Charging control method and device of inspection robot and inspection robot

Abstract

The invention relates to the technical field of robots, and discloses a charging control method and device of an inspection robot and the inspection robot. The target inspection area is provided with a plurality of charging base stations, and the charging control method comprises the steps: obtaining the remaining electric quantity of the inspection robot; when the residual electric quantity is smaller than or equal to a first electric quantity threshold value, the current position of the inspection robot is obtained; determining to-be-detected equipment according to the target inspection area; determining a target electric component of the inspection robot according to the to-be-detected equipment; determining a target charging base station according to the current position, the charging base station distribution information in the target inspection area and the target electric component; and controlling the inspection robot to move to the target charging base station for charging. The flexibility of a charging strategy can be improved, and the use experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, for example, to a charging control method and device for an inspection robot and an inspection robot. Background Art

[0002] Inspection robots are robot systems that integrate multiple advanced technologies and are used to automatically inspect specific areas or equipment. Existing inspection robots are usually equipped with batteries so that they can operate independently. However, due to size limitations, the battery capacity that an inspection robot can carry is limited. In order to ensure that the inspection robot can successfully complete its inspection tasks, timely power replenishment is essential.

[0003] The related technology discloses a wireless charging method for an inspection robot, wherein a plurality of wireless charging piles are arranged on the inspection path of the inspection robot, and the plurality of wireless charging piles are arranged in sequence along the length direction of the inspection route, and the position information of each wireless charging pile is pre-stored. The method includes: obtaining the position information of the inspection robot through a positioning module arranged on the inspection robot; obtaining the remaining power of the inspection robot, and judging whether the inspection robot needs to be charged in combination with the position information; if the inspection robot needs to be charged, selecting the wireless charging pile closest to the inspection robot from the plurality of wireless charging piles according to the position information of the inspection robot; setting the selected wireless charging pile as the target charging pile; and controlling the inspection robot to go to the target charging pile for charging according to the pre-stored driving route corresponding to the target wireless charging pile.

[0004] In the process of implementing the above embodiments, it is found that although the relevant technology can realize timely energy replenishment, it only controls the inspection robot to go to the nearest wireless charging station for charging when the inspection robot needs to be charged, which has low flexibility. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] The embodiments of the present disclosure provide a charging control method and device for an inspection robot, and an inspection robot, which can improve the flexibility of the charging strategy and enhance the user experience.

[0007] In some embodiments, a charging control method for a patrol robot is provided, and a target patrol area is provided with a plurality of charging base stations, the charging control method comprising: obtaining the remaining power of the patrol robot; when the remaining power is less than or equal to a first power threshold, obtaining the current position of the patrol robot; determining a device to be detected according to the target patrol area; determining the target electrical components of the patrol robot according to the device to be detected; determining the target charging base station according to the current position, the distribution information of the charging base stations in the target patrol area, and the target electrical components; and controlling the patrol robot to move to the target charging base station for charging.

[0008] Optionally, the step of determining the target charging base station based on the current position, the charging base station distribution information in the target inspection area and the target electrical components includes: determining the first charging base station based on the charging base station distribution information; the first charging base station refers to a charging base station adjacent to the current position and located on the target inspection route according to the moving direction of the target inspection route from the current position; determining the target power consumption required to move to the first charging base station based on the target electrical components; and when the remaining power is greater than or equal to the target power consumption, using the first charging base station as the target charging base station.

[0009] Optionally, the step of determining the target power consumption required to move to the first charging base station based on the target power-consuming component includes: obtaining the power consumption rate of the target power-consuming component; and obtaining the target time required for the inspection robot to move from the current position to the first charging base station along the target inspection route; and determining the target power consumption based on the power consumption rate and the target time of the target power-consuming component.

[0010] Optionally, the step of determining the target charging base station based on the current position, the distribution information of charging base stations in the target inspection area and the target electrical components also includes: when the remaining power is less than the target power consumption, determining the movable distance based on the current position and the remaining power; determining a candidate charging base station based on the movable distance and the distribution information of the charging base stations; when the number of candidate charging base stations is one, taking the candidate charging base station as the target charging base station; when the number of candidate charging base stations is multiple, determining the target charging base station based on the locations of multiple candidate charging base stations and the target inspection route.

[0011] Optionally, the step of determining the target charging base station based on the locations of multiple candidate charging base stations and the target inspection route includes: correcting the target inspection route according to the location of each candidate charging base station to obtain multiple candidate inspection routes; calculating the similarity value between each candidate inspection route and the target inspection route; and taking the candidate charging base station corresponding to the candidate inspection route with the largest similarity value as the target charging base station.

[0012] Optionally, when the remaining power is less than the target power consumption, after controlling the inspection robot to move to the target charging base station for charging, it also includes: stopping charging when the remaining power is greater than or equal to a second power threshold; correcting the target inspection route according to the location of the target charging base station; and controlling the inspection robot to move along the corrected target inspection route.

[0013] Optionally, the step of determining the target electrical components of the inspection robot based on the equipment to be inspected includes: obtaining operating parameters of the equipment to be inspected and environmental parameters of the target inspection area; determining the data to be collected for the equipment to be inspected based on the environmental parameters and operating parameters; and determining the target electrical components of the inspection robot based on the data to be collected.

[0014] Optionally, the charging base station is provided with a transmitting component, and the inspection robot includes a receiving component; the step of controlling the inspection robot to move to the target charging base station for charging includes: controlling the inspection robot to move to the target charging base station, and obtaining feedback information from the inspection robot that the transmitting component and the receiving component are successfully docked; after obtaining the feedback information, controlling the transmitting component to turn on the power so that the receiving component generates current; and receiving the current generated by the receiving component to charge the inspection robot.

[0015] Optionally, the charging control method also includes: when the remaining power is greater than a first power threshold, determining the execution power components of the inspection robot according to the remaining power; the execution power components include target power components; obtaining the power difference between the remaining power and the first power threshold; determining the operating parameters of each execution power component according to the power difference, and controlling each execution power component to operate according to the corresponding operating parameters.

[0016] Optionally, the step of determining the execution electrical components of the inspection robot based on the remaining power includes: when the remaining power is greater than a first power threshold and less than or equal to a third power threshold, determining the execution electrical components of the inspection robot as target electrical components; when the remaining power is greater than the third power threshold and less than the second power threshold, determining the execution electrical components of the inspection robot as second electrical components; when the remaining power is greater than or equal to the second power threshold, determining the execution electrical components of the inspection robot as first electrical components; wherein the first electrical components and the second electrical components both include target electrical components, and the number of components in the first electrical components is greater than the number of components in the second electrical components, and the number of components in the second electrical components is greater than the number of components in the target electrical components.

[0017] Optionally, the charging control method further includes: acquiring a power consumption rate of each execution component; and when the power consumption rate of the execution component is abnormal, restarting the execution component and reacquiring the power consumption rate.

[0018] Optionally, when the power consumption rate of the executing component is abnormal, it also includes: calculating the number of restarts; when the number of restarts is greater than the number threshold and the executing component is a target power-consuming component, controlling the inspection robot to output a warning message; when the number of restarts is greater than the number threshold and the executing component is a non-target power-consuming component, shutting down the non-target power-consuming component.

[0019] In some embodiments, a charging control device for an inspection robot is provided, including: a first module, configured to obtain the remaining power of the inspection robot; a second module, configured to obtain the current position of the inspection robot when the remaining power is less than or equal to a first power threshold; a third module, configured to determine the equipment to be detected according to the target inspection area; a fourth module, configured to determine the target electrical components of the inspection robot according to the equipment to be detected; a fifth module, configured to determine the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area, and the target electrical components; a sixth module, configured to control the inspection robot to move to the target charging base station for charging.

[0020] In some embodiments, a charging control device for an inspection robot is provided, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the charging control method for the inspection robot as described in the above embodiments when running the program instructions.

[0021] In some embodiments, a patrol robot is provided, comprising: a robot body; and a control device of the patrol robot as described in the above embodiments, installed on the robot body.

[0022] The charging control method, device, and inspection robot provided by the embodiments of the present disclosure can achieve the following technical effects:

[0023] The disclosed embodiment can comprehensively consider the current position of the inspection robot, the distribution information of the charging base stations in the target inspection area, and the target electrical components to determine the target charging base station, and make charging decisions based on the actual needs of the inspection robot (such as the target electrical components) and the distribution information of the charging base stations. Compared with the related art, the disclosed embodiment can consider the actual needs of the inspection robot based on the current position, the distribution information of the charging base stations, and the target electrical components, and flexibly determine the target charging base station, thereby avoiding unnecessary energy waste, extending the battery life of the inspection robot, and making the charging strategy more flexible, thereby improving the user experience.

[0024] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0026] Figure 1 is a schematic diagram of the structure of an inspection robot provided by an embodiment of the present disclosure;

[0027] Figure 2 yes Figure 1 A schematic diagram of a portion of the structure of the inspection robot in the illustrated embodiment;

[0028] Figure 3 is a schematic diagram of an inspection robot provided by an embodiment of the present disclosure deployed on a tubular belt transport system and a track;

[0029] Figure 4 is a schematic diagram of a charging control method for an inspection robot provided by an embodiment of the present disclosure;

[0030] Figure 5 is a schematic diagram of a charging control method for an inspection robot provided by another embodiment of the present disclosure;

[0031] Figure 6 is a schematic diagram of a charging control method for an inspection robot provided by another embodiment of the present disclosure;

[0032] Figure 7 is a schematic diagram of a charging control device for an inspection robot provided by an embodiment of the present disclosure;

[0033] Figure 8 It is a schematic diagram of a charging control device for an inspection robot provided in another embodiment of the present disclosure.

[0034] Reference numerals:

[0035] 10 inspection robot; 100 robot body; 101 box; 410 walking wheel; 514 positioning antenna; 510 proximity switch; 511 electromagnetic switch; 512 photoelectric switch; 703 receiving component;

[0036] 70 a charging control device of the inspection robot; 710 a first module; 720 a first module; 730 a first module; 740 a first module; 750 a first module; 760 a first module; 770 a first module;

[0037] 80 a charging control device of the inspection robot; 800 a processor; 801 a memory; 802 a communication interface; 803 a bus; 50 a tubular belt transport device; 424 a track; 503 a positioning member. DETAILED DESCRIPTION

[0038] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0039] The terms "first", "second", etc. in the specification and claims of the embodiments 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 terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0040] Unless otherwise stated, the term "plurality" means two or more.

[0041] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0042] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A, B, A and B.

[0043] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0044] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0045] Combination Figure 1 As shown, the embodiment of the present disclosure provides an inspection robot 10, including a robot body 100 and a charging control device 120 (130) of the inspection robot. The charging control device 120 (130) of the inspection robot is installed on the robot body 100.

[0046] In the disclosed embodiment, the charging control device 120 (130) of the inspection robot is installed on the robot body 100. The installation relationship described here is not limited to placement inside the robot body 100, but also includes installation connections with other components of the inspection robot 10, including but not limited to physical connections, electrical connections, or signal transmission connections. It can be understood by those skilled in the art that the charging control device 120 (130) of the inspection robot can be adapted to a feasible inspection robot 10, thereby realizing other feasible embodiments.

[0047] Alternatively, if Figure 1 As shown, the robot body 100 includes a box body 101 and running wheels 410. The running wheels 410 are arranged at the bottom of the box body 101 along the height direction of the inspection robot 10. The cruise control device 120 (130) of the inspection robot is arranged in the box body 101.

[0048] Alternatively, if Figure 1 As shown, the robot body 100 further includes a positioning antenna 514 and a proximity switch 510. The positioning antenna 514 is arranged at the top of the box 101 along the height direction of the inspection robot 10. The proximity switch 510 and the walking wheel 410 are arranged at the bottom of the box 101 at intervals along the height direction of the inspection robot 10.

[0049] Alternatively, if Figure 2 As shown, the proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512. The electromagnetic switch 511 and the photoelectric switch 512 are arranged at a distance from each other at the bottom of the box 101.

[0050] Alternatively, if Figure 1 As shown, the inspection robot 10 further includes a receiving component 703. The receiving component 703 is disposed in the box body and is used to cooperate with the transmitting component (not shown in the figure) to charge the inspection robot.

[0051] Optionally, the charging control device 120 (130) of the inspection robot includes a processor. The processor can obtain the remaining power of the inspection robot; can obtain the current position of the inspection robot when the remaining power is less than or equal to the first power threshold; can determine the equipment to be detected according to the target inspection area; can determine the target electrical components of the inspection robot according to the equipment to be detected; can determine the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area and the target electrical components; can control the inspection robot to move to the target charging base station for charging.

[0052] In some embodiments, a plurality of charging base stations (not shown in the figure) are arranged in the target inspection area. Figure 1 The inspection robot 10 shown in the figure, the present disclosure embodiment provides a charging control method for the inspection robot, such as Figure 4 As shown, the charging control method includes:

[0053] S401, the processor obtains the remaining power of the inspection robot.

[0054] S402: When the remaining power is less than or equal to a first power threshold, the processor obtains the current position of the inspection robot.

[0055] S403: The processor determines the device to be inspected according to the target inspection area.

[0056] In this step, the target inspection area refers to a specific geographical or spatial range that needs to be inspected. The specific geographical or spatial range can be a factory workshop, a section of road, a building complex, or any other place that needs to be monitored and maintained. For example, Figure 3 As shown, when the inspection robot 10 in the embodiment of the present disclosure is deployed in a tubular belt conveyor system, the target inspection area may be a factory where the tubular belt conveyor equipment 50 is located. The equipment to be inspected refers to equipment that needs to be inspected in the target inspection area.

[0057] S404: The processor determines the target electrical components of the inspection robot according to the equipment to be inspected.

[0058] In this step, the target electrical components refer to the electrical components that the inspection robot must operate when performing the inspection task according to the inspection requirements of the equipment to be inspected.

[0059] S405: The processor determines a target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area, and the target electrical components.

[0060] S406, the processor controls the inspection robot to move to the target charging base station for charging.

[0061] The charging control method for the inspection robot provided by the embodiment of the present disclosure can comprehensively consider the current position of the inspection robot, the distribution information of the charging base stations in the target inspection area, and the target electrical components to determine the target charging base station, and make charging decisions based on the actual needs of the inspection robot (such as the target electrical components) and the distribution information of the charging base stations. Compared with the related art, the embodiment of the present disclosure can consider the actual needs of the inspection robot based on the current position, the distribution information of the charging base stations, and the target electrical components, and flexibly determine the target charging base station, thereby avoiding unnecessary energy waste, extending the battery life of the inspection robot, and making the charging strategy more flexible, thereby improving the user experience.

[0062] In some embodiments, the first power threshold may be set by a technician based on pre-experimental testing of actual product equipment.

[0063] In some embodiments, the first power threshold is determined in the following manner: the current executing power components and the current position of the inspection robot are obtained; the first power consumption and the second power consumption required by the inspection robot are determined according to the current executing power components of the inspection robot; the first power consumption refers to the power consumption required for the inspection robot to move from the current position to the detection point adjacent to the current position on the target inspection route in the moving direction of the target inspection route when the current executing power components are running; the second power consumption refers to the power consumption required for the inspection robot to move from the current position to the charging base station adjacent to the current position on the target inspection route in the moving direction of the target inspection route when the current executing power components are running; when the first power consumption is greater than or equal to the second power consumption, the value of the first power consumption is used as the first power threshold; when the first power consumption is less than the second power consumption, the value of the second power consumption is used as the first power threshold.

[0064] In this embodiment, the first power consumption required for the inspection robot to move from the current position to the next detection point adjacent to the current position on the target inspection route according to the moving direction of the target inspection route when the current execution power component is running can be obtained respectively, and the second power consumption required for the inspection robot to move from the current position to the next charging base station adjacent to the current position on the target inspection route when the current execution power component is running can be obtained respectively. Compare the first power consumption and the second power consumption. If the first power consumption is greater than or equal to the second power consumption, it means that the energy consumption of continuing to go to the next detection point is higher, and the value of the first power consumption is used as the first power threshold. If the first power consumption is less than the second power consumption, it means that the energy consumption of going to the next charging base station is higher, and the value of the second power consumption is used as the first power threshold. In the embodiment of the present disclosure, by using the value of the power consumption with higher energy consumption as the first power threshold, it is ensured that the inspection robot can make a timely judgment on the remaining power, and reduce the situation where the inspection robot is interrupted due to insufficient power during the task execution, thereby improving the continuity and reliability of the inspection operation. In addition, in the embodiment of the present disclosure, by dynamically determining the first power threshold based on the current power-consuming components, the current location, and the distribution of inspection points and charging base stations on the target inspection route, it can better adapt to different inspection scenarios and task requirements, and improve the reliability of the inspection robot and the user experience.

[0065] In this embodiment, the specific steps of determining the first power consumption and the second power consumption required by the inspection robot according to the current power consumption components of the inspection robot refer to the steps of determining the target power consumption required to move to the first charging base station according to the target power consumption components described in the following embodiment, and will not be repeated here.

[0066] Optionally, the step of obtaining the current position of the inspection robot includes: obtaining positioning information of the inspection robot in the target inspection area; and obtaining the moving distance of the inspection robot; and determining the current position of the inspection robot in the target inspection area based on the positioning information and the moving distance.

[0067] In this embodiment, the positioning information of the inspection robot in the target inspection area and the movement distance of the inspection robot can be obtained in real time, and then the current position of the inspection robot in the target inspection area can be determined by combining the positioning information and the movement distance, so as to achieve accurate acquisition of the current position of the inspection robot and improve the positioning accuracy of the inspection robot. By improving the positioning accuracy of the inspection robot, it is possible to determine whether the inspection robot deviates from the target inspection route, and correct it in time when it deviates from the route, so as to ensure that the inspection robot can accurately move along the target inspection route, thereby improving the inspection efficiency and effectiveness.

[0068] In some embodiments, Figure 1 As shown, a plurality of wireless base stations (not shown in the figure) are arranged in the target inspection area, and the inspection robot 10 includes a positioning antenna 514 which is communicatively connected to the wireless base station. The step of obtaining the positioning information of the inspection robot in the target inspection area includes: controlling the positioning antenna to send a positioning request to the wireless base station; and receiving the positioning information fed back by the wireless base station based on the positioning request.

[0069] In this embodiment, when the inspection robot needs to obtain its own positioning information, the positioning antenna is controlled to send a positioning request to a nearby wireless base station. The positioning request contains the unique identifier of the inspection robot, timestamp and other necessary information so that the wireless base station can correctly identify and respond to the request. After receiving the positioning request, the wireless base station will calculate the location information of the inspection robot based on the location information of the wireless base station, the communication delay with the inspection robot, the signal strength and other parameters, and send the location information as positioning information feedback to the inspection robot, so that the inspection robot can obtain its own position in the target inspection area. In this embodiment, the inspection robot can send a positioning request to the wireless base station in real time and quickly receive the positioning information fed back by the base station. This real-time performance improves the response speed and inspection efficiency of the inspection robot.

[0070] In some embodiments, Figure 1 and Figure 2 As shown, a plurality of positioning members 503 are provided in the target inspection area, and the inspection robot 10 includes a proximity switch 510. The step of obtaining the positioning information of the inspection robot in the target inspection area includes: obtaining feedback information of successful docking with the positioning member fed back by the proximity switch; and generating the positioning information of the inspection robot according to the feedback information.

[0071] In this embodiment, a plurality of positioning members are provided in the target inspection area. When the inspection robot moves to a certain positioning member and the proximity switch docks with the positioning member, the proximity switch detects the presence of the positioning member and triggers the switch, and then outputs feedback information indicating successful docking. The feedback information may be an electrical signal, a digital signal, or a signal in other forms to indicate that the inspection robot has successfully docked with the positioning member. After receiving the feedback information output by the proximity switch, the inspection robot converts the feedback information into specific positioning information to characterize the position information of the inspection robot in the target inspection area. This embodiment, based on the physical docking of the proximity switch and the positioning member, does not require complex communication protocols or algorithm support, is simple and reliable, is not easily affected by environmental interference, and can ensure the accuracy and stability of the positioning information.

[0072] In a specific application, a marker, such as a QR code, an RFID (Radio Frequency Identification) tag, etc., is attached to the positioning member 503, and the QR code or RFID tag records the position information of the positioning member 503 in the target inspection area. The proximity switch 510 includes an encoder, which is used to identify the marker attached to the positioning member 503 when the proximity switch 510 is docked with the positioning member 503, so as to obtain the position information recorded in the marker as the positioning information of the inspection robot 10.

[0073] In a specific application, a plurality of positioning members 503 are arranged at a preset spacing. When the proximity switch 510 is docked with the positioning member 503, a feedback message indicating successful docking is output. The moving distance of the inspection robot 10 is obtained by recording the number of times the feedback message is received and calculating the product of the number of feedback messages and the preset spacing. After obtaining the moving distance of the inspection robot 10, the position coordinates of the inspection robot 10 in the target inspection area can be calculated as the positioning information of the inspection robot 10 according to the moving distance and the target inspection route. The specific steps of calculating the position coordinates of the inspection robot in the target inspection area according to the moving distance and the target inspection route refer to the steps of calculating the second position coordinates of the inspection robot in the target inspection area according to the moving distance and the target inspection route in the following embodiment, which will not be repeated here.

[0074] Alternatively, if Figure 2 As shown, the proximity switch 510 includes an electromagnetic switch 511 and a photoelectric switch 512. The step of determining whether the proximity switch and the positioning member are successfully docked includes: obtaining the current value and current direction fed back by the electromagnetic switch; and obtaining the distance value fed back by the photoelectric switch; when the distance value is less than the distance threshold and the current value is greater than the current threshold, or when the distance value is less than the distance threshold and the current direction changes, determining that the proximity switch and the positioning member are successfully docked.

[0075] In this embodiment, the proximity switch includes an electromagnetic switch and a photoelectric switch. The electromagnetic switch works on the principle of electromagnetic induction. When approaching a metal object (positioning piece), an eddy current effect is generated, thereby triggering the switch action. The photoelectric switch detects the presence and distance of the positioning piece by emitting and receiving light beams.

[0076] When the electromagnetic switch approaches the positioning part and docks with the positioning part, the electromagnetic switch triggers electromagnetic induction and generates current. As the docking area gradually increases, the current value gradually increases. When the docking area is the largest, the current value also reaches the maximum value. Then the electromagnetic switch begins to move away from the positioning part, the docking area begins to decrease, and the direction of the current changes. Therefore, it is possible to determine whether it is close to the positioning part and the degree of docking by obtaining the current value and current direction fed back by the electromagnetic switch. The photoelectric switch emits a light beam and receives the reflected light beam, and calculates the distance value to the positioning part by measuring the round-trip time of the light beam. When the photoelectric switch begins to dock with the positioning part, the distance value fed back by the photoelectric switch becomes smaller.

[0077] In this embodiment, a distance threshold and a current threshold are pre-set as conditions for judging whether the docking is successful. When the distance value is less than the distance threshold and the current value is greater than the current threshold, or the distance value is less than the distance threshold and the current direction changes, it is considered that the proximity switch and the positioning member are successfully docked. In this embodiment, two types of proximity switches, electromagnetic switches and photoelectric switches, are combined to ensure the accuracy of successful docking through double detection. In addition, the embodiment of the present disclosure adopts two independent detection conditions to judge whether the docking is successful, namely, the distance value is less than the distance threshold and the current value is greater than the current threshold, or the distance value is less than the distance threshold and the current direction changes. Such multiple judgment conditions improve the reliability of the judgment and reduce the possibility of misjudgment and missed judgment.

[0078] In some embodiments, the positioning information fed back by the wireless base station based on the positioning request is defined as the first position information, and the positioning information of the inspection robot generated according to the feedback information of successful docking with the positioning member fed back by the proximity switch is defined as the second position information. Then the step of obtaining the positioning information of the inspection robot in the target inspection area includes: determining the positioning information of the inspection robot in the target inspection area according to the first position information and the second position information.

[0079] In this embodiment, the wireless base station and the proximity switch are used simultaneously to obtain the position information of the inspection robot. By combining the positioning information of the wireless base station and the proximity switch to integrate the advantages of both, the positioning accuracy of the inspection robot is improved.

[0080] Optionally, the step of determining the positioning information of the inspection robot in the target inspection area based on the first position information and the second position information includes: converting the first position information into the fourth position coordinates of the inspection robot in the target inspection area; converting the second position information into the fifth position coordinates of the inspection robot in the target inspection area; calculating the average value or weighted average value of the first position coordinates and the second position coordinates to obtain the first position coordinates; and using the first position coordinates as the current position of the inspection robot in the target inspection area.

[0081] In this embodiment, the first position coordinate is obtained by converting the first position information and the second position information into the fourth position coordinate and the fifth position coordinate of the inspection robot in the target inspection area, respectively, and then performing an average value or a weighted average value calculation. The average value calculation is to add the corresponding components of the fourth position coordinate and the fifth position coordinate and divide by 2, and the weighted average value calculation is to assign different weights according to the reliability or importance of the two coordinates, and then perform a weighted average. The first position coordinate obtained after performing the average value or the weighted average value calculation is used as the current position of the inspection robot, which realizes the fusion of the first position information and the second position information and improves the positioning accuracy of the inspection robot.

[0082] In some embodiments, Figure 1 and Figure 2 As shown, the inspection robot 10 includes a running wheel 410. The step of obtaining the moving distance of the inspection robot includes: obtaining the wheel diameter and the number of rotations of the running wheel; and determining the moving distance of the inspection robot according to the wheel diameter and the number of rotations.

[0083] In this embodiment, the number of rotations can be monitored and recorded by an encoder or sensor that is communicatively connected to the running wheel. After obtaining the wheel diameter and the number of rotations, the moving distance of the inspection robot can be calculated based on the wheel diameter and the number of rotations. Specifically, the moving distance = wheel diameter × π × number of rotations to accurately reflect the actual distance of the inspection robot during movement. The wheel diameter and the number of rotations are stable physical quantities. The method of calculating the moving distance based on the wheel diameter and the number of rotations has high stability, reliability and accuracy. In addition, since the wheel diameter and the number of rotations of the running wheel can be monitored in real time, the real-time performance is better.

[0084] In some embodiments, in combination Figure 1 and Figure 2 As shown, when there are multiple running wheels 410 and the multiple running wheels 410 are the same, it is sufficient to obtain the wheel diameter and the number of rotations of one of the running wheels 410 .

[0085] Optionally, the step of determining the current position of the inspection robot in the target inspection area based on the positioning information and the moving distance includes: converting the positioning information into the first position coordinates of the inspection robot in the target inspection area; calculating the second position coordinates of the inspection robot in the target inspection area based on the moving distance and the target inspection route; calculating the average or weighted average of the first position coordinates and the second position coordinates to obtain the third position coordinates; and using the third position coordinates as the current position of the inspection robot in the target inspection area.

[0086] In this embodiment, the first position coordinate and the second position coordinate are averaged or weighted averaged to fuse the obtained positioning information and the moving distance, and the third position coordinate is accurately obtained, that is, the current position of the inspection robot in the target inspection area is accurately obtained. By combining the positioning information and the moving distance to calculate the current position of the inspection robot, the accuracy of the positioning of the inspection robot is improved, so as to determine whether the inspection robot deviates from the target inspection route, and correct it in time when it deviates from the route, so as to ensure that the inspection robot can accurately move according to the target inspection route, and improve the inspection efficiency and effectiveness.

[0087] Optionally, the step of calculating the second position coordinates of the inspection robot in the target inspection area based on the moving distance and the target inspection route includes: obtaining the starting position coordinates of the inspection robot; calculating the second position coordinates of the inspection robot in the target inspection area based on the starting position coordinates, the moving distance and the target inspection route.

[0088] In this embodiment, when the starting position coordinates, moving distance and target inspection route of the inspection robot are known, the second position coordinates of the inspection robot in the target inspection area can be calculated through path planning and navigation algorithms (such as Dijkstra algorithm, fast random exploration tree algorithm, dynamic window method, etc.), so as to achieve accurate acquisition of the second position coordinates.

[0089] Optionally, the target inspection route is determined in the following manner: the target inspection route is determined according to the target inspection area. The target inspection route refers to a pre-planned or dynamically generated inspection path in the target inspection area according to inspection requirements (such as inspection point distribution, obstacle location, equipment distribution, etc.). The target inspection route is intended to ensure that the inspection robot can fully and completely cover all inspection points and complete the inspection task.

[0090] In some embodiments, a target inspection route is pre-planned in the target inspection area. In an actual application, different inspection routes are pre-planned in different inspection areas. Then, the step of determining the target inspection route according to the target inspection area includes: using the inspection route corresponding to the target inspection area as the target inspection route. Figure 3As shown, when the inspection robot 10 is deployed on the track 242, the target inspection route is the distribution route of the track 424 in the target inspection area. Then, according to the target inspection area, the steps of determining the target inspection route include: obtaining the distribution route of the track in the target inspection area, and using the distribution route of the track as the target inspection route.

[0091] In this embodiment, by pre-planning the inspection route corresponding to the inspection area, or taking the distribution route of the track in the target inspection area as the target inspection route, the target inspection route can be quickly acquired, the response speed of the inspection robot is improved, and thus the inspection efficiency of the inspection robot is improved.

[0092] In some embodiments, the step of determining a target inspection route according to a target inspection area includes: obtaining an equipment layout diagram of the target inspection area; and generating a target inspection route of the inspection robot according to the equipment layout diagram.

[0093] In this embodiment, the equipment layout diagram refers to a drawing that details all the equipment, facilities and their relative positions in the target inspection area. The equipment layout diagram can be obtained by the technician through input from an electronic device that is connected to the inspection robot for communication, or by using modern technology (such as drone aerial photography, laser scanning, etc.) to generate a three-dimensional model, and extract the equipment layout information from it to obtain the equipment layout diagram. By obtaining the equipment layout diagram of the target inspection area, this embodiment can accurately understand the distribution and relative position of the equipment in the area, thereby generating a more accurate inspection route, so that the inspection robot can follow each checkpoint of the target inspection route to avoid omissions or misjudgments. In addition, this embodiment can dynamically and autonomously generate the target inspection route of the inspection robot based on the equipment layout diagram, thereby improving the autonomy and intelligence of the inspection robot.

[0094] Optionally, the step of generating a target inspection route for the inspection robot based on the equipment layout diagram includes: obtaining operating parameters of the equipment and environmental parameters of the target inspection area; determining the target detection device based on the environmental parameters and operating parameters; and generating the target inspection route for the inspection robot based on the position coordinates of the target detection device in the equipment layout diagram.

[0095] In this embodiment, the target detection equipment refers to the equipment distributed in the target inspection area that the inspection robot needs to detect. The equipment operation parameters refer to the parameters that reflect the operation status, performance and health of the equipment, including but not limited to the current, voltage, temperature, vibration, working time, number of historical failures, etc. of the equipment. The environmental parameters of the target inspection area refer to the parameters that have an important impact on the working effect, stable operation and performance of the electrical components of the equipment, including but not limited to temperature, humidity, light intensity, vibration, electromagnetic interference, etc.

[0096] Different environmental parameters and operating parameters will have an impact on the failure probability of the equipment. For example, too high or too low temperature will cause equipment performance degradation or failure. For example, equipment that continues to work at high temperatures is prone to damage due to overheating, while low temperatures will cause certain parts of the equipment to become fragile; excessive humidity can cause internal corrosion or short circuits in the equipment; continuous vibration can cause loose connections or wear of parts inside the equipment, increasing the risk of failure; strong electromagnetic fields can interfere with the normal operation of the equipment, causing communication failures or data errors; equipment with long working hours is prone to failure due to wear or aging; equipment with a high number of historical failures and frequent failures has design defects or improper maintenance problems, and has a higher probability of failure.

[0097] In this embodiment, a relationship mapping table between environmental parameters and operating parameters and equipment failure probability is pre-saved, and the relationship mapping table is used to reflect the impact of environmental parameters and operating parameters on equipment failure probability. By comparing different equipment operating parameters and environmental parameters, equipment that is in a high-risk state and more prone to failure (such as equipment whose failure probability exceeds a preset failure probability threshold) is identified, so that the equipment that is in a high-risk state and more prone to failure is determined as a target detection device. After determining the target detection device, refer to the equipment layout diagram, obtain the position coordinates of the target detection device in the target inspection area as the detection point, and use a path planning algorithm (such as a breadth-first search algorithm, a Dijkstra algorithm, an ant colony algorithm, etc.) to generate a target inspection route to ensure that the inspection robot can efficiently cover all target detection devices, i.e., detection points, while avoiding unnecessary duplication and omissions.

[0098] Combination Figure 5 As shown, the embodiment of the present disclosure provides another charging control method of an inspection robot, comprising:

[0099] S501, the processor obtains the remaining power of the inspection robot.

[0100] S502: When the remaining power is less than or equal to a first power threshold, the processor obtains the current position of the inspection robot.

[0101] S503: The processor determines the device to be inspected according to the target inspection area.

[0102] S504: The processor obtains operating parameters of the device to be detected and environmental parameters of the target inspection area.

[0103] In this step, the operating parameters of the equipment to be tested refer to the parameters that reflect the operating status and health of the equipment, including but not limited to the current, voltage, temperature, vibration, etc. of the equipment. The environmental parameters of the target inspection area refer to the parameters that have an important impact on the working effect, stable operation and performance of the electrical components of the equipment, including but not limited to temperature, humidity, light intensity, vibration, electromagnetic interference, etc.

[0104] S505: The processor determines the data to be collected of the device to be detected according to the environmental parameters and the operating parameters.

[0105] Different environmental parameters and operating parameters will have an impact on the failure probability of the equipment. For details, please refer to the above embodiments. In this step, a relationship mapping table between environmental parameters, operating parameters and equipment failure probability is pre-saved. The relationship mapping table is used to reflect the impact of environmental parameters and operating parameters on the equipment failure probability. According to the environmental parameters and operating parameters, the system analyzes the potential problems and concerns of the equipment to be detected, so as to determine the type of data that needs to be collected. For example, if the equipment continues to work at high temperature, it is easy to be damaged due to overheating. If the temperature of the equipment rises abnormally, the temperature data is collected. At this time, the data to be collected is temperature; if the equipment vibrates abnormally, the vibration data is collected, and the data to be collected is vibration frequency; if the humidity is too high, it will cause internal corrosion or short circuit of the equipment, and the data to be collected is humidity, etc.

[0106] S506: The processor determines the target electrical components of the inspection robot based on the data to be collected.

[0107] In this step, the target electrical components that the inspection robot needs to use are determined according to the needs of the data to be collected. For example, if high-definition images need to be collected to detect appearance defects or wear of the equipment, the target electrical components include cameras; if temperature collection is required, the target electrical components include infrared thermal imagers.

[0108] S507, the processor determines the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area, and the target electrical components.

[0109] S508, the processor controls the inspection robot to move to the target charging base station for charging.

[0110] The charging control method of the inspection robot provided in the embodiment of the present disclosure can determine the target electrical components according to the operating parameters of the equipment to be detected and the environmental parameters of the target inspection area, and accurately determine the target electrical components according to the actual needs of the equipment to be detected and the environmental conditions of the target inspection area, ensuring that the inspection robot uses the most suitable electrical components to complete the inspection task, thereby improving the accuracy and efficiency of the inspection. The embodiment of the present disclosure avoids unnecessary energy waste and component wear by accurately matching the data to be collected with the target electrical components, thereby extending the service life of the inspection robot and reducing maintenance costs. At the same time, by dynamically adjusting the target electrical components to meet different inspection needs, flexibility and scenario applicability are higher.

[0111] Combination Figure 6 As shown, the embodiment of the present disclosure provides another charging control method of an inspection robot, comprising:

[0112] S601, the processor obtains the remaining power of the inspection robot.

[0113] S602: When the remaining power is less than or equal to a first power threshold, the processor obtains the current position of the inspection robot.

[0114] S603: The processor determines the device to be inspected according to the target inspection area.

[0115] S604: The processor determines the target electrical components of the inspection robot according to the equipment to be inspected.

[0116] S605: The processor determines a first charging base station according to the charging base station distribution information.

[0117] In this step, the first charging base station refers to a charging base station located adjacent to the current position on the target inspection route according to the moving direction of the target inspection route from the current position.

[0118] S606: The processor determines a target power consumption required to move to the first charging base station according to the target power-consuming component.

[0119] Optionally, the step of determining the target power consumption required to move to the first charging base station based on the target power-consuming component includes: obtaining the power consumption rate of the target power-consuming component; and obtaining the target time required for the inspection robot to move from the current position to the first charging base station along the target inspection route; and determining the target power consumption based on the power consumption rate and the target time of the target power-consuming component.

[0120] In this embodiment, the power consumption rate of the target power-consuming component refers to the amount of electricity consumed by the target power-consuming component per unit time (such as per hour or per minute). The power consumption rate of the target power-consuming component can be obtained by actual measurement through the equipment manual, test report or test software carried by the inspection robot. The target time required for the inspection robot to move from the current position to the first charging base station according to the target inspection route can be calculated through path planning and navigation algorithms (such as Dijkstra algorithm, fast random exploration tree algorithm, dynamic window method, etc.). After obtaining the power consumption rate and target duration of the target power-consuming component, the target power consumption can be determined. The specific target power consumption = power consumption rate × target duration.

[0121] S607: When the remaining power is greater than or equal to the target power consumption, the processor uses the first charging base station as the target charging base station.

[0122] S608: When the remaining power is less than the target power consumption, the processor determines the movable distance according to the current position and the remaining power.

[0123] S609: The processor determines a candidate charging base station according to the movable distance and the charging base station distribution information.

[0124] S610: When the number of candidate charging base stations is one, the processor uses the candidate charging base station as a target charging base station.

[0125] S611: When there are multiple candidate charging base stations, the processor determines a target charging base station according to the locations of the multiple candidate charging base stations and the target inspection route.

[0126] Optionally, the step of determining the target charging base station based on the locations of multiple candidate charging base stations and the target inspection route includes: correcting the target inspection route according to the location of each candidate charging base station to obtain multiple candidate inspection routes; calculating the similarity value between each candidate inspection route and the target inspection route; and taking the candidate charging base station corresponding to the candidate inspection route with the largest similarity value as the target charging base station.

[0127] In this embodiment, the target inspection route can be corrected according to the location of each candidate charging base station, multiple candidate inspection routes are obtained, and then the similarity value between each candidate inspection route and the target inspection route is calculated. The similarity value can be calculated based on the degree of deviation of the inspection point using a specific algorithm such as Euclidean distance, Manhattan distance, cosine similarity, etc. After calculating the similarity values ​​of all candidate inspection routes, the candidate charging base station corresponding to the candidate inspection route with the largest similarity value is selected as the target charging base station to minimize the inspection route deviation and additional movement caused by charging, thereby optimizing the inspection efficiency. At the same time, it reduces interruptions and jumps during the inspection process, and maintains the continuity and consistency of the inspection.

[0128] In this embodiment, the process of correcting the target inspection route according to the location of each candidate charging base station can be understood as the process of adding detection points (the locations of candidate charging base stations) and regenerating the target inspection route. Therefore, the process of correcting the target inspection route according to the location of each candidate charging base station can refer to the process of generating the target inspection route in the above embodiment, which will not be repeated here.

[0129] S612: The processor controls the inspection robot to move to the target charging base station for charging.

[0130] The charging control method of the inspection robot provided in the embodiment of the present disclosure can first determine the target power consumption required for the inspection robot to move from the current position according to the moving direction of the target inspection route to the charging base station adjacent to the current position on the target inspection route according to the target power-consuming component. Compare the remaining power with the target power consumption. When the remaining power is greater than or equal to the target power consumption, that is, when the current remaining power of the inspection robot is sufficient to support the inspection robot to run the target power-consuming component, when moving from the current position according to the target inspection route to the charging base station adjacent to the current position, the first charging base station is used as the target charging base station, so that the inspection robot continues to move according to the target inspection route to perform the inspection task first, until the first charging base station is charged again. Compared with the related art, when the inspection robot needs to be charged, the inspection robot is directly controlled to go to the nearest wireless charging pile for charging, while ensuring that the inspection robot can be replenished with electric energy, the inspection always moves along the target inspection route to perform the inspection task, thereby improving the inspection efficiency.

[0131] The charging control method of the inspection robot provided by the embodiment of the present disclosure can calculate the distance that the inspection robot can still move, that is, the movable distance, according to the current position and the remaining power when the remaining power is less than the target power consumption, that is, when the current remaining power of the inspection robot is insufficient to support the inspection robot to run the target power-consuming components, when the inspection robot moves from the current position according to the target inspection route to the charging base station adjacent to the current position. Then, according to the distribution information of the charging base station, all charging base stations within the movable distance range are screened out as candidate charging base stations. These candidate charging base stations are potential charging points that the inspection robot can reach at the current power. If there is only one candidate charging base station, the candidate charging base station is directly determined as the target charging base station. If the number of candidate charging base stations is multiple, a decision is further made based on the locations of the multiple candidate charging base stations and the target inspection route, and an optimal candidate charging base station is determined as the target charging base station. By considering the remaining power and the movable distance, the embodiment of the present disclosure ensures that the inspection robot can safely reach a charging base station for charging when the power is insufficient, avoiding task interruption or robot failure caused by power exhaustion.

[0132] Optionally, when the remaining power is greater than or equal to the target power consumption, after controlling the inspection robot to move to the target charging base station for charging, the charging control method also includes: stopping charging when the remaining power is greater than or equal to a second power threshold; controlling the inspection robot to continue moving along the target inspection route.

[0133] In this embodiment, when the remaining power of the inspection robot is greater than or equal to the second power threshold, it is determined that the inspection robot is fully charged, then charging is stopped and the inspection robot is controlled to continue moving along the target inspection route to continue the inspection task.

[0134] Optionally, when the remaining power is less than the target power consumption, after controlling the inspection robot to move to the target charging base station for charging, the charging control method also includes: stopping charging when the remaining power is greater than or equal to a second power threshold; correcting the target inspection route according to the location of the target charging base station; and controlling the inspection robot to move along the corrected target inspection route.

[0135] In this embodiment, when the remaining power of the inspection robot is greater than or equal to the second power threshold, it is determined that the inspection robot has completed charging, then charging is stopped, the target inspection route is corrected, and the inspection robot is controlled to continue moving along the corrected target inspection route to continue the inspection task.

[0136] In this embodiment, the process of correcting the target inspection route according to the location of the target charging base station can be understood as the process of adding detection points (the location of the target charging base station) and regenerating the target inspection route. Therefore, the process of correcting the target inspection route according to the location of the target charging base station can refer to the process of generating the target inspection route in the above embodiment, which will not be repeated here.

[0137] In this embodiment, the location of the target charging base station is the location of the candidate charging base station corresponding to the candidate inspection route with the largest similarity value. Therefore, the process of correcting the target inspection route according to the location of the target charging base station can be achieved by taking the candidate inspection route with the largest similarity value as the corrected target inspection route.

[0138] In some embodiments, the charging base station is provided with a transmitting component, and the inspection robot includes a receiving component 703. The step of controlling the inspection robot to move to the target charging base station for charging includes: controlling the inspection robot to move to the target charging base station, and obtaining feedback information from the inspection robot that the transmitting component and the receiving component are successfully docked; after obtaining the feedback information, controlling the transmitting component to turn on the power supply so that the receiving component generates current; receiving the current generated by the receiving component to charge the inspection robot.

[0139] In this embodiment, after the inspection robot moves to the target charging base station and determines that the transmitting component and the receiving component are successfully docked, the transmitting component on the charging base station is powered on. At this time, the transmitting component will emit an electromagnetic field, which interacts with the receiving component on the inspection robot, thereby generating current in the receiving component. The inspection robot is then charged by the current received by the receiving component, thereby realizing wireless charging of the inspection robot. In this embodiment, wireless docking charging technology is adopted, so that the inspection robot can complete charging without physical contact with the charging interface, which greatly improves the convenience, flexibility and charging efficiency of charging, quickly replenishes the power of the inspection robot, and ensures that the inspection robot can continue to perform tasks efficiently. At the same time, it reduces the problem of charging failure caused by wear and dust on the charging interface, and improves the charging reliability of the inspection robot.

[0140] In some embodiments, the positioning member is located around the charging base station and is arranged corresponding to the charging base station. The successful docking of the transmitting component and the receiving component is determined in the following manner: feedback information of successful docking with the positioning member fed back by the proximity switch is obtained; and according to the feedback information, the successful docking of the transmitting component and the receiving component is determined.

[0141] In this embodiment, the positioning member is arranged corresponding to the charging base station. When the proximity switch and the positioning member are successfully docked, it can be determined that the transmitting component and the receiving component are successfully docked, thereby realizing the successful identification of the docking of the transmitting component and the receiving component.

[0142] Optionally, the charging control method also includes: when the remaining power is greater than a first power threshold, determining the execution power components of the inspection robot according to the remaining power; the execution power components include target power components; obtaining the power difference between the remaining power and the first power threshold; determining the operating parameters of each execution power component according to the power difference, and controlling each execution power component to operate according to the corresponding operating parameters.

[0143] In this embodiment, the execution power-consuming components of the inspection robot can be determined according to the remaining power. The execution power-consuming components include the target power-consuming components and possible other auxiliary equipment. Then calculate the power difference between the remaining power and the first power threshold. The power difference reflects the power surplus of the inspection robot relative to the minimum safe power (i.e., the first power threshold) in the current power state. According to the power difference, the operating parameters of each execution power-consuming component are dynamically adjusted, such as the speed of the motor, the resolution of the camera, the sampling frequency of the sensor, etc., to adjust the power consumption of each execution power-consuming component, and determine an operating parameter combination that can meet the inspection requirements and save power as much as possible. Control each execution power-consuming component to operate according to the corresponding operating parameters, so that the inspection robot can extend the battery life as much as possible while ensuring the quality of the inspection. The embodiment of the present disclosure realizes the refined management of the power of the inspection robot by dynamically adjusting the operating parameters of the execution power-consuming components, which helps to maximize the battery life of the robot while ensuring the smooth completion of the inspection task, and improve the energy efficiency ratio of the inspection robot, that is, the amount of inspection tasks that can be completed per unit of power.

[0144] Optionally, the step of determining the execution electrical components of the inspection robot based on the remaining power includes: when the remaining power is greater than a first power threshold and less than or equal to a third power threshold, determining the execution electrical components of the inspection robot as target electrical components; when the remaining power is greater than the third power threshold and less than the second power threshold, determining the execution electrical components of the inspection robot as second electrical components; when the remaining power is greater than or equal to the second power threshold, determining the execution electrical components of the inspection robot as first electrical components; wherein the first electrical components and the second electrical components both include target electrical components, and the number of components in the first electrical components is greater than the number of components in the second electrical components, and the number of components in the second electrical components is greater than the number of components in the target electrical components.

[0145] In this embodiment, the remaining power of the inspection robot can be compared with the first power threshold, the second power threshold and the third power threshold, and the power components that need to be run can be determined in a graded manner according to the comparison results. Specifically, when the remaining power is greater than the first power threshold and less than or equal to the third power threshold, the execution power components of the inspection robot are determined to be target power components. The target power components are a set of basic components necessary to complete the current inspection task. When the remaining power is greater than the third power threshold and less than the second power threshold, the execution power components of the inspection robot are determined to be the second power components. The second power components are based on the target power components, and some auxiliary components are added to further improve the inspection effect or efficiency. When the remaining power is greater than or equal to the second power threshold, the execution power components of the inspection robot are determined to be the first power components. The first power components are a set containing the most components, which can support the inspection robot to perform the most complex and comprehensive inspection tasks.

[0146] It should be noted that the specific values ​​of the second power threshold and the third power threshold, and the specific types of the first power component and the second power component need to be set by technical personnel based on actual product equipment and inspection areas, and this application does not limit them.

[0147] Optionally, the charging control method further includes: acquiring a power consumption rate of each execution component; and when the power consumption rate of the execution component is abnormal, restarting the execution component and reacquiring the power consumption rate.

[0148] In this embodiment, the power consumption rate of each execution component can be obtained in real time during the inspection robot's inspection task. The power consumption rate refers to the amount of electricity consumed by each component per unit time, reflecting the working state and power consumption characteristics of the component. The obtained power consumption rate is then compared with a preset normal rate range. The normal rate range can be set according to factors such as the power consumption characteristics of the component, historical data, and task requirements. If the power consumption rate exceeds the normal rate range, it is determined to be a rate abnormality. When the power consumption rate of a certain execution component is detected to be abnormal, the component is restarted to restore the normal working state of the component and eliminate possible abnormal factors. After restarting, the power consumption rate of the component is obtained again to verify whether the restart is successful and whether the component has resumed normal working state. The disclosed embodiment monitors the power consumption rate of each execution component in real time and restarts it under abnormal circumstances so as to timely discover and deal with potential fault factors and improve the stability of the inspection robot.

[0149] Optionally, when the power consumption rate of the executing component is abnormal, it also includes: calculating the number of restarts; when the number of restarts is greater than the number threshold and the executing component is a target power-consuming component, controlling the inspection robot to output a warning message; when the number of restarts is greater than the number threshold and the executing component is a non-target power-consuming component, shutting down the non-target power-consuming component.

[0150] In this embodiment, when it is detected that the power consumption rate of a certain execution component is abnormal, the number of restarts of the component can be recorded. After each restart, if the power consumption rate is still abnormal, the number of restarts is increased by 1. The recorded number of restarts is compared with the preset number threshold. The number threshold can be set in advance by the technician according to the actual component. If the number of restarts exceeds the number threshold, and the execution component is a target power component (i.e., a basic component required to complete the current inspection task), the inspection robot is controlled to output a warning message to prompt the operator to pay attention and take corresponding treatment measures to avoid task interruption or failure. If the number of restarts exceeds the number threshold, but the execution component is a non-target power component (i.e., a non-essential auxiliary component or a performance-enhancing component), the component is automatically turned off to reduce unnecessary power consumption and avoid the overall system performance degradation that may be caused by component failure. In this embodiment, by recording the number of restarts and taking corresponding measures according to the number threshold, it is helpful to promptly discover and handle potential faulty components, thereby improving the reliability of the entire inspection robot system.

[0151] Combination Figure 7 As shown, the embodiment of the present disclosure provides a charging control device 70 for an inspection robot, including a first module 710, a second module 720, a third module 730, a fourth module 740, a fifth module 750 and a sixth module 760. The first module 710 is configured to obtain the remaining power of the inspection robot; the second module 720 is configured to obtain the current position of the inspection robot when the remaining power is less than or equal to the first power threshold; the third module 730 is configured to determine the equipment to be detected according to the target inspection area; the fourth module 740 is configured to determine the target electrical components of the inspection robot according to the equipment to be detected; the fifth module 750 is configured to determine the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area and the target electrical components; the sixth module 760 is configured to control the inspection robot to move to the target charging base station for charging.

[0152] The charging control device 70 for the inspection robot provided in the embodiment of the present disclosure can implement the charging control method for the inspection robot described in the above embodiment. Therefore, the technical effects possessed by the charging control method for the inspection robot described in the above embodiment are also possessed by the embodiment of the present disclosure and will not be repeated here.

[0153] Optionally, the fourth module 740 is also configured to obtain operating parameters of the device to be detected and environmental parameters of the target inspection area; determine the data to be collected of the device to be detected based on the environmental parameters and operating parameters; and determine the target electrical components of the inspection robot based on the data to be collected.

[0154] Optionally, the fifth module 750 is also configured to determine the first charging base station based on the charging base station distribution information; the first charging base station refers to a charging base station adjacent to the current position and located on the target inspection route according to the moving direction of the target inspection route from the current position; determine the target power consumption required to move to the first charging base station based on the target power-consuming components; when the remaining power is greater than or equal to the target power consumption, use the first charging base station as the target charging base station.

[0155] Optionally, the fifth module 750 is also configured to obtain the power consumption rate of the target power-consuming component; and obtain the target time required for the inspection robot to move from the current position to the first charging base station along the target inspection route; and determine the target power consumption based on the power consumption rate of the target power-consuming component and the target time.

[0156] Optionally, the fifth module 750 is also configured to determine the movable distance based on the current position and the remaining power when the remaining power is less than the target power consumption; determine the candidate charging base station based on the movable distance and the charging base station distribution information; when the number of candidate charging base stations is one, use the candidate charging base station as the target charging base station; when the number of candidate charging base stations is multiple, determine the target charging base station based on the locations of multiple candidate charging base stations and the target inspection route.

[0157] Optionally, the fifth module 750 is also configured to correct the target inspection route according to the location of each candidate charging base station to obtain multiple candidate inspection routes; calculate the similarity value between each candidate inspection route and the target inspection route; and take the candidate charging base station corresponding to the candidate inspection route with the largest similarity value as the target charging base station.

[0158] Optionally, the sixth module 760 is also configured to control the inspection robot to move to the target charging base station and obtain feedback information from the inspection robot that the transmitting component and the receiving component have successfully docked; after obtaining the feedback information, control the transmitting component to turn on the power so that the receiving component generates current; and accept the current generated by the receiving component to charge the inspection robot.

[0159] Optionally, the charging control device 70 of the inspection robot further includes a seventh module 770. The seventh module 770 is configured to stop charging when the remaining power is greater than or equal to the second power threshold; modify the target inspection route according to the location of the target charging base station; and control the inspection robot to move according to the modified target inspection route.

[0160] Optionally, the seventh module 770 is also configured to determine the execution power components of the inspection robot according to the remaining power when the remaining power is greater than the first power threshold; the execution power components include target power components; obtain the power difference between the remaining power and the first power threshold; determine the operating parameters of each execution power component according to the power difference, and control each execution power component to operate according to the corresponding operating parameters.

[0161] Optionally, the seventh module 770 is also configured to determine that the execution electrical component of the inspection robot is the target electrical component when the remaining power is greater than the first power threshold and less than or equal to the third power threshold; determine that the execution electrical component of the inspection robot is the second electrical component when the remaining power is greater than the third power threshold and less than the second power threshold; determine that the execution electrical component of the inspection robot is the first electrical component when the remaining power is greater than or equal to the second power threshold; wherein the first electrical component and the second electrical component both include target electrical components, and the number of components in the first electrical component is greater than the number of components in the second electrical component, and the number of components in the second electrical component is greater than the number of components in the target electrical component.

[0162] Optionally, the seventh module 770 is further configured to obtain the power consumption rate of each execution component; when the power consumption rate of the execution component is abnormal, the execution component is restarted and the power consumption rate is re-acquired.

[0163] Optionally, the seventh module 770 is also configured to calculate the number of restarts; when the number of restarts is greater than the number threshold and the executing component is a target power-consuming component, control the inspection robot to output a warning message; when the number of restarts is greater than the number threshold and the executing component is a non-target power-consuming component, shut down the non-target power-consuming component.

[0164] Combination Figure 8 As shown, an embodiment of the present disclosure provides a charging control device 80 for an inspection robot, including a processor 800 and a memory 801. Optionally, the device 80 may also include a communication interface 802 and a bus 803. Among them, the processor 800, the communication interface 802, and the memory 801 can communicate with each other through the bus 803. The communication interface 802 can be used for information transmission. The processor 800 can call the logic instructions in the memory 801 to execute the charging control method of the inspection robot of the above embodiment.

[0165] In addition, the logic instructions in the memory 801 described above can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0166] The memory 801 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 800 executes the function application and data processing by running the program instructions / modules stored in the memory 801, that is, the charging control method of the inspection robot in the above embodiment is implemented.

[0167] The memory 801 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 801 may include a high-speed random access memory and may also include a non-volatile memory.

[0168] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the charging control method of the inspection robot.

[0169] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0170] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0171] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0172] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0173] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment 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 the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. 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, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A charging control method for an inspection robot, characterized in that: The target inspection area is provided with multiple charging base stations, and the charging control method includes: Get the remaining power of the inspection robot; When the remaining power is less than or equal to the first power threshold, obtaining the current position of the inspection robot; Determine the equipment to be inspected based on the target inspection area; Determine the target electrical components of the inspection robot according to the equipment to be inspected; Determine the target charging base station according to the current location, the distribution information of the charging base stations in the target inspection area, and the target power-consuming components; Control the inspection robot to move to the target charging base station for charging.

2. The charging control method according to claim 1, characterized in that: The step of determining the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area, and the target power-consuming components includes: Determining a first charging base station according to the charging base station distribution information; Determining a target power consumption required to move to a first charging base station according to the target power-consuming component; When the remaining power is greater than or equal to the target power consumption, the first charging base station is used as the target charging base station.

3. The charging control method according to claim 2, characterized in that: The step of determining the target power consumption required for moving to the first charging base station according to the target power-consuming component includes: Obtaining a power consumption rate of a target power-consuming component; and Obtain the target time required for the inspection robot to move from the current position to the first charging base station according to the target inspection route; The target power consumption is determined based on the power consumption rate of the target power-consuming component and the target duration.

4. The charging control method according to claim 2, characterized in that: The step of determining the target charging base station according to the current position, the distribution information of the charging base stations in the target inspection area, and the target power-consuming components also includes: When the remaining power is less than the target power consumption, the movable distance is determined according to the current position and the remaining power; Determine candidate charging base stations based on the movable distance and the distribution information of charging base stations; When the number of candidate charging base stations is 1, the candidate charging base station is used as the target charging base station; When there are multiple candidate charging base stations, the target charging base station is determined according to the locations of the multiple candidate charging base stations and the target inspection route.

5. The charging control method according to claim 4, characterized in that: The steps of determining a target charging base station according to the locations of multiple candidate charging base stations and the target inspection route include: The target inspection route is corrected according to the location of each candidate charging base station to obtain multiple candidate inspection routes; Calculate the similarity value between each candidate inspection route and the target inspection route; The candidate charging base station corresponding to the candidate inspection route with the largest similarity value is used as the target charging base station.

6. The charging control method according to claim 4, characterized in that: When the remaining power is less than the target power consumption, after controlling the inspection robot to move to the target charging base station for charging, the method further includes: When the remaining power is greater than or equal to a second power threshold, stopping charging; According to the location of the target charging base station, the target inspection route is corrected; Control the inspection robot to move according to the corrected target inspection route.

7. The charging control method according to any one of claims 1 to 6, characterized in that: The steps of determining the target electrical components of the inspection robot according to the equipment to be inspected include: Obtain the operating parameters of the equipment to be tested and the environmental parameters of the target inspection area; Determine the data to be collected for the equipment to be tested based on environmental parameters and operating parameters; According to the data to be collected, the target electrical components of the inspection robot are determined.

8. The charging control method according to any one of claims 1 to 6, characterized in that: The charging base station is provided with a transmitting component, and the inspection robot includes a receiving component; the step of controlling the inspection robot to move to the target charging base station for charging includes: Control the inspection robot to move to the target charging base station and obtain feedback information from the inspection robot that the transmitting component and the receiving component are successfully docked; After obtaining the feedback information, the transmitting component is controlled to be powered on so that the receiving component generates current; Receive the current generated by the receiving component to charge the inspection robot.

9. The charging control method according to any one of claims 1 to 6, characterized in that: Also includes: When the remaining power is greater than the first power threshold, determining the execution power-consuming components of the inspection robot according to the remaining power; the execution power-consuming components include the target power-consuming components; Obtaining a power difference between the remaining power and a first power threshold; The operating parameters of each executing electrical component are determined according to the power difference, and each executing electrical component is controlled to operate according to the corresponding operating parameters.

10. The charging control method according to any one of claims 1 to 6, characterized in that: Also includes: Obtaining the power consumption rate of each execution component; When the power consumption rate of the execution component is abnormal, the execution component is restarted and the power consumption rate is re-acquired.

11. A charging control device for an inspection robot, characterized in that: include: The first module is configured to obtain the remaining power of the inspection robot; The second module is configured to obtain the current position of the inspection robot when the remaining power is less than or equal to the first power threshold; The third module is configured to determine the equipment to be inspected according to the target inspection area; The fourth module is configured to determine the target electrical components of the inspection robot according to the equipment to be inspected; A fifth module is configured to determine a target charging base station according to a current location, distribution information of charging base stations in a target inspection area, and a target power-consuming component; The sixth module is configured to control the inspection robot to move to the target charging base station for charging.

12. A charging control device for an inspection robot, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the charging control method for the inspection robot according to any one of claims 1 to 10 when running the program instructions.

13. A patrol robot, characterized in that: include: Robot body; The control device of the inspection robot as described in claim 11 or 12 is installed on the robot body.

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