Task management method and device of inspection robot and storage medium

Abstract

The invention provides a task management method and device for an inspection robot and a storage medium, and the method comprises the steps: obtaining a target task point selected according to a task demand, and packaging the target task point to form a task plan; sending the task plan to the inspection robot and waiting for feedback of the inspection robot; and if the feedback of the inspection robot is received within the preset waiting time, printing the first log information to prompt that the task plan is successfully sent. The task point of the inspection robot is selected according to the actual task requirement, and the inspection task is allocated at the task point, so that the working efficiency is improved, the task is quickly and accurately allocated, the flexibility of issuing the inspection task is ensured, the time and complexity of manually arranging the task place are reduced, and the inspection robot can be quickly put into work. And a log feedback mechanism is arranged, so that more comprehensive and more detailed inspection data can be obtained, potential problems and hidden dangers can be found in time, and the inspection quality and reliability are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of inspection robots, and in particular to a task management method, device and storage medium for inspection robots. Background Art

[0002] With the continuous development of science and technology, inspection robots have been widely used in the fields of chemical industry, electricity, security, etc. However, the existing inspection robot task distribution methods usually have problems such as low efficiency, poor flexibility, and difficulty in adapting to complex environments. Traditional task distribution systems often rely on manual setting of fixed inspection routes and tasks, and cannot be adjusted in real time according to actual conditions, resulting in unsatisfactory inspection results and serious waste of resources. Summary of the invention

[0003] The present disclosure provides a task management method, device and storage medium for an inspection robot to solve the problems of low efficiency and poor flexibility in the task distribution method of the inspection robot and reliance on a large amount of manual participation in the planning and allocation of inspection tasks.

[0004] In a first aspect, the present disclosure provides a task management method for an inspection robot, which is applied to a background control system and establishes a communication connection with the inspection robot. The task management method includes:

[0005] Obtain the target task points selected according to the task requirements, and package the target task points into a task plan;

[0006] Sending the task plan to the inspection robot and waiting for feedback from the inspection robot;

[0007] If feedback from the inspection robot is received within the preset waiting time, the first log information is printed to prompt that the task plan is sent successfully.

[0008] In some embodiments, the task management method further includes:

[0009] During the process of the inspection robot executing the inspection task corresponding to the task plan, a new target task point selected according to the new task requirements is obtained, and the new target task point is sent to the inspection robot so that the inspection robot adjusts the current inspection route according to the new target task point.

[0010] In some embodiments, the task management method further includes:

[0011] If no feedback is received within the preset waiting time, the first log information is printed to prompt that the task plan has failed to be sent, and a retry operation is performed on the task plan until feedback is received within the preset waiting time or the retry operation reaches a first preset number of times and stops the retry operation.

[0012] In a second aspect, the present disclosure provides a task management method for an inspection robot, which is applied to the inspection robot and establishes a communication connection with the inspection robot. The task management method includes:

[0013] Receive a task plan sent by a background control system, and send feedback to the background control system within a preset waiting time, wherein the task plan is obtained by packaging target task points selected according to task requirements;

[0014] Read the target task point corresponding to the task plan, and plan the inspection route according to the target task point;

[0015] Perform inspection tasks according to the inspection route.

[0016] In some embodiments, the task management method further includes:

[0017] When a new target task point is obtained, the inspection robot stops and determines whether the new target task point is on the inspection route:

[0018] If the newly added target task point is on the inspection route, determine whether the current position of the inspection robot exceeds the position of the newly added target task point:

[0019] If the location of the newly added target task point is exceeded, the inspection robot goes to the newly added target task point to perform the inspection task, and after completing the inspection task, continues to perform the inspection task according to the inspection route; if the location of the newly added task point is not exceeded, the inspection robot performs the inspection task according to the inspection route;

[0020] If the newly added target task point is not on the inspection route, the newly added target task point is updated to the task plan, and the inspection route is replanned. The inspection robot starts again and starts to perform the inspection task according to the replanned inspection route.

[0021] In some embodiments, the task management method further includes:

[0022] During the process of the inspection robot executing the inspection task corresponding to the task plan, if the target task point is not successfully completed, a second log information is generated to prompt that the inspection task of the target task point is not successfully completed;

[0023] According to the reason why the inspection task of the target task point was not successfully completed, a retry operation is performed until the retry operation reaches a second preset number of times or the inspection task of the target task point is successfully completed and the retry operation is stopped;

[0024] If the target point task is successfully completed, a third log message is generated to prompt that the task is successfully completed;

[0025] Determine whether all inspection tasks of all target task points in the task plan have been successfully completed:

[0026] If all are completed successfully, the inspection task is completed;

[0027] Otherwise, the next target task point in the task plan is read, and the inspection task is continued to be executed until the inspection tasks of all target task points in the task plan are successfully completed.

[0028] In a third aspect, the present disclosure provides a task management method for an inspection robot, comprising:

[0029] The background control system obtains the target task points selected according to the task requirements, packages the target task points into a task plan, sends the task plan to the inspection robot and waits for the feedback of the inspection robot;

[0030] The inspection robot receives the task plan sent by the background control system, sends feedback to the background control system within a preset waiting time, reads the target task point corresponding to the task plan, plans the inspection route according to the target task point, and performs the inspection task according to the inspection route;

[0031] If the background control system receives feedback from the inspection robot within the preset waiting time, the first log information is printed to prompt that the task plan is sent successfully.

[0032] In a fourth aspect, the present disclosure provides a background control system, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the first aspect.

[0033] In a fifth aspect, the present disclosure provides an inspection robot comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the second aspect.

[0034] In a sixth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect or the second aspect.

[0035] The present disclosure provides a task management method, device and storage medium for an inspection robot. By selecting the inspection robot task point according to the actual task requirements in the background control system and assigning the inspection task at the task point, the work efficiency is improved, the task is quickly and accurately assigned, the flexibility of issuing the inspection task of the inspection robot is guaranteed, the time and complexity of manually arranging tasks are reduced, and the inspection robot can be put into work quickly. Selecting the task point according to the actual task requirements enhances the accuracy of the task, generating tasks according to preset rules and actual requirements, avoiding task deviations or omissions caused by human errors, ensuring that each inspection point can be accurately focused on, and setting a log feedback mechanism helps to obtain more comprehensive and detailed inspection data, timely discover potential problems and hidden dangers, and improve the quality and reliability of inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0037] Figure 1 A flowchart of a task management method for an inspection robot provided in an embodiment of the present disclosure.

[0038] Figure 2 A flowchart of another task management method for an inspection robot provided in an embodiment of the present disclosure.

[0039] Figure 3 A schematic diagram of the principle of a task management method for an inspection robot provided in an embodiment of the present disclosure.

[0040] Figure 4 Another schematic diagram of the principle of a task management method for an inspection robot provided in an embodiment of the present disclosure.

[0041] In the drawings, the same reference numerals are used for the same components, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, and to fully understand and implement how the present disclosure applies technical means to solve technical problems and achieve the corresponding technical effects, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. The embodiments of the present disclosure and the various features in the embodiments can be combined with each other without conflict, and the technical solutions formed are all within the scope of protection of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0043] In the related art, the task distribution of the inspection robot usually relies on simple pre-programming or manual operation. The pre-programming method is to set the inspection path and task sequence of the robot in advance, and the robot executes according to a fixed mode. Manual operation is for the operator to directly issue specific task instructions to the robot according to the actual situation. This type of task distribution method can realize the execution of the inspection task of the inspection robot, but there are some disadvantages: ① Lack of flexibility and adaptability, the pre-programming method cannot cope with sudden changes and diversified needs in the actual environment. ② Dependence on human intervention: Manual operation is not only inefficient, but also easily affected by human factors, such as misoperation, negligence, etc., resulting in inaccurate or untimely task distribution. ③ Lack of real-time performance: When responding to emergencies or sudden failures, new tasks cannot be quickly generated and distributed, affecting the timely handling and resolution of problems. ④ Insufficient data utilization: After the task fails to be distributed or the task fails to be executed, there is no data feedback, and the next inspection task of the inspection robot cannot be optimized.

[0044] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0045] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0046] Embodiment 1

[0047] Figure 1 The following is a flow chart of a task management method for an inspection robot provided in this embodiment. Figure 1 As shown, a task management method for an inspection robot is applied to a background control system to establish a communication connection with the inspection robot. The task management method includes:

[0048] Step S11, obtaining target task points selected according to task requirements, and packaging the target task points into a task plan.

[0049] Step S12: Send the task plan to the inspection robot and wait for the inspection robot's feedback.

[0050] Step S13: If feedback is received from the inspection robot within the preset waiting time, the first log information is printed to prompt that the task plan is sent successfully.

[0051] In this embodiment, the inspection robot is used to perform inspection tasks at the inspection site. Each inspection task involves at least one task point. The user can click on the platform interface provided by the background control system to select the task point to be executed this time according to the actual task requirements, and package it into a task plan and send it to the inspection robot to perform the corresponding inspection task. After ensuring that the inspection robot gives feedback that the task plan has been successfully received, the first log information prompting the successful sending of the task plan is printed, and a task is sent. After receiving the task plan, the inspection robot reads the task plan information and plans the inspection route of the inspection robot through ROS. After the planning is completed, the inspection robot sets out to the task point to perform the task.

[0052] This method can enter the task points into the background control system in advance. By selecting the task points according to the actual task requirements in the background control system and assigning the inspection tasks at the task points, the work efficiency is improved, the tasks are quickly and accurately assigned, and the flexibility of the inspection robot's inspection task distribution is guaranteed, the time and complexity of manually arranging tasks are reduced, and the inspection robot can be put into work quickly. Selecting the task points according to the actual task requirements enhances the accuracy of the tasks, generating tasks according to the preset rules and actual requirements, avoiding task deviations or omissions caused by human errors, and ensuring that each inspection point can be accurately paid attention to. Setting up a log feedback mechanism helps to obtain more comprehensive and detailed inspection data, timely discover potential problems and hidden dangers, and improve the quality and reliability of inspections.

[0053] When the method is actually applied, the required ROS (Robot Operating System), Actionlib (Actionlib is a library in ROS), message types and services are imported into the built-in processor of the inspection robot to ensure that the code can use the functions of ROS to perform node initialization, message sending and receiving, and service calling. The background control system pre-imports relevant modules (including standard libraries, network request libraries, serial communication libraries, and ROS-related libraries, etc.). The actual task requirements can be determined based on factors such as the inspection area, the type of equipment to be inspected, and the inspection cycle. The background control system generates a preliminary task plan based on the task point selected by the user. The task plan supports manual editing and adjustment of the task plan to meet special needs. Before the task is issued, the background control system establishes a stable communication connection with the inspection robot to ensure that the task instructions can be accurately and timely issued to the inspection robot. The background control system also stores and manages the task plan. During the inspection task corresponding to the task plan executed by the inspection robot, the inspection task execution record and inspection robot information sent by the inspection robot are obtained for storage and management. The background control system also organizes, analyzes and archives the collected inspection data to provide support for subsequent query, statistics and report generation.

[0054] In some embodiments, before the background control system issues the task plan, the inspection robot equipped with sensors such as laser radar and camera for map scanning is initialized, including: calibrating the sensor, setting the initial position and posture, etc. Start the inspection robot and let it move along the preset path in the factory area, while each sensor continuously collects information about the surrounding environment. The laser radar obtains distance data by emitting a laser beam and measuring the reflection time to construct a two-dimensional point cloud map. The camera captures image information to supplement and verify the point cloud map. The collected raw data (point cloud map, image, etc.) is preprocessed by denoising and filtering to remove invalid and erroneous data points. Significant features such as corners, pillars, and road edges are extracted from the preprocessed data. The SLAM (Simultaneous Localization and Mapping) algorithm is used to combine the extracted features with the motion trajectory of the inspection robot to construct a map of the factory area. According to the actual situation, a fixed and easily identifiable point is determined in the factory area as the origin of the MAP coordinate system, and the east-west direction is set as the X axis, the north-south direction is set as the Y axis, and the vertical direction is set as the Z axis, and the unit length is determined by itself. The coordinates of points and features in the plant map are converted to the MAP coordinate system through mathematical transformation, and the converted map is optimized to eliminate errors and inconsistencies. Finally, the converted and optimized plant map in the MAP coordinate system is stored in the database of the inspection robot and the background control system, and with the subsequent inspections of the inspection robot and the collection of new data, the map is continuously updated and improved to improve its accuracy and reliability.

[0055] After the MAP coordinate system is confirmed, determine N task points in the inspection site and put them into the task list test-full, and name the N task points T1, T2, T3, T4...T N The specific coordinates of N mission points have been determined:

[0056] T1[x1, x2, x3], T2[x2, y2, z2], T3[x3, y3, z3], T4[x4, y4, z4]...T N [x n ,y n , z n ].

[0057] The task list test-full is displayed as N task point options on the platform interface of the background control system. The user clicks on the platform interface to select X task points (X≤N) as target task points according to the actual task requirements. After the selection is completed, the platform packages these X target task points into a task plan test-number, ready to be sent to the inspection robot.

[0058] Send the task plan before the specified time of the task. The ping function in the background control system pings the specified IP address through the tcping library and returns the packet loss rate and result. The check_network function checks whether the network connection with the specified IP is normal. If the packet loss rate is greater than ten percent, the network is considered unreachable. The get_test_from_server function first checks the network connection and then obtains the task plan from the background control system. If the acquisition is successful, it returns 1, otherwise, polling until success. The send_msg_to_server function updates the task status (whether the inspection robot obtains the task list) and sends it to the server using an HTTP PUT request. Finally, the start_inspection function calls the ROS service to start the robot inspection task. Send parameter 1 to the server through the proxy and get a response. Print out the successful status and message in the response. If a service-related exception occurs, print out the exception. The service callback function service_cb is used to process the service request sent by the start_inspection function in the background control system to the proxy server, and update the service request parameters to the global variable run_sta. When run_sta is 0 (i.e. the running status of the inspection robot is 0), the inspection robot does not perform any action; when run_sta is 1, the background control system prints a message to prompt that the task plan file is being sent. After sending the task plan file, wait for feedback on the execution status, and the preset waiting time is 600 seconds.

[0059] In some embodiments, if no feedback is received within the preset waiting time, a second log message is printed to indicate that the task plan has failed to be sent, the current task is canceled, and then a retry operation of sending the task plan is performed until feedback is received within the preset waiting time or the retry operation reaches the first preset number of times and the retry operation is stopped. For example, the first preset number of times is 3 times, and no retry operation is performed after exceeding 3 times, and this inspection task is terminated. If feedback is successfully received during the retry process, the task plan is sent successfully and enters the next stage of the process. If feedback is received within the preset waiting time, a first log message is printed to indicate that the task plan was sent successfully.

[0060] In this embodiment, when the task plan fails to be issued, a retry mechanism is executed and a failure log is fed back, which improves the inspection quality and makes the task issuance more standardized. It helps to obtain more comprehensive and detailed inspection data, timely discover potential problems and hidden dangers, and improve the quality and reliability of inspections.

[0061] In some implementations, the task management method of this embodiment further includes:

[0062] When the inspection robot executes the inspection task corresponding to the task plan, the newly added target task points selected according to the newly added task requirements are obtained, and the newly added target task points are sent to the inspection robot so that the inspection robot adjusts the current inspection route according to the newly added target task points.

[0063] When this method is actually applied, when the inspection robot is performing tasks, if there is a temporary task requirement, the user needs to select the corresponding task point on the platform of the background control system, and then a pop-up window will appear on the platform to prompt the user whether to confirm the addition of a new task point. After the user manually clicks to confirm, the background control system sends the new task point to the inspection robot. The inspection robot stops after receiving the new task. The built-in processor of the inspection robot determines whether the added task point is on the route planned before ROS. If the newly added task point is on the route planned before ROS, it is determined whether the current position of the inspection robot exceeds the position of the newly added task point. If the current position has exceeded the position of the newly added task point, the inspection robot turns around and goes to the newly added task point to perform the task. After the execution is completed, it continues to perform the previous task according to the established ROS planned route; if the current position does not exceed the position of the newly added task point, the inspection robot performs tasks in sequence according to the established ROS planned route.

[0064] In this embodiment, new task points can be issued in real time during the inspection process, which enhances the real-time response capability of the inspection robot, enables rapid response to emergencies or new inspection needs, and timely adjusts task arrangements to ensure the timeliness and effectiveness of the inspection work. It provides a set of efficient and intelligent task issuance solutions, improves the inspection efficiency and quality of the inspection robot, and better helps enterprises obtain data and information from chemical sites, thereby further improving the correctness and feasibility of enterprise decision-making.

[0065] Embodiment 2

[0066] Figure 2 The following is a flow chart of a task management method for an inspection robot provided in an embodiment of the present disclosure. Figure 2 As shown, this embodiment provides a task management method for an inspection robot, which is applied to the inspection robot, and a communication connection is established between the inspection robots. The inspection robot is equipped with sensors such as a laser radar and a camera for map scanning. The task management method includes:

[0067] Step S21, receiving the task plan sent by the background control system, and sending feedback to the background control system within a preset waiting time. The task plan is obtained by packaging the target task points selected according to the task requirements.

[0068] Step S22: read the target task point corresponding to the task plan, and plan the inspection route according to the target task point.

[0069] Step S23: perform inspection tasks according to the inspection route.

[0070] In this embodiment, the inspection robot is used to perform inspection tasks at the inspection site. Each inspection task involves at least one task point. The user clicks on the platform interface provided by the background control system to select the task point to be executed this time according to the actual task requirements, and packages it into a task plan and sends it to the inspection robot to perform the corresponding inspection task. After ensuring that the inspection robot gives feedback that the task plan has been successfully received, the first log information indicating that the task plan has been successfully sent is printed, and a task is sent. The inspection robot sends feedback to the background control system within the preset waiting time after receiving the task plan sent by the background control system. After receiving the feedback, the background control system prints the first log information to indicate that the task plan has been successfully sent. The inspection robot reads the target task point corresponding to the task plan and plans the inspection route according to the target task point.

[0071] When this method is actually applied, the required ROS (Robot Operating System), Actionlib (Actionlib is a library in ROS), message types and services are imported into the built-in processor of the inspection robot to ensure that the code can use the functions of ROS to perform node initialization, message sending and receiving, and service calling. The background control system pre-imports relevant modules (including standard libraries, network request libraries, serial communication libraries, and ROS-related libraries, etc.). The actual task requirements can be determined based on factors such as the inspection area, the type of equipment inspected, and the inspection cycle. The background control system generates a preliminary task plan based on the task point selected by the user. The task plan supports manual editing and adjustment of the task plan to meet special needs. Before the task is issued, the background control system establishes a stable communication connection with the inspection robot to ensure that the task instructions can be accurately and promptly issued to the inspection robot.

[0072] In some embodiments, before the background control system issues the task plan, the inspection robot equipped with sensors such as laser radar and camera for map scanning is initialized, including: calibrating the sensor, setting the initial position and posture, etc. Start the inspection robot and let it move along the preset path in the factory area, while each sensor continuously collects information about the surrounding environment. The laser radar obtains distance data by emitting a laser beam and measuring the reflection time to construct a two-dimensional point cloud map. The camera captures image information to supplement and verify the point cloud map. The collected raw data (point cloud map, image, etc.) is preprocessed by denoising and filtering to remove invalid and erroneous data points. Significant features such as corners, pillars, and road edges are extracted from the preprocessed data. Using the SLAM algorithm, the extracted features are combined with the motion trajectory of the inspection robot to construct a map of the factory area. According to the actual situation in the factory area, a fixed and easily identifiable point is determined as the origin of the MAP coordinate system, and the east-west direction is set as the X-axis, the north-south direction is set as the Y-axis, and the vertical direction is set as the Z-axis, and the unit length is determined by itself. The coordinates of points and features in the plant map are converted to the MAP coordinate system through mathematical transformation, and the converted map is optimized to eliminate errors and inconsistencies. Finally, the converted and optimized plant map in the MAP coordinate system is stored in the database of the inspection robot and the background control system, and with the subsequent inspections of the inspection robot and the collection of new data, the map is continuously updated and improved to improve its accuracy and reliability.

[0073] After the MAP coordinate system is confirmed, determine N task points in the inspection site and put them into the task list test-full, and name the N task points T1, T2, T3, T4...T N The specific coordinates of N mission points have been determined:

[0074] T1[x1, x2, x3], T2[x2, y2, z2], T3[x3, y3, z3], T4[x4, y4, z4]...T N [x n ,y n , z n ].

[0075] The task list test-full is displayed as N task point options on the platform interface of the background control system. The user clicks on the platform interface to select X task points (X≤N) as target task points according to the actual task requirements. After the selection is completed, the platform packages these X target task points into a task plan test-number and prepares to send it to the inspection robot.

[0076] In some implementations, the task management method of this embodiment further includes:

[0077] When a new target task point is obtained, the inspection robot stops and determines whether the new target task point is on the inspection route:

[0078] If the newly added target task point is on the inspection route, determine whether the current position of the inspection robot exceeds the position of the newly added target task point:

[0079] If the location exceeds the newly added target task point, the inspection robot will go to the newly added target task point to perform the inspection task, and after completing the inspection task, continue to perform the inspection task along the inspection route; if the location does not exceed the newly added task point, the inspection robot will perform the inspection task along the inspection route;

[0080] If the newly added target task point is not on the inspection route, the newly added target task point will be updated to the task plan, and the inspection route will be replanned. The inspection robot will start again and start to perform the inspection task according to the replanned inspection route.

[0081] When this method is actually applied, when the inspection robot is performing tasks, if there is a temporary task requirement, the user needs to select the corresponding task point on the platform of the background control system, and then a pop-up window will appear on the platform to prompt the user whether to confirm the addition of a new task point. After the user manually clicks to confirm, the background control system sends the new task point to the inspection robot. The inspection robot stops after receiving the new task. The built-in processor of the inspection robot determines whether the added task point is on the route planned before ROS. If the newly added task point is on the route planned before ROS, it is determined whether the current position of the inspection robot exceeds the position of the newly added task point. If the current position has exceeded the position of the newly added task point, the inspection robot turns around and goes to the newly added task point to perform the task. After the execution is completed, it continues to perform the previous task according to the established ROS planned route; if the current position does not exceed the position of the newly added task point, the inspection robot performs tasks in sequence according to the established ROS planned route.

[0082] In this embodiment, new task points can be issued in real time during the inspection process, which enhances the real-time response capability of the inspection robot, enables rapid response to emergencies or new inspection needs, and timely adjusts task arrangements to ensure the timeliness and effectiveness of the inspection work, thereby improving the inspection efficiency and quality of the inspection robot, and better helping enterprises obtain data and information from chemical sites, thereby further improving the correctness and feasibility of enterprise decision-making.

[0083] In some implementations, the task management method of this embodiment further includes:

[0084] During the process of the inspection robot executing the inspection task corresponding to the task plan, if the target task point is not successfully completed, a second log information is generated to prompt that the inspection task of the target task point is not successfully completed;

[0085] According to the reason why the inspection task of the target task point was not successfully completed, a retry operation is performed until the retry operation reaches a second preset number of times or the inspection task of the target task point is successfully completed and the retry operation is stopped;

[0086] If the target point task is successfully completed, a third log message is generated to prompt that the task is successfully completed;

[0087] Determine whether all inspection tasks of all target task points in the task plan have been successfully completed:

[0088] If all are completed successfully, the inspection task is completed;

[0089] Otherwise, read the next target task point in the task plan and continue to execute the inspection task until the inspection tasks of all target task points in the task plan are successfully completed.

[0090] In this embodiment, if the newly added task point is not on the route previously planned by ROS, the newly added task point is added to the original test-number to form a new test-number. The inspection route of the inspection robot is replanned through ROS. After the route planning is completed, the inspection robot starts again to perform the task. After the task is completed, the task execution status is checked.

[0091] If the target task point fails to complete the inspection successfully, a log is generated to indicate that the task has not been successfully completed. Then a retry operation is performed, and the reason for the failure of the task is determined before the retry. For example, if the gimbal fails to shoot, the task is re-executed; if the inspection robot fails to accurately reach the target shooting point, the built-in processor of the inspection robot re-reads the task point and then re-executes the task. The retry operation shall not exceed 3 times. After exceeding 3 times, no retries will be performed. Then determine whether all the task points in test-number have been completed. If all the task points in test-number are completed, the inspection task is completed and the inspection robot returns to the charging warehouse to charge according to the planned route; if all the tasks in test-number are not completed, the built-in processor of the inspection robot reads the new task point in test-number and continues to execute the next task.

[0092] If the inspection of the target task point is completed successfully, a log is generated to indicate that the task is successfully completed. Then determine whether all the task points in test-number are completed. If all the task points in test-number are completed, the inspection task is completed, and the inspection robot returns to the charging warehouse for charging according to the planned route; if all the tasks in test-number are not completed, the inspection robot processor reads the new task point in test-number and continues to execute the task according to the above process until all the task points in test-number are completed.

[0093] In this embodiment, when the task plan fails to be issued and the inspection robot fails to perform the inspection task during the inspection task, a retry mechanism can be executed and a failure log can be fed back. The retry mechanism and the feedback failure log improve the inspection quality and make the task issuance more standardized and standardized. It helps to obtain more comprehensive and detailed inspection data, timely discover potential problems and hidden dangers, and improve the quality and reliability of inspections. During the inspection process, new task points can be issued in real time. After receiving them, the inspection robot executes the tasks in sequence. The real-time issuance of tasks enhances the real-time response capability of the inspection robot, which can quickly respond to emergencies or new inspection needs, adjust the task arrangement in time, and ensure the timeliness and effectiveness of the inspection work. It improves the inspection efficiency and inspection quality of the inspection robot, better helps enterprises obtain data and information on chemical sites, and further improves the correctness and feasibility of enterprise decision-making.

[0094] Embodiment 3

[0095] This embodiment provides a task management system for an inspection robot, which is applied to a background control system and establishes a communication connection with the inspection robot. The task management system includes:

[0096] A plan generation module is used to obtain target task points selected according to task requirements and package the target task points into a task plan;

[0097] The task sending module is used to send the task plan to the inspection robot and wait for the inspection robot's feedback;

[0098] The log printing module is used to print the first log information if feedback is received from the inspection robot within a preset waiting time to prompt that the task plan is sent successfully.

[0099] In some embodiments, the task sending module is also used to: obtain new target task points selected according to the new task requirements during the inspection robot's execution of the inspection task corresponding to the task plan, and send the new target task points to the inspection robot, so that the inspection robot adjusts the current inspection route according to the new target task points.

[0100] In some embodiments, the task sending module is also used to: if no feedback is received within a preset waiting time, print a first log message to indicate that the task plan has failed to be sent, and retry the task plan until feedback is received within the preset waiting time or the retry operation reaches a first preset number of times and stops the retry operation.

[0101] It should be understood that the specific implementation of each module refers to Example 1. This embodiment has all the beneficial effects of Example 1.

[0102] Embodiment 4

[0103] This embodiment provides a task management system for an inspection robot, which is applied to the inspection robot and establishes a communication connection with the inspection robot. The inspection robot is equipped with sensors such as a laser radar and a camera for map scanning. The task management device includes:

[0104] The task receiving module is used to receive the task plan sent by the background control system and send feedback to the background control system within a preset waiting time. The task plan is packaged according to the target task points selected according to the task requirements.

[0105] The route planning module is used to read the target task points corresponding to the task plan and plan the inspection route according to the target task points.

[0106] The task execution module is used to execute inspection tasks according to the inspection route.

[0107] In some embodiments, the route planning module is further configured to:

[0108] When a new target task point is obtained, the inspection robot stops and determines whether the new target task point is on the inspection route:

[0109] If the newly added target task point is on the inspection route, determine whether the current position of the inspection robot exceeds the position of the newly added target task point:

[0110] If the location exceeds the newly added target task point, the inspection robot will go to the newly added target task point to perform the inspection task, and after completing the inspection task, continue to perform the inspection task along the inspection route; if the location does not exceed the newly added task point, the inspection robot will perform the inspection task along the inspection route;

[0111] If the newly added target task point is not on the inspection route, the newly added target task point will be updated to the task plan, and the inspection route will be replanned. The inspection robot will start again and start to perform the inspection task according to the replanned inspection route.

[0112] In some implementations, the task execution module of this embodiment is further used to:

[0113] During the process of the inspection robot executing the inspection task corresponding to the task plan, if the target task point is not successfully completed, a second log information is generated to prompt that the inspection task of the target task point is not successfully completed;

[0114] According to the reason why the inspection task of the target task point was not successfully completed, a retry operation is performed until the retry operation reaches a second preset number of times or the inspection task of the target task point is successfully completed and the retry operation is stopped;

[0115] If the target point task is successfully completed, a third log message is generated to prompt that the task is successfully completed;

[0116] Determine whether all inspection tasks of all target task points in the task plan have been successfully completed:

[0117] If all are completed successfully, the inspection task is completed;

[0118] Otherwise, read the next target task point in the task plan and continue to execute the inspection task until the inspection tasks of all target task points in the task plan are successfully completed.

[0119] It should be understood that the specific implementation of each module refers to Example 2. This embodiment has all the beneficial effects of Example 2.

[0120] Embodiment 5

[0121] This embodiment provides a task management method for an inspection robot. Figure 3 and Figure 4 As shown, a communication connection is established between the background control system and the inspection robot. The task management method of this embodiment includes:

[0122] Step S31, the background control system obtains the target task points selected according to the task requirements, packages the target task points into a task plan, sends the task plan to the inspection robot and waits for the inspection robot's feedback;

[0123] Step S32: The inspection robot receives the task plan sent by the background control system, sends feedback to the background control system within a preset waiting time, reads the target task point corresponding to the task plan, plans the inspection route according to the target task point, and performs the inspection task according to the inspection route;

[0124] Step S33: If the background control system receives feedback from the inspection robot within the preset waiting time, it prints the first log information to prompt that the task plan is sent successfully.

[0125] In some embodiments, if the background control system does not receive feedback within the preset waiting time, a second log message is printed to indicate that the task plan has failed to be sent, the current task is canceled, and a retry operation of sending the task plan is performed, until feedback is received within the preset waiting time or the retry operation reaches the first preset number of times, and the retry operation is stopped. If feedback is received within the preset waiting time, a first log message is printed to indicate that the task plan has been sent successfully.

[0126] In some embodiments, during the inspection robot's execution of the inspection task corresponding to the task plan, the background control system obtains new target task points selected according to the new task requirements, and sends the new target task points to the inspection robot, so that the inspection robot adjusts the current inspection route according to the new target task points.

[0127] The inspection robot sends feedback to the background control system within the preset waiting time after receiving the task plan sent by the background control system. After receiving the feedback, the background control system prints the first log information to prompt that the task plan is sent successfully. The inspection robot reads the target task point corresponding to the task plan and plans the inspection route according to the target task point.

[0128] In some implementations, when a new target task point is acquired, the inspection robot stops and determines whether the new target task point is on the inspection route:

[0129] If the newly added target task point is on the inspection route, determine whether the current position of the inspection robot exceeds the position of the newly added target task point: if it exceeds the position of the newly added target task point, the inspection robot goes to the newly added target task point to perform the inspection task, and after completing the inspection task, continues to perform the inspection task along the inspection route; if it does not exceed the position of the newly added task point, the inspection robot performs the inspection task along the inspection route;

[0130] If the newly added target task point is not on the inspection route, the newly added target task point will be updated to the task plan, and the inspection route will be replanned. The inspection robot will start again and start to perform the inspection task according to the replanned inspection route.

[0131] In some embodiments, during the process of the inspection robot executing the inspection task corresponding to the task plan, if the target task point is not successfully completed, a second log information is generated to prompt that the inspection task of the target task point is not successfully completed; according to the reason why the inspection task of the target task point is not successfully completed, a retry operation is performed until the retry operation reaches a second preset number of times or the inspection task of the target task point is successfully completed, and the retry operation is stopped; if the target point task is successfully completed, a third log information is generated to prompt that the task is successfully completed;

[0132] Determine whether all inspection tasks of all target task points in the task plan have been successfully completed:

[0133] If all are completed successfully, the inspection task is completed;

[0134] Otherwise, read the next target task point in the task plan and continue to execute the inspection task until the inspection tasks of all target task points in the task plan are successfully completed.

[0135] For the specific implementation of this embodiment, please refer to Embodiment 1 and Embodiment 2.

[0136] The beneficial effects of this embodiment are as follows:

[0137] 1. During the inspection robot's mission, users can assign new mission points to the inspection robot through the background control system according to sudden needs. This task distribution method is flexible and real-time, and can effectively respond to emergencies or sudden failures, and thus handle new problems in a timely manner.

[0138] 2. After the inspection robot fails to issue a task or execute a task, there is a retry mechanism. This mechanism not only improves the reliability of task execution, but also enhances the fault tolerance of the system. If the first task issuance fails due to network fluctuations, temporary system failures, or other unexpected factors, the retry mechanism can increase the probability of successful task execution, thereby ensuring that the inspection work is not ignored. Even if some temporary problems occur in a complex operating environment, the retry mechanism can allow the system to automatically recover to a certain extent, reducing the serious consequences caused by a single failure.

[0139] 3. In the process of the inspection robot accepting tasks and executing tasks, the task distribution system will generate logs. This log feedback mechanism can help users quickly identify the problem, optimize system performance, improve task planning, and improve emergency plans. This helps back-end personnel quickly identify the specific links and causes of task failures, save time for troubleshooting, and improve the efficiency of problem solving. By analyzing the failure logs, you can detect performance bottlenecks or weaknesses in the system, and then optimize and improve them in a targeted manner. Provide a basis for re-planning and adjusting tasks, make task arrangements more reasonable, and improve the success rate of task execution. At the same time, you can also improve the emergency plan based on the failure situation so that you can respond more quickly and effectively when similar problems occur again.

[0140] Embodiment 4

[0141] This embodiment provides a background control system, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method described in the first embodiment.

[0142] Embodiment 5

[0143] This embodiment provides an inspection robot, including a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method described in the second embodiment.

[0144] Embodiment 6

[0145] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the first aspect or the second aspect are implemented.

[0146] In some implementations of this embodiment, a computer program product is provided, including a computer program / instructions, and when the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0147] The processor may include, but is not limited to, one or more processors or microprocessors, etc. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to execute the methods in the above embodiments.

[0148] The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer-readable storage medium may include but is not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, computer storage media (e.g., hard disk, floppy disk, solid-state drive, removable disk, CD-ROM, DVD-ROM, Blu-ray disc, etc.).

[0149] The computer-readable storage medium may also store at least one computer executable program / instruction, which may be, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0150] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (eg, keyboard, mouse, speaker, etc.), etc.

[0151] The processor may communicate with external devices via an I / O bus via a wired or wireless network.

[0152] In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by a processor to perform the various functions and / or method steps in the embodiments described in the present technology.

[0153] The present invention realizes the task distribution of the inspection robot efficiently and intelligently, and can flexibly and accurately distribute tasks to the inspection robot according to different needs, thereby improving the inspection efficiency and quality. It realizes automated task allocation and scheduling, reduces the time and energy required for manual operation, and enables the inspection robot to perform tasks more quickly and orderly. By selecting the inspection robot task point according to the actual task requirements in the background control system and distributing the inspection task at the task point. The background control system distributes tasks, improves work efficiency, realizes fast and accurate task distribution, reduces the time and complexity of manually arranging tasks, and enables the inspection robot to quickly put into work. Selecting the task point according to the actual task requirements enhances the task accuracy, generates tasks according to preset rules and actual requirements, avoids task deviations or omissions caused by human errors, and ensures that each inspection point can be accurately focused on. The inspection robot can execute a retry mechanism when the task distribution fails and the task execution fails during the inspection process, and feedback the failure log. The retry mechanism and feedback failure log improve the inspection quality and make the task distribution more standardized and standardized. It helps to obtain more comprehensive and detailed inspection data, timely discover potential problems and hidden dangers, and improve the quality and reliability of inspection. During the inspection process, new task points can be issued in real time. After receiving them, the inspection robot will execute the tasks in sequence. The real-time issuance of tasks enhances the real-time response capability of the inspection robot, which can quickly respond to emergencies or new inspection needs, adjust the task arrangement in time, and ensure the timeliness and effectiveness of the inspection work. It provides an efficient and intelligent task issuance system, improves the inspection efficiency and quality of the inspection robot, and better helps enterprises obtain data and information on the chemical site, thereby further improving the correctness and feasibility of enterprise decision-making.

[0154] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0155] It should be noted that in the present disclosure, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0156] Although the embodiments disclosed in the present disclosure are as above, the above contents are only embodiments adopted for facilitating the understanding of the present disclosure and are not intended to limit the present disclosure. Any technician in the technical field to which the present disclosure belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present disclosure, but the scope of patent protection of the present disclosure shall still be subject to the scope defined in the attached claims.

Claims

1. A task management method for an inspection robot, characterized in that: Applied to the background control system, a communication connection is established between the inspection robot and the task management method, the task management method includes: Obtain the target task points selected according to the task requirements, and package the target task points into a task plan; Sending the task plan to the inspection robot and waiting for feedback from the inspection robot; If feedback from the inspection robot is received within the preset waiting time, the first log information is printed to prompt that the task plan is sent successfully.

2. The task management method of the inspection robot according to claim 1, characterized in that: Also includes: During the process of the inspection robot executing the inspection task corresponding to the task plan, a new target task point selected according to the new task requirements is obtained, and the new target task point is sent to the inspection robot so that the inspection robot adjusts the current inspection route according to the new target task point.

3. The task management method of the inspection robot according to claim 1, characterized in that: Also includes: If no feedback is received within the preset waiting time, the first log information is printed to prompt that the task plan has failed to be sent, and a retry operation is performed on the task plan until feedback is received within the preset waiting time or the retry operation reaches a first preset number of times and stops the retry operation.

4. A task management method for an inspection robot, characterized in that: Applied to the inspection robot, a communication connection is established between the inspection robot and the task management method includes: Receive a task plan sent by a background control system, and send feedback to the background control system within a preset waiting time, wherein the task plan is obtained by packaging target task points selected according to task requirements; Read the target task point corresponding to the task plan, and plan the inspection route according to the target task point; Perform inspection tasks according to the inspection route.

5. The task management method of the inspection robot according to claim 4, characterized in that: Also includes: When a new target task point is obtained, the inspection robot stops and determines whether the new target task point is on the inspection route: If the newly added target task point is on the inspection route, determine whether the current position of the inspection robot exceeds the position of the newly added target task point: If the position of the newly added target task point is exceeded, the inspection robot goes to the newly added target task point to perform the inspection task, and after completing the inspection task, continues to perform the inspection task along the inspection route; If the position of the newly added task point is not exceeded, the inspection robot performs the inspection task according to the inspection route; If the newly added target task point is not on the inspection route, the newly added target task point is updated to the task plan, and the inspection route is replanned. The inspection robot starts again and starts to perform the inspection task according to the replanned inspection route.

6. The task management method of the inspection robot according to claim 4, characterized in that: Also includes: During the process of the inspection robot executing the inspection task corresponding to the task plan, if the target task point is not successfully completed, a second log information is generated to prompt that the inspection task of the target task point is not successfully completed; According to the reason why the inspection task of the target task point was not successfully completed, a retry operation is performed until the retry operation reaches a second preset number of times or the inspection task of the target task point is successfully completed and the retry operation is stopped; If the target point task is successfully completed, a third log message is generated to prompt that the task is successfully completed; Determine whether all inspection tasks of all target task points in the task plan have been successfully completed: If all are completed successfully, the inspection task is completed; Otherwise, the next target task point in the task plan is read, and the inspection task is continued to be executed until the inspection tasks of all target task points in the task plan are successfully completed.

7. A task management method for an inspection robot, characterized in that: include: The background control system obtains the target task points selected according to the task requirements, packages the target task points into a task plan, sends the task plan to the inspection robot and waits for the feedback of the inspection robot; The inspection robot receives the task plan sent by the background control system, sends feedback to the background control system within a preset waiting time, reads the target task point corresponding to the task plan, plans the inspection route according to the target task point, and performs the inspection task according to the inspection route; If the background control system receives feedback from the inspection robot within the preset waiting time, the first log information is printed to prompt that the task plan is sent successfully.

8. A background control system, comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 3.

9. An inspection robot, comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 4 to 6.

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

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