remaining power at different times of sufficient power is less than the preset power, it is determined that the inspection processing reliability of the inspection robot does not meet the requirements.

[0034] Optionally, determining that the inspection processing reliability of the inspection robot does not meet the requirement specifically includes: Based on the remaining power at different times of sufficient power, an average value of the remaining power at different times of sufficient power is determined, and when the average value of the remaining power at different times of sufficient power is less than a preset power, it is determined that the inspection processing reliability of the inspection robot does not meet the requirements; When the average remaining power of different fully charged times is not less than the preset power: When it is determined according to the remaining power of different sufficient power times that there is no sufficient power times in which the remaining power is less than the preset power, it is determined that the inspection processing reliability of the inspection robot meets the requirements; When the remaining power is less than the preset power level, the following conditions are met: The number of sufficient power times when the remaining power is less than the preset power is taken as the number of insufficient remaining power times, and when the number of insufficient remaining power times does not meet the requirement, it is determined that the inspection processing reliability of the inspection robot does not meet the requirement; When the number of times the remaining power is insufficient meets the requirement: Obtain the ratio of the number of times when the remaining power is insufficient to the number of times when the remaining power is sufficient. When the ratio is not greater than the preset ratio: Based on the remaining power at different times of insufficient remaining power, when the remaining power at different times of insufficient remaining power are all greater than a preset remaining power threshold, it is determined that the inspection processing reliability of the inspection robot meets the requirement; When the quantity ratio is greater than the preset quantity ratio or there is a number of insufficient remaining power times when the remaining power is not greater than the preset remaining power threshold: According to the number of insufficient remaining power and the proportion of the number of insufficient remaining power times, a remaining power abnormality coefficient is determined; when the remaining power abnormality coefficient is within a preset abnormality coefficient range, and when the average value of the remaining power of different insufficient remaining power times is less than the remaining power setting value, it is determined that the inspection processing reliability of the inspection robot does not meet the requirements; When the remaining power abnormality coefficient is not within the preset abnormality coefficient range or the average value of the remaining power at different times of insufficient remaining power is not less than the remaining power setting value: The inspection processing reliability coefficient is determined by the remaining power abnormality coefficient and the remaining power at different times of insufficient remaining power, and the inspection processing reliability coefficient is used to determine whether the inspection processing reliability of the inspection robot meets the requirements.

[0035] Specifically, Figure 4 As shown, the method for determining the similar inspection times is: Based on the inspection data of the inspection robot at different inspection times during the historical inspection process, the inspection processing time at different locations at different inspection times is determined; Using the inspection processing time at different locations, the deviation of the inspection processing time at different locations is determined; The inspection time deviation positions between different inspection times are determined based on the deviations of the inspection processing time at different positions between different inspection times, and the inspection times with only one inspection time deviation position are regarded as similar inspection times.

[0036] S3: determining a power consumption deviation inspection position by using the analysis result of power consumption with similar inspection times, and determining an abnormal power consumption position in the power consumption deviation inspection position based on the power consumption deviation times of the power consumption deviation inspection position and the power consumption with different power consumption deviation times; Furthermore, the power consumption deviation inspection position is determined based on the inspection duration deviation position between different similar inspection times and the inspection power deviation amount between different similar inspection times. Specifically, the inspection duration deviation position corresponding to the inspection power deviation amount being greater than the preset power deviation amount is used as the power consumption deviation inspection position.

[0037] It should also be noted that the power consumption deviation number is determined according to the similar inspection number corresponding to the power consumption deviation inspection position.

[0038] It can be understood that the power consumption of the power consumption deviation times is determined according to the inspection power deviation amount at similar inspection times corresponding to the power consumption deviation inspection position.

[0039] Specifically, the method for determining the abnormal power consumption position in the power consumption deviation inspection position is: Based on the number of power consumption deviations at the power consumption deviation inspection position, and using the proportion of the number of power consumption deviations to the number of inspections by the inspection robot, a basic power consumption deviation coefficient is determined; According to the power consumption of different power consumption deviation times, the power consumption deviation times of the power consumption greater than the preset power consumption are counted and used as the screening deviation times, and the power consumption abnormality coefficient is determined according to the proportion of the screening deviation times in the power consumption deviation times; The power consumption deviation coefficient is determined by the sum of the power consumption abnormality coefficient and the basic power consumption deviation coefficient, and the power consumption deviation coefficient is used to determine whether the power consumption deviation inspection position is an abnormal power consumption position.

[0040] Further, when the power consumption deviation coefficient of the power consumption deviation inspection position is not within a preset deviation coefficient range, the power consumption deviation inspection position is determined to be an abnormal power consumption position.

[0041] It can also be understood that the method for determining the abnormal power consumption position in the power consumption deviation inspection position is: S31 determines a basic power consumption deviation coefficient based on the power consumption deviation number of the power consumption deviation inspection position and the proportion of the power consumption deviation number to the inspection number of the inspection robot; S32 determines the power consumption abnormality coefficient of the power consumption deviation inspection position using a preset function model according to the power consumption of different power consumption deviation times; S33 determines a power consumption deviation coefficient by summing the power consumption abnormality coefficient and the basic power consumption deviation coefficient, and determines whether the power consumption deviation inspection position is an abnormal power consumption position by using the power consumption deviation coefficient.

[0042] Optionally, the above step S31 includes the following contents: S311: obtaining the power consumption deviation times of the power consumption deviation inspection position; when the power consumption deviation times of the power consumption deviation inspection position is greater than a preset deviation times threshold, determining that the power consumption deviation inspection position is an abnormal power consumption position; when the power consumption deviation times of the power consumption deviation inspection position is not greater than the preset deviation times threshold, proceeding to step S312; S312 determines a basic power consumption deviation coefficient by using the proportion of the power consumption deviation times to the inspection times of the inspection robot. When the basic power consumption deviation coefficient is greater than a preset deviation coefficient threshold, the process proceeds to step S313. When the basic power consumption deviation coefficient is not greater than the preset deviation coefficient threshold, the process proceeds to step S32. S313: When the power consumption deviation number of the power consumption deviation inspection position is within the preset deviation number interval, the power consumption deviation inspection position is determined to be an abnormal power consumption position; when the power consumption deviation number of the power consumption deviation inspection position is not within the preset deviation number interval, proceed to step S32.

[0043] Optionally, the above step S32 includes the following contents: S321 obtains power consumption of different power consumption deviation times. When the sum of power consumption of different power consumption deviation times does not meet the requirement, it is determined that the power consumption deviation inspection position belongs to an abnormal power consumption position. When the sum of power consumption of different power consumption deviation times meets the requirement, it proceeds to step S322; S322: when the power consumption of different power consumption deviation times is less than the preset power consumption, it is determined that the power consumption deviation inspection position does not belong to the abnormal power consumption position; when there is a power consumption deviation number with the power consumption not less than the preset power consumption, the process proceeds to step S323; S323: The number of power consumption deviations when the power consumption is greater than the preset power consumption is used as the screening deviation number. When the screening deviation number does not meet the requirement, it is determined that the power consumption deviation inspection position belongs to an abnormal power consumption position. When the screening deviation number meets the requirement, it goes to step S324. S324 determines the power consumption abnormality coefficient of the power consumption deviation inspection position according to the power consumption of different power consumption deviation times by using a preset function model. When the power consumption abnormality coefficient of the power consumption deviation inspection position is greater than the preset power consumption abnormality threshold, it is determined that the power consumption deviation inspection position is an abnormal power consumption position. When the power consumption abnormality coefficient of the power consumption deviation inspection position is not greater than the preset power consumption abnormality threshold, the process proceeds to step S33.

[0044] S4 obtains the distribution data of the abnormal power consumption position, and determines the need to configure a replaceable battery in combination with the inspection processing reliability of the inspection robot. When the inspection robot is short of power, the replaceable battery is used for replacement processing.

[0045] Further, determine whether a replaceable battery is required, including: Based on the distribution data of the abnormal power consumption locations, the number of abnormal power consumption locations is determined, and the inspection abnormality coefficients of different abnormal power consumption locations are determined by using the proportion of the inspection times of different abnormal power consumption locations in the inspection times with abnormal inspection times; Determine the abnormal correction factor of the inspection robot based on the weights of the inspection abnormality coefficients of different abnormal power consumption locations, and determine the correction reliability coefficient by the product of the abnormal correction factor and the inspection processing reliability; Whether it is necessary to configure a replaceable battery is determined by the modified reliability coefficient.

[0046] Specifically, when the corrected reliability coefficient is less than a preset reliability coefficient threshold, it is determined that a replaceable battery needs to be configured. Example 2

[0047] In a second aspect, the present invention provides a computer system comprising: a memory and a processor connected in communication, and a computer program stored in the memory and capable of running on the processor, characterized in that: when the processor runs the computer program, the above-mentioned inspection robot charging control method is executed.

[0048] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the above-mentioned inspection robot charging control method.

[0049] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0050] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0051] The above description is only one or more embodiments of this specification and is not intended to limit this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of this specification.

Claims

1. A charging control method for an inspection robot, characterized in that: Specifically include: The number of low-power inspections during the historical inspections is determined based on the charging data of the inspection robot during the historical inspections, and the analysis results of the non-inspection data with different low-power inspection times are used to determine that the battery capacity of the inspection robot meets the requirements, and then proceed to the next step; The inspection times excluding the inspection times of insufficient power are regarded as the times of sufficient power. When it is determined that the inspection processing reliability of the inspection robot does not meet the requirements based on the remaining power of different times of sufficient power, the inspection data of the inspection robot at different times of inspection in the historical inspection process are used to determine the similar inspection times; Determine a power consumption deviation inspection position by using the analysis result of power consumption with similar inspection times, and determine an abnormal power consumption position in the power consumption deviation inspection position based on the power consumption deviation times of the power consumption deviation inspection position and the power consumption with different power consumption deviation times; The distribution data of the abnormal power consumption position is obtained, and when it is determined that a replaceable battery needs to be configured in combination with the inspection processing reliability of the inspection robot, the replaceable battery is used for replacement processing when the inspection robot is short of power.

2. A photovoltaic power control method for a transformer as claimed in claim 1, characterized in that: The number of insufficient power inspections is the number of inspections when the battery power of the inspection robot does not meet the requirements.

3. A photovoltaic power control method for a transformer as claimed in claim 1, characterized in that: The uninspected data includes the uninspected mileage for the number of low-battery inspections and the number of uninspected devices.

4. A photovoltaic power control method for a transformer as claimed in claim 1, characterized in that: Determining whether the battery capacity of the inspection robot meets the requirements specifically includes: According to the analysis results of power shortage at different times of insufficient current inspection, the number of uninspected devices at different times of insufficient power inspection is determined; Performing a number of inspections that are insufficient in the number of inspections based on the number of uninspected devices; The shortage inspection times are used to determine whether the battery capacity of the inspection robot meets the requirements.

5. A photovoltaic power control method for a transformer as claimed in claim 4, characterized in that: The shortage inspection number is the number of insufficient power inspections when the number of uninspected devices is greater than the preset number of devices.

6. A photovoltaic power control method for a transformer as claimed in claim 4, characterized in that: When the number of shortage inspections is greater than a preset number threshold, it is determined that the battery capacity of the inspection robot does not meet the requirements.

7. A photovoltaic power control method for a transformer as claimed in claim 1, characterized in that: Determine whether a replaceable battery is required, including: Based on the distribution data of the abnormal power consumption locations, the number of abnormal power consumption locations is determined, and the inspection abnormality coefficients of different abnormal power consumption locations are determined by using the proportion of the inspection times of different abnormal power consumption locations in the inspection times with abnormal inspection times; Determine the abnormal correction factor of the inspection robot based on the weights of the inspection abnormality coefficients of different abnormal power consumption locations, and determine the correction reliability coefficient by the product of the abnormal correction factor and the inspection processing reliability; Whether it is necessary to configure a replaceable battery is determined by the modified reliability coefficient.

8. A photovoltaic power control method for a transformer as claimed in claim 7, characterized in that: When the modified reliability coefficient is less than the preset reliability coefficient threshold, it is determined that a replaceable battery needs to be configured.

9. A computer system comprising: A memory and a processor that are communicatively connected, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes a patrol robot charging control method as described in any one of claims 1-8 when running the computer program.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the inspection robot charging control method according to any one of claims 1 to 8.

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