Robot automatic inspection management method and system and electronic equipment

Abstract

The invention provides a robot automatic inspection management method and system and electronic equipment, and relates to the technical field of automation control, and the method comprises the steps: obtaining a to-be-inspected area, dividing the to-be-inspected area into a plurality of inspection subareas, then distributing the inspection subareas for a plurality of robots, and determining the inspection routes of the robots. And controlling the robot to execute an inspection task according to the inspection route, and recording inspection state information including the current inspection partition and the completion degree of the robot in real time. When an emergency inspection task is received, acquiring emergency inspection task information, determining a target robot based on the emergency inspection task information and the inspection route and the inspection state information of each robot, merging the emergency inspection task into the inspection route of the target robot, and setting priority processing to obtain a target inspection route; and controlling the target robot to execute the inspection task. The inspection efficiency of the robot and the flexibility in the inspection process can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a robot automatic inspection management method, system and electronic equipment. Background Art

[0002] With the advent of the big data era, the demand for intelligent inspections in equipment operation management is constantly increasing, and traditional inspection methods are gradually exposing their limitations. Traditional inspection methods are usually based on fixed task plans and preset routes, and are performed step by step by humans or single equipment. However, with the replacement of industrial equipment, the number and complexity of inspection items are rapidly increasing. Some inspection items in the same inspection route may need to be inspected repeatedly at irregular intervals, and the inspection frequency has increased significantly. In this case, traditional preset plans are difficult to adjust in a timely manner, resulting in insufficient inspection flexibility, and possible problems of missed inspections, wrong inspections, or excessive inspections.

[0003] Most existing technologies rely on fixed inspection modes and route planning, and lack the ability to dynamically adjust inspection tasks. When emergency inspections are required for specific inspection items or areas, manual intervention or creation of temporary tasks is usually required, which is complex and inefficient. Summary of the invention

[0004] The problem solved by the present invention is how to solve the problem of low robot inspection efficiency and lack of flexibility in the inspection process.

[0005] In order to solve the above problems, the present invention provides a robot automatic inspection management method, system and electronic equipment.

[0006] In a first aspect, the present invention provides a robot automatic inspection management method, comprising:

[0007] Acquire an area to be inspected, divide the area to be inspected into a plurality of inspection zones, and assign the inspection zones to a plurality of robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one of the inspection zones;

[0008] Controlling each of the robots to perform inspection tasks based on the inspection route, and recording the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree of the current inspection partition;

[0009] In response to an emergency inspection task instruction, emergency inspection task information is obtained, and the target robot is determined based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, the emergency inspection task is incorporated into the inspection route of the target robot and priority processing is set to obtain the target inspection route, and the target robot is controlled to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0010] Optionally, determining the inspection route of each robot based on the inspection partition includes:

[0011] Receiving an initial inspection instruction, and determining a starting inspection zone of an inspection route based on the initial inspection instruction;

[0012] The position information of each inspection zone is obtained, and based on the position information of the starting inspection zone and the assigned inspection zones, the inspection route of each robot is determined using the shortest distance principle.

[0013] Optionally, the position information includes position coordinates of key points in the inspection zone, and the method of determining the inspection route of each robot by using the shortest distance principle includes:

[0014] Determine a starting key point in the starting inspection zone as the starting position of the robot inspection route;

[0015] Based on the starting key point and all the key points in the inspection zones correspondingly assigned to the robot, a path planning algorithm is used to obtain an inspection route of the robot, wherein the inspection route is a route that covers all the key points in the inspection zones assigned to the robot and has the shortest total path length;

[0016] The path planning algorithm includes one of a genetic algorithm, a simulated annealing algorithm and a greedy algorithm.

[0017] Optionally, the emergency inspection task information includes an emergency inspection partition and a target completion time, and the target robot is determined based on the emergency inspection task information, the inspection route and inspection status information of each robot, and the emergency inspection task is incorporated into the inspection route of the target robot to obtain the target inspection route, including:

[0018] Determine whether the emergency inspection task exists in the existing inspection route;

[0019] If so, the robot corresponding to the emergency inspection task is determined as the initial target robot, the inspection partition corresponding to the emergency inspection task is adjusted to the next inspection partition of the current inspection partition of the initial target robot, and the other inspection partitions on the inspection route corresponding to the initial target robot are postponed in sequence to obtain an adjusted inspection route, and based on the inspection status information, it is determined whether the initial target robot can complete the emergency inspection task within the target completion time. If so, the initial target robot is determined as the target robot, and the adjusted inspection route corresponding to the target robot is determined as the target inspection route;

[0020] If not, calculate the first estimated completion time for each robot from the current inspection zone to the completion of the emergency inspection task, sort the first estimated completion time of each robot, set the robot with the earliest first estimated completion time as the target robot, and insert the emergency inspection task into the inspection route of the target robot to obtain the target inspection route, wherein the inspection zone in the emergency inspection task is configured as the next inspection zone of the current inspection zone of the target robot, and the other inspection zones in the target inspection route are postponed in sequence.

[0021] Optionally, judging whether the initial target robot can complete the emergency inspection task within the target completion time based on the inspection state information includes:

[0022] Based on the historical inspection database, the current inspection partition of the initial target robot and the inspection completion degree, the estimated completion time of the initial target robot from the current inspection partition to the completion of the emergency inspection task is estimated, and it is determined whether the estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection task of each inspection partition, and the calculation formula of the estimated completion time is:

[0023] T 预 =T a +T x .(1-a)+T y +T 紧急 ;

[0024] Among them, T 预 represents the estimated completion time, T a Indicates the current time, T x It indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急Indicates the time required for the robot to complete the urgent task.

[0025] Optionally, the calculating of a first estimated completion time for each robot from a current inspection zone to completion of the emergency inspection task includes:

[0026] The first estimated completion time of each robot from the current inspection zone to the completion of the emergency inspection task is calculated based on the data stored in the historical inspection database, and it is determined whether the first estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection tasks of each inspection zone, and the calculation formula of the first estimated completion time is:

[0027] T 预 =T a +T x .(1-a)+T y +T 紧急 ;

[0028] Among them, T 预 represents the first estimated completion time, T a Indicates the current time, T x It indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急 Indicates the time required for the robot to complete the urgent task.

[0029] Optionally, it also includes:

[0030] The data generated by each robot during the inspection task is carried out according to a preset cycle.

[0031] In a second aspect, the present invention further provides a robot automatic inspection management system, comprising:

[0032] An inspection route planning module is used to obtain an area to be inspected, divide the area to be inspected into multiple inspection zones, and assign inspection zones to multiple robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one inspection zone;

[0033] An execution module, used to control each of the robots to perform inspection tasks based on the inspection route, and record the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree;

[0034] An emergency inspection response module is used to respond to emergency inspection task instructions, obtain emergency inspection task information, and determine the target robot based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, incorporate the emergency inspection task into the inspection route of the target robot and set priority processing to obtain the target inspection route, and control the target robot to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0035] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor;

[0036] The memory is used to store computer programs;

[0037] The processor is used to implement any one of the robot automatic inspection management methods when executing the computer program.

[0038] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, any one of the robot automatic inspection management methods described above is implemented.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows: first, after obtaining the inspection area, the inspection area is divided into multiple inspection partitions, and the inspection partitions are assigned to multiple robots, so as to ensure that the inspection tasks of each robot fully cover the inspection area, while avoiding resource waste and improving inspection efficiency; then, the inspection route is determined for each robot based on its assigned inspection partition, so that the operation scope of each robot is clear, which helps to accurately control the inspection process, and control the robot to perform the inspection task and record the status, which can effectively improve the traceability of task execution and the ability to respond quickly to problems; based on the emergency task information and the current state of the robot, the target robot is selected to perform the emergency task, which can achieve a rapid response to the emergency inspection task, and by intelligently selecting the robot with the closest position or the shortest time or the lightest current task to handle the emergency, the interference with the existing inspection task can be minimized, while ensuring that the emergency inspection task is quickly resolved. The present invention can improve the inspection efficiency of the robot and its flexibility in the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a flow chart of a robot automatic inspection management method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the process of S13 in a robot automatic inspection management method provided by an embodiment of the present invention;

[0042] Figure 3A schematic diagram of the structure of a robot automatic inspection management system provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0045] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0049] Equipment inspection is a preventive maintenance method for equipment. It refers to the process of regularly inspecting, testing and maintaining machinery and systems to ensure that they are in good working condition. The purpose of this inspection is to identify and solve potential mechanical failures and performance problems as early as possible to avoid production interruptions and expensive emergency repairs caused by equipment failures.

[0050] Robotic inspection is a process that uses automated robotics to perform monitoring and inspection tasks, typically in industrial, infrastructure or service environments. Robots can replace humans in routine inspection activities, especially in dangerous, hard-to-reach environments or those that require high-frequency monitoring.

[0051] Traditional inspection methods are usually performed manually and rely heavily on experience and subjective judgment. Even when machine inspections are used, they are executed according to a single plan. As the number and complexity of inspection items increase, traditional inspection methods have problems such as low efficiency and poor flexibility, making it difficult to meet the inspection needs in the production process.

[0052] In order to solve the above problems, the present invention provides the following solutions.

[0053] Reference Figure 1 The present invention provides a robot automatic inspection management method, comprising:

[0054] S11. Acquire an area to be inspected, divide the area to be inspected into multiple inspection zones, and assign inspection zones to multiple robots, and determine inspection routes of each robot based on the inspection zones, wherein the inspection route of each robot includes at least one inspection zone.

[0055] Specifically, the information of the area to be inspected can be collected through an enterprise resource management system, an Internet of Things sensor or geographic location information, and the area to be inspected can be divided into multiple inspection zones according to actual needs, and the basis for division can be based on geographical location. Each inspection zone contains a group of geographically close equipment, and then an inspection zone is configured for each robot, and the inspection route of each robot is determined according to the inspection zone to ensure that the inspection route of each robot can completely cover its corresponding (i.e., assigned) inspection zone. The inspection route of each robot is planned according to the path planning algorithm. Path planning can be based on one of the shortest path, minimum energy consumption or shortest time. The type of robot is not specifically limited here, and can be flexibly set according to the environment and needs of the inspection area, including but not limited to ground robots, aerial robots and virtual reality (VR) robots. Each robot can be configured with one or more inspection zones.

[0056] S12. Control each of the robots to perform inspection tasks based on the inspection route, and record the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree of the current inspection partition.

[0057] It should be explained that after planning the inspection route of each robot, the robot is controlled to perform the inspection task according to the inspection route, and the inspection status of each robot is recorded in real time to achieve full tracking of the robot's inspection process and flexibly respond to possible emergencies. The current inspection zone can be obtained through the positioning device carried by the robot, and the inspection completion degree of the current inspection zone can be determined based on the proportion of the inspection zone task completion amount in the total inspection zone task amount.

[0058] S13. In response to an emergency inspection task instruction, emergency inspection task information is obtained, and the target robot is determined based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, the emergency inspection task is incorporated into the inspection route of the target robot and priority processing is set to obtain the target inspection route, and the target robot is controlled to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0059] Specifically, the emergency inspection task instruction can be an emergency inspection task notification from the equipment monitoring system or the operator. It can include the specific location of the emergency task and the expected time to complete the task. At this time, it is necessary to arrange a suitable robot (i.e., the target robot) to perform the specific task according to the actual situation, and then incorporate the emergency task into the current inspection route of the target robot, and ensure that the emergency inspection task is a priority task, so as to obtain the target inspection route after the inspection route is updated, thereby achieving a balance between the existing inspection tasks and the emergency inspection tasks.

[0060] Compared with the prior art, the beneficial effects of the present invention are as follows: first, after obtaining the inspection area, the inspection area is divided into multiple inspection partitions, and the inspection partitions are assigned to multiple robots, so as to ensure that the inspection tasks of each robot fully cover the inspection area, while avoiding resource waste and improving inspection efficiency; then, the inspection route is determined for each robot based on its assigned inspection partition, so that the operation scope of each robot is clear, which helps to accurately control the inspection process, and control the robot to perform the inspection task and record the status, which can effectively improve the traceability of task execution and the ability to respond quickly to problems; based on the emergency task information and the current state of the robot, the target robot is selected to perform the emergency task, which can achieve a rapid response to the emergency inspection task, and by intelligently selecting the robot with the closest position or the shortest time or the lightest current task to handle the emergency, the interference with the existing inspection task can be minimized, while ensuring that the emergency inspection task is quickly resolved. The present invention can improve the inspection efficiency of the robot and its flexibility in the inspection process.

[0061] In one embodiment, determining the inspection route of each robot based on the inspection partition includes:

[0062] Receiving an initial inspection instruction, and determining a starting inspection zone of an inspection route based on the initial inspection instruction;

[0063] The position information of each inspection zone is obtained, and based on the position information of the starting inspection zone and the assigned inspection zones, the inspection route of each robot is determined using the shortest distance principle.

[0064] Specifically, after receiving the inspection initialization instruction, the starting inspection zone of the inspection route (ie, the first inspection zone in the inspection route) can be determined by the inspection initialization instruction. For example, the inspection initialization instruction here can be obtained by identifying the QR code of the inspection zone.

[0065] After determining the starting inspection zone of each robot and the location information of each inspection zone, the path planning algorithm can be used based on the principle of shortest distance to calculate the shortest path to other inspection zones from the starting inspection zone, thereby realizing the path planning of each robot. This embodiment can obtain the corresponding inspection route according to the inspection zone corresponding to each robot, thereby improving the inspection efficiency of the robot.

[0066] Furthermore, the position information includes the position coordinates of key points in the inspection zone, and the method of determining the inspection route of each robot using the shortest distance principle includes:

[0067] Determine a starting key point in the starting inspection zone as the starting position of the robot inspection route;

[0068] Based on the starting key point and all the key points in the inspection zones correspondingly assigned to the robot, a path planning algorithm is used to obtain an inspection route of the robot, wherein the inspection route is a route that covers all the key points in the inspection zones assigned to the robot and has the shortest total path length;

[0069] The path planning algorithm includes one of a genetic algorithm, a simulated annealing algorithm and a greedy algorithm.

[0070] It needs to be explained that after determining the starting inspection zone, a starting key point is determined within the inspection zone as the starting position of the robot's inspection route, and then the robot's inspection route is obtained using the path planning algorithm, so that the inspection route covers all the key points of the robot's assigned inspection zones and has the shortest total path length. This ensures that each robot can complete the inspection task with the shortest total path while covering all necessary inspection points, thereby greatly improving the robot's inspection efficiency.

[0071] Reference Figure 2 The emergency inspection task information includes the emergency inspection partition and the target completion time. The target robot is determined based on the emergency inspection task information, the inspection route and inspection status information of each robot, and the emergency inspection task is incorporated into the inspection route of the target robot to obtain the target inspection route, including:

[0072] S131. Determine whether the emergency inspection task exists in the existing inspection route.

[0073] After receiving the emergency inspection task, the existing inspection route is searched according to the emergency inspection partition to see whether it already includes the emergency inspection partition. It should be noted that in the present invention, the inspection task items in the inspection partition are pre-set, and the corresponding inspection task can be determined according to the inspection partition, because the specific tasks in the inspection partition are not limited.

[0074] S132. If yes, determine the robot corresponding to the emergency inspection task as the initial target robot, adjust the inspection partition corresponding to the emergency inspection task to the next inspection partition of the current inspection partition of the initial target robot, and postpone the other inspection partitions on the inspection route corresponding to the initial target robot in sequence to obtain the adjusted inspection route, and obtain the inspection route of the initial target robot. Based on the inspection status information, determine whether the initial target robot can complete the emergency inspection task within the target completion time. If so, determine the initial target robot as the target robot, and determine the adjusted inspection route corresponding to the target robot as the target inspection route.

[0075] If the inspection partition in the emergency inspection task is already in the inspection route of a certain robot, then the robot is determined as the initial target robot, and the inspection partition in the emergency inspection task is set as the next inspection partition of the current inspection partition of the initial target robot, and the inspection route of the initial target robot is reset. It should be noted that after determining the inspection partition task order of the initial target robot, the inspection route of the initial target robot can be obtained, so the generation of the inspection route of the initial target robot will not be described in detail.

[0076] Furthermore, if the initial target robot cannot complete the emergency inspection task within the target completion time, the process of acquiring the target robot and the target inspection route in step S133 is executed.

[0077] S133. If not, calculate the first estimated completion time for each robot from the current inspection zone to the completion of the emergency inspection task, and sort the first estimated completion time of each robot, set the robot with the earliest first estimated completion time as the target robot, and insert the emergency inspection task into the inspection route of the target robot to obtain the target inspection route, wherein the inspection zone in the emergency inspection task is configured as the next inspection zone of the current inspection zone of the target robot, and the other inspection zones in the target inspection route are postponed in sequence.

[0078] It needs to be explained that after retrieving the current status information of each robot, the first estimated completion time of the emergency inspection task can be obtained based on the current inspection zone of each robot and the completion degree of the current inspection zone. In the present invention, the moving speed and inspection speed of each robot can be set in advance, and then the first estimated completion time of the emergency inspection task can be obtained based on the current time and the position information of different inspection zones.

[0079] This embodiment can ensure that the robot can respond quickly and make effective adjustments when faced with an emergency inspection task, thereby minimizing the impact on normal inspection tasks to the greatest extent possible, while ensuring that emergency tasks are handled in a timely and effective manner.

[0080] Further, judging whether the initial target robot can complete the emergency inspection task within the target completion time based on the inspection state information includes:

[0081] Based on the historical inspection database, the current inspection partition of the initial target robot and the inspection completion degree, the estimated completion time of the initial target robot from the current inspection partition to the completion of the emergency inspection task is estimated, and it is determined whether the estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection task of each inspection partition, and the calculation formula of the estimated completion time is:

[0082] T 预 =T a +T x .(1-a)+T y +T 紧急 ;

[0083] Among them, T 预 represents the estimated completion time, T a Indicates the current time, T x It indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急 Indicates the time required for the robot to complete the urgent task.

[0084] This embodiment can not only ensure that urgent tasks are handled in a timely manner, but also maintain the overall efficiency of inspection tasks, optimize resource utilization, and improve the flexibility of the inspection process.

[0085] Further, the calculating of the first estimated completion time of each robot from the current inspection zone to the completion of the emergency inspection task includes:

[0086] The first estimated completion time of each robot from the current inspection zone to the completion of the emergency inspection task is calculated based on the data stored in the historical inspection database, and it is determined whether the first estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection tasks of each inspection zone, and the calculation formula of the first estimated completion time is:

[0087] T 预 =T a +T x .(1-a)+T y +T 紧急 ;

[0088] Among them, T 预 represents the first estimated completion time, T a Indicates the current time, T xIt indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急 Indicates the time required for the robot to complete the urgent task.

[0089] In one embodiment, it also includes:

[0090] The data generated by each robot during the inspection task is carried out according to a preset cycle.

[0091] Specifically, when each robot performs an inspection task, it will collect relevant operating data including the robot's location, status, and task completion status in real time. This data is usually stored in a real-time database for quick access and real-time monitoring. The data carry-over cycle is then preset based on the frequency of data generation and the capacity of the real-time database, such as weekly or monthly. At the end of each preset cycle, an overall data evaluation of the real-time database is performed, and old data or infrequently accessed data is migrated to a long-term storage system, thereby saving storage space and improving the utilization efficiency of the real-time database.

[0092] In one embodiment, it also includes:

[0093] A moving route modification instruction of the robot is received, and the inspection route of the robot is modified based on the inspection route modification instruction.

[0094] Among them, the mobile route modification instruction can be output through the mobile terminal controlled by the operator, and is used to adjust the inspection route on the robot's inspection route, so as to add, delete, move and other inspection partitions on the inspection route, thereby enhancing the flexibility and controllability of the inspection process.

[0095] Reference Figure 3 The present invention also provides a robot automatic inspection management system 30, comprising:

[0096] The inspection route planning module 31 is used to obtain the area to be inspected, divide the area to be inspected into multiple inspection zones, and assign the inspection zones to multiple robots, and determine the inspection routes of each robot based on the inspection zones, wherein the inspection routes of each robot include at least one inspection zone;

[0097] An execution module 32, used to control each of the robots to perform inspection tasks based on the inspection route, and record the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree;

[0098] The emergency inspection response module 33 is used to respond to the emergency inspection task instruction, obtain the emergency inspection task information, and determine the target robot based on the emergency inspection task information, the inspection route and inspection status information of each of the robots, incorporate the emergency inspection task into the inspection route of the target robot and set priority processing to obtain the target inspection route, and control the target robot to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0099] Compared with the prior art, the beneficial effects of the present invention are as follows: first, after obtaining the inspection area, the inspection route planning module 31 divides the inspection area into multiple inspection partitions, and assigns inspection partitions to multiple robots, thereby ensuring that the inspection tasks of each robot fully cover the inspection area, while avoiding resource waste and improving inspection efficiency; then, the inspection route is determined for each robot based on its assigned inspection partition, so that the operating scope of each robot is clear, which helps to accurately control the inspection process, and the execution module 32 is used to control the robot to perform the inspection task and record the status, which can effectively improve the traceability of task execution and the ability to respond quickly to problems; the emergency inspection response module 33 selects the target robot to perform the emergency task based on the emergency task information and the current state of the robot, which can achieve a rapid response to the emergency inspection task. By intelligently selecting the robot with the closest position or the shortest time or the lightest current task to handle the emergency, the interference with the existing inspection task can be minimized, while ensuring that the emergency inspection task is quickly resolved. The present invention can improve the inspection efficiency of the robot and its flexibility in the inspection process.

[0100] Reference Figure 4 , the present invention provides an electronic device 40, including a memory 41 and a processor 42;

[0101] The memory 41 is used to store computer programs;

[0102] The processor 42 is used to implement the above-mentioned robot automatic inspection management method when executing the computer program.

[0103] In other words, an electronic device 40 includes a memory 41 and a processor 42 coupled to the memory 41; the memory 41 is configured to store a computer program; and the processor 42 is configured to perform the following operations when executing the computer program:

[0104] Acquire an area to be inspected, divide the area to be inspected into a plurality of inspection zones, and assign the inspection zones to a plurality of robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one of the inspection zones;

[0105] Controlling each of the robots to perform inspection tasks based on the inspection route, and recording the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree of the current inspection partition;

[0106] In response to an emergency inspection task instruction, emergency inspection task information is obtained, and the target robot is determined based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, the emergency inspection task is incorporated into the inspection route of the target robot and priority processing is set to obtain the target inspection route, and the target robot is controlled to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0107] The present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned robot automatic inspection management method is implemented.

[0108] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0109] Acquire an area to be inspected, divide the area to be inspected into a plurality of inspection zones, and assign the inspection zones to a plurality of robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one of the inspection zones;

[0110] Controlling each of the robots to perform inspection tasks based on the inspection route, and recording the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree of the current inspection partition;

[0111] In response to an emergency inspection task instruction, emergency inspection task information is obtained, and the target robot is determined based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, the emergency inspection task is incorporated into the inspection route of the target robot and priority processing is set to obtain the target inspection route, and the target robot is controlled to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

[0112] An electronic device 40 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 40 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 40 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0113] The electronic device 40 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0114] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0115] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A robot automatic inspection management method, characterized in that: include: Acquire an area to be inspected, divide the area to be inspected into a plurality of inspection zones, and assign the inspection zones to a plurality of robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one of the inspection zones; Controlling each of the robots to perform inspection tasks based on the inspection route, and recording the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree of the current inspection partition; In response to an emergency inspection task instruction, emergency inspection task information is obtained, and the target robot is determined based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, the emergency inspection task is incorporated into the inspection route of the target robot and priority processing is set to obtain the target inspection route, and the target robot is controlled to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

2. The robot automatic inspection management method according to claim 1, characterized in that: The determining the inspection route of each robot based on the inspection partition comprises: Receiving an initial inspection instruction, and determining a starting inspection zone of an inspection route based on the initial inspection instruction; The position information of each inspection zone is obtained, and based on the position information of the starting inspection zone and the assigned inspection zones, the inspection route of each robot is determined using the shortest distance principle.

3. The robot automatic inspection management method according to claim 2, characterized in that: The position information includes the position coordinates of key points in the inspection zone, and the inspection route of each robot is determined by the shortest distance principle, including: Determine a starting key point in the starting inspection zone as the starting position of the robot inspection route; Based on the starting key point and all the key points in each inspection zone assigned to the robot, a path planning algorithm is used to obtain an inspection route of the robot, wherein the inspection route is a route that covers all the key points in the inspection zones assigned to the robot and has the shortest total path length; The path planning algorithm includes one of a genetic algorithm, a simulated annealing algorithm and a greedy algorithm.

4. The robot automatic inspection management method according to claim 1, characterized in that: The emergency inspection task information includes the emergency inspection partition and the target completion time. The target robot is determined based on the emergency inspection task information, the inspection route and inspection status information of each robot, and the emergency inspection task is incorporated into the inspection route of the target robot to obtain the target inspection route, including: Determine whether the emergency inspection task exists in the existing inspection route; If so, the robot corresponding to the emergency inspection task is determined as the initial target robot, the inspection partition corresponding to the emergency inspection task is adjusted to the next inspection partition of the current inspection partition of the initial target robot, and the other inspection partitions on the inspection route corresponding to the initial target robot are postponed in sequence to obtain an adjusted inspection route, and based on the inspection status information, it is determined whether the initial target robot can complete the emergency inspection task within the target completion time; if so, the initial target robot is determined as the target robot, and the adjusted inspection route corresponding to the target robot is determined as the target inspection route; If not, calculate the first estimated completion time for each robot from the current inspection zone to the completion of the emergency inspection task, sort the first estimated completion time of each robot, set the robot with the earliest first estimated completion time as the target robot, and insert the emergency inspection task into the inspection route of the target robot to obtain the target inspection route, wherein the inspection zone in the emergency inspection task is configured as the next inspection zone of the current inspection zone of the target robot, and the other inspection zones in the target inspection route are postponed in sequence.

5. The robot automatic inspection management method according to claim 4, characterized in that: The determining, based on the inspection status information, whether the initial target robot can complete the emergency inspection task within the target completion time includes: Based on the historical inspection database, the current inspection partition of the initial target robot and the inspection completion degree, the estimated completion time of the initial target robot from the current inspection partition to the completion of the emergency inspection task is estimated, and it is determined whether the estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection task of each inspection partition, and the calculation formula of the estimated completion time is: T 预 =T a +T x .(1-a)+T y +T 紧急 ; Among them, T 预 represents the estimated completion time, T a Indicates the current time, T x It indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急 Indicates the time required for the robot to complete the urgent task.

6. The robot automatic inspection management method according to claim 4, characterized in that: The calculating of the first estimated completion time of each robot from the current inspection zone to the completion of the emergency inspection task includes: The first estimated completion time of each robot from the current inspection zone to the completion of the emergency inspection task is calculated based on the data stored in the historical inspection database, and it is determined whether the first estimated completion time is earlier than the target completion time, wherein the historical inspection database includes the time required for each robot to complete the inspection tasks of each inspection zone, and the calculation formula of the first estimated completion time is: T 预 =T a +T x .(1-a)+T y +T 紧急 ; Among them, T 预 represents the first estimated completion time, T a Indicates the current time, T x It indicates the time required for the robot to complete the inspection of the current inspection zone, a indicates the inspection completion degree of the current inspection zone, T y It represents the time required for the robot to move from the current inspection zone to the inspection zone corresponding to the emergency inspection task, T 紧急 Indicates the time required for the robot to complete the urgent task.

7. The robot automatic inspection management method according to claim 1, characterized in that: Also includes: The data generated by each robot during the inspection task is carried out according to a preset cycle.

8. A robot automatic inspection management system, characterized in that: include: An inspection route planning module is used to obtain an area to be inspected, divide the area to be inspected into multiple inspection zones, and assign inspection zones to multiple robots, and determine an inspection route for each of the robots based on the inspection zones, wherein the inspection route for each of the robots includes at least one inspection zone; An execution module, used to control each of the robots to perform inspection tasks based on the inspection route, and record the inspection status information of each of the robots in real time, wherein the inspection status information includes the current inspection partition and the inspection completion degree; An emergency inspection response module is used to respond to emergency inspection task instructions, obtain emergency inspection task information, and determine the target robot based on the emergency inspection task information, the inspection routes and inspection status information of each of the robots, incorporate the emergency inspection task into the inspection route of the target robot and set priority processing to obtain the target inspection route, and control the target robot to perform the inspection task based on the target inspection route. The target robot refers to the robot suitable for performing the emergency inspection task.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the robot automatic inspection management method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the robot automatic inspection management method according to any one of claims 1 to 7 is implemented.

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