Motion control method and device of inspection robot and inspection robot

Abstract

The invention relates to the technical field of robots, and discloses a motion control method and device of an inspection robot and the inspection robot. The motion control method comprises the following steps: determining to-be-detected equipment and a target inspection route according to a target inspection area; acquiring the current position and the residual electric quantity of the inspection robot; determining a target moving direction of the inspection robot according to the current position and the target inspection route; determining a target moving speed of the inspection robot according to the residual electric quantity and the to-be-detected equipment; and controlling the inspection robot to move according to the target moving direction and the target moving speed. Energy can be saved, and the working time of the inspection robot can be prolonged.

Description

Technical Field

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

[0002] The inspection robot is a robot system that integrates multiple advanced technologies and is used to automatically inspect specific areas or equipment. During the inspection process, the movement posture of the inspection robot needs to be controlled.

[0003] The related technology discloses a control method for a patrol robot motion control device, including: the patrol robot motion control operating system sends operating status instructions, speed instructions and position instructions to the motion control module; the magnetic navigation sensor of the patrol robot collects the position information of the magnetic field recognition path; the infrared obstacle avoidance sensor of the patrol robot collects the status information of obstacles; the motion control module of the patrol robot receives the control instructions of the patrol robot motion control operating system, the collection signals of the magnetic navigation sensor and the collection signals of the infrared obstacle avoidance sensor; the motion control module processes the received instructions and signals, thereby changing the operating status of the patrol robot.

[0004] In the process of implementing the above embodiments, it is found that the inspection robot in the related art moves at a uniform speed according to the set speed command and position command, which causes the inspection robot to consume energy quickly and have poor endurance. 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 motion control method and device for an inspection robot, and the inspection robot can save energy and extend the working time of the inspection robot.

[0007] In some embodiments, a motion control method for a patrol robot is provided, including: determining the equipment to be inspected and the target inspection route based on the target inspection area; obtaining the current position and remaining power of the patrol robot; determining the target moving direction of the patrol robot based on the current position and the target inspection route; determining the target moving speed of the patrol robot based on the remaining power and the equipment to be inspected; and controlling the patrol robot to move in the target moving direction and target moving speed.

[0008] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position is on the target inspection route, determining a first moving point position from a plurality of moving point positions in the target inspection route; the first moving point position refers to the position of a moving point adjacent to the current position on the target inspection route according to the moving direction of the target inspection route from the current position; and taking the direction from the current position to the first moving point position as the target moving direction.

[0009] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position deviates from the target inspection route, correcting the target inspection route based on the current position; determining a second moving point position from multiple moving point positions in the corrected target inspection route; the second moving point position refers to the position of a moving point adjacent to the current position on the corrected target inspection route according to the moving direction of the corrected target inspection route from the current position; and taking the direction from the current position to the second moving point position as the target moving direction.

[0010] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position deviates from the target inspection route, calculating the Euclidean distance from the current position to each moving point position in the target inspection route; taking the direction of the current position pointing to the third moving point position as the target moving direction; the third moving point position refers to the position of the moving point in the target inspection route that has the smallest Euclidean distance from the current position.

[0011] Optionally, a plurality of charging base stations are provided in the target inspection area; the step of determining the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected comprises: determining the target electrical components of the inspection robot according to the equipment to be inspected; determining a first power consumption required for the target electrical components to move to the first charging base station; the first charging base station refers to a charging base station adjacent to the current position on the target inspection route according to the moving direction of the target inspection route from the current position; determining the target moving speed of the inspection robot according to the remaining power and the first power consumption.

[0012] Optionally, the step of determining the target moving speed of the inspection robot based on the remaining power and the first power consumption includes: determining a first power difference between the remaining power and the first power consumption; obtaining a target detection point in the process of moving to the first charging base station along the target inspection route; and determining the target moving speed of the inspection robot based on the first power difference and the target detection point.

[0013] Optionally, the step of determining the target moving speed of the inspection robot based on the first power difference and the target detection point includes: obtaining a second power consumption required for performing a detection operation at the target detection point; determining a second power consumption difference between the first power difference and the second power consumption; and determining the target moving speed of the inspection robot based on the second power difference.

[0014] Optionally, the steps of controlling the inspection robot to move according to the target moving direction and target moving speed include: obtaining the current moving direction and current moving speed of the inspection robot; determining the angle deviation between the current moving direction and the target moving direction; and determining the speed deviation between the current moving speed and the target moving speed; and adjusting the movement posture of the inspection robot according to the angle deviation and the speed deviation.

[0015] Optionally, the inspection robot includes a steering mechanism and walking wheels; the steps of adjusting the movement posture of the inspection robot according to the angle deviation and the speed deviation include: obtaining the diameter of the walking wheel; adjusting the rotation speed of the walking wheel according to the diameter and the speed deviation of the walking wheel; and controlling the steering mechanism to rotate the angle deviation.

[0016] In some embodiments, a motion control device for an inspection robot is provided, including: a first determination module, configured to determine the equipment to be inspected and the target inspection route according to the target inspection area; a parameter acquisition module, configured to obtain the current position and remaining power of the inspection robot; a second determination module, configured to determine the target moving direction of the inspection robot according to the current position and the target inspection route; a third determination module, configured to determine the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected; and a posture control module, configured to control the inspection robot to move in the target moving direction and target moving speed.

[0017] In some embodiments, a motion 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 motion control method for the inspection robot as described in the above embodiments when running the program instructions.

[0018] In some embodiments, a patrol robot is provided, comprising: a robot body; and a motion control device for the patrol robot as described in the above embodiment, installed on the robot body:

[0019] The motion control method, device and inspection robot provided by the embodiments of the present disclosure can achieve the following technical effects:

[0020] The disclosed embodiment can determine the target moving direction of the inspection robot according to the current position and the target inspection route, and determine the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected, so as to flexibly adjust the movement posture of the inspection robot according to the actual situation of the inspection robot and the task requirements, so that the inspection robot can efficiently complete the inspection task according to the target inspection route. In addition, compared with the related art, the disclosed embodiment optimizes the moving speed and moving direction of the inspection robot by flexibly adjusting the target moving speed and target moving direction of the inspection robot, ensuring that the inspection robot completes the inspection task according to the target inspection route while saving energy, thereby extending the working time of the inspection robot.

[0021] 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

[0022] 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:

[0023] Figure 1 is a schematic diagram of the structure of an inspection robot provided by an embodiment of the present disclosure;

[0024] Figure 2 yes Figure 1 A schematic diagram of a portion of the structure of the inspection robot in the illustrated embodiment;

[0025] Figure 3 is a bottom view of an inspection robot provided by an embodiment of the present disclosure;

[0026] Figure 4 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;

[0027] Figure 5 is a schematic diagram of a motion control method for an inspection robot provided by an embodiment of the present disclosure;

[0028] Figure 6 is a schematic diagram of a motion control method for an inspection robot provided by another embodiment of the present disclosure;

[0029] Figure 7 is a schematic diagram of a motion control method for an inspection robot provided by another embodiment of the present disclosure;

[0030] Figure 8 is a schematic diagram of a motion control device for an inspection robot provided by an embodiment of the present disclosure;

[0031] Fig. 9 It is a schematic diagram of a motion control device of an inspection robot provided in another embodiment of the present disclosure.

[0032] Reference numerals:

[0033] 10 inspection robot; 100 robot body; 101 box; 410 walking wheel; 415 driving motor; 416 reducer; 514 positioning antenna; 510 proximity switch; 511 electromagnetic switch; 512 photoelectric switch;

[0034] 80 motion control device of the inspection robot; 810 first determination module; 820 parameter acquisition module; 830 second determination module; 840 third determination module; 850 posture control module;

[0035] 90 motion control device of inspection robot; 900 processor; 901 memory; 902 communication interface; 903 bus; 50 tubular belt transport equipment; 424 track; 503 positioning member. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] Unless otherwise stated, the term "plurality" means two or more.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Combination Figure 1 As shown, the embodiment of the present disclosure provides an inspection robot 10, including a robot body 100 and a motion control device 80 (90) of the inspection robot. The motion control device 80 (90) of the inspection robot is installed on the robot body 100.

[0044] In the disclosed embodiment, the motion control device 80 (90) of the inspection robot is installed on the robot body 100. The installation relationship described here is not limited to being placed inside the robot body 100, but also includes the installation connection with other components of the inspection robot 10, including but not limited to physical connection, electrical connection or signal transmission connection, etc. It can be understood by those skilled in the art that the motion control device 80 (90) of the inspection robot can be adapted to a feasible inspection robot 10, thereby realizing other feasible embodiments.

[0045] 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 motion control device 80 (90) of the inspection robot is arranged in the box body 101.

[0046] 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.

[0047] 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.

[0048] Alternatively, if Figure 3As shown, the inspection robot 10 also includes a drive motor 415, a reducer 416, a steering gear (not shown in the figure) and a transmission shaft (not shown in the figure), and the drive motor 415 and the reducer 416 are arranged at intervals at the bottom of the box 101 along the height direction of the inspection robot 10. The output end of the drive motor 415 is connected to the input end of the reducer 416, the output end of the reducer 416 is connected to the input end of the steering gear, and the output end of the steering gear is connected to the transmission shaft. The opposite ends of the transmission shaft are respectively connected to the walking wheels 410.

[0049] Optionally, the inspection robot 10 further includes a steering mechanism (not shown in the figure). The steering mechanism is arranged at the bottom of the box body 101 along the height direction of the inspection robot 10 and is connected to the transmission shaft.

[0050] Optionally, the steering mechanism includes a steering motor (not shown in the figure). The steering motor is arranged at the bottom of the box 101 along the height direction of the inspection robot 10, and the output end of the steering motor is connected to the transmission shaft.

[0051] Optionally, the motion control device 90 of the inspection robot includes a processor 900. The processor 900 can determine the equipment to be inspected and the target inspection route according to the target inspection area; can obtain the current position and remaining power of the inspection robot; can determine the target moving direction of the inspection robot according to the current position and the target inspection route; can determine the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected; and can control the inspection robot to move according to the target moving direction and target moving speed.

[0052] Combination Figure 1 and Figure 2 As shown, the present disclosure provides a motion control method for an inspection robot, such as Figure 5 As shown, the motion control method includes:

[0053] S501, the processor determines the device to be inspected and the target inspection route according to the target inspection area.

[0054] In this step, the target inspection area refers to a specific geographical or spatial range that needs to be inspected, which can be a factory workshop, a section of road, a building complex, or any other place that needs to be monitored and maintained. The equipment to be inspected refers to the equipment that needs to be inspected in the target inspection area. For example, Figure 4 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, and the equipment to be inspected is the tubular belt conveyor equipment 50 .

[0055] The target inspection route refers to a pre-planned or dynamically generated inspection path within the target inspection area based on inspection requirements (such as inspection point distribution, obstacle location, equipment distribution, etc.). The target inspection route is designed to ensure that the inspection robot can fully and completely cover the target inspection points and complete the inspection task.

[0056] 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 4 As 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 performance and health status of the equipment, including but not limited to the equipment's operating temperature, working hours, number of historical failures, etc. The environmental parameters of the target inspection area refer to the parameters that have an important impact on the stable operation of the equipment, including but not limited to temperature, humidity, vibration, electromagnetic interference, etc.

[0062] Different environmental parameters and operating parameters will affect the failure probability of the equipment. For example, too high or too low temperature will lead to performance degradation or failure of the equipment. For example, the equipment is easily damaged due to overheating when it continues to work at high temperature, while low temperature will cause some parts of the equipment to become fragile; excessive humidity will cause internal corrosion or short circuits in the equipment; continuous vibration will cause loose connections or wear of parts inside the equipment, increasing the risk of failure; strong electromagnetic fields will 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.

[0063] 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.

[0064] S502: The processor obtains the current position and remaining power of the inspection robot.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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 .

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] S503, the processor determines the target moving direction of the inspection robot according to the current position and the target inspection route.

[0089] S504: The processor determines the target moving speed of the inspection robot according to the remaining power and the device to be inspected.

[0090] S505, the processor controls the inspection robot to move according to the target moving direction and target moving speed.

[0091] The motion control method of the inspection robot provided by the embodiment of the present disclosure can determine the target moving direction of the inspection robot according to the current position and the target inspection route, and determine the target moving speed of the inspection robot according to the remaining power and the equipment to be detected, so as to flexibly adjust the motion posture of the inspection robot according to the actual situation of the inspection robot and the task requirements, so that the inspection robot can efficiently complete the inspection task according to the target inspection route. In addition, compared with the related art, the embodiment of the present disclosure optimizes the moving speed and moving direction of the inspection robot by flexibly adjusting the target moving speed and target moving direction of the inspection robot, ensuring that the inspection robot completes the inspection task according to the target inspection route while saving energy, thereby extending the working time of the inspection robot.

[0092] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position is on the target inspection route, determining a first moving point position from a plurality of moving point positions in the target inspection route; the first moving point position refers to the position of a moving point adjacent to the current position on the target inspection route according to the moving direction of the target inspection route from the current position; and taking the direction from the current position to the first moving point position as the target moving direction.

[0093] In this embodiment, the target inspection route can be decomposed to obtain multiple points distributed on the target inspection route as moving points, and the coordinates of the points in the target inspection area are used as the moving point positions. Then, from these moving points, according to the current position and the moving direction of the target inspection route, the first moving point position adjacent to the current position is determined, that is, the first moving point position. The first moving point position is the target point that the inspection robot needs to move to next. After determining the first moving point position, the direction vector pointing from the current position to the first moving point position can be calculated. The direction vector is the target moving direction of the inspection robot, thereby achieving the determination of the target moving direction. In this embodiment, by accurately identifying the moving points on the target inspection route and calculating the direction vector between the current position and the first moving point, it is possible to ensure that the inspection robot moves in the correct direction, reducing errors and unnecessary movements.

[0094] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position deviates from the target inspection route, correcting the target inspection route based on the current position; determining a second moving point position from multiple moving point positions in the corrected target inspection route; the second moving point position refers to the position of a moving point adjacent to the current position on the corrected target inspection route according to the moving direction of the corrected target inspection route from the current position; and taking the direction from the current position to the second moving point position as the target moving direction.

[0095] In this embodiment, when the current position is not on the target inspection route, it can be determined that the current position deviates from the target inspection route. At this time, the target inspection route is corrected according to the current position to ensure that the inspection robot can inspect along the correct route and complete the predetermined inspection task. Then the corrected target inspection route is decomposed to obtain multiple points distributed on the corrected target inspection route as moving points, and the coordinates of the points in the target inspection area are used as the moving point positions. Then, from these moving points, according to the current position and the moving direction of the corrected target inspection route, the first moving point position adjacent to the current position is determined, that is, the second moving point position, and the second moving point position is the target point that the inspection robot needs to move to next. After determining the second moving point position, the direction vector pointing from the current position to the second moving point position can be calculated, and the direction vector is the target moving direction of the inspection robot, which realizes the determination of the target moving direction. In this embodiment, when detecting the deviation of the robot from the target inspection route, the target inspection route can be dynamically corrected according to the current position, ensuring that the inspection robot can inspect along the correct route in a complex or changing environment, thereby improving the inspection efficiency.

[0096] In this embodiment, the process of correcting the target inspection route according to the current position can be understood as the process of adding point coordinates, i.e., the point coordinates corresponding to the current position, and regenerating the target inspection route. Therefore, the process of correcting the target inspection route according to the current position can refer to the process of generating the target inspection route in the above embodiment, and will not be repeated here.

[0097] Optionally, the step of determining the target moving direction of the inspection robot based on the current position and the target inspection route includes: when the current position deviates from the target inspection route, calculating the Euclidean distance from the current position to each moving point position in the target inspection route; taking the direction of the current position pointing to the third moving point position as the target moving direction; the third moving point position refers to the position of the moving point in the target inspection route that has the smallest Euclidean distance from the current position.

[0098] In this embodiment, when the current position deviates from the target inspection route, the Euclidean distance from the current position to each moving point position in the target inspection route can be calculated. Euclidean distance is a distance measurement method, which represents the straight-line distance between two points in n-dimensional (such as two-dimensional or three-dimensional) space. After calculating all Euclidean distances, find the moving point position with the smallest Euclidean distance from the current position, that is, the third moving point position. The third moving point position is the target point that the inspection robot needs to move to next in order to re-return and inspect along the target inspection route. Then calculate the direction vector pointing from the current position to the third moving point position, and the direction vector is the target moving direction of the inspection robot. In this embodiment, by calculating the Euclidean distance from the current position to each moving point position, and finding the moving point position with the smallest distance from the current position as the target moving direction, it is ensured that the inspection robot can re-return to the target inspection route with the shortest distance, improve the accuracy of the movement, and thus improve the inspection efficiency of the robot.

[0099] In some embodiments, a plurality of charging base stations are provided in the target inspection area (not shown in the figure). Figure 6 As shown, the embodiment of the present disclosure provides another motion control method of an inspection robot, comprising:

[0100] S601, the processor determines the device to be inspected and the target inspection route according to the target inspection area.

[0101] S602: The processor obtains the current position and remaining power of the inspection robot.

[0102] S603, the processor determines the target moving direction of the inspection robot according to the current position and the target inspection route.

[0103] S604: The processor determines the target electrical components of the inspection robot according to the equipment to be inspected.

[0104] In this step, the target electrical component refers to the electrical component that the inspection robot must operate when performing the inspection task according to the inspection requirements of the equipment to be inspected.

[0105] S605: The processor determines a first power consumption required by the target power-consuming component when moving to the first charging base station.

[0106] 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.

[0107] S606: The processor determines a target moving speed of the inspection robot according to the remaining power and the first power consumption.

[0108] S607, the processor controls the inspection robot to move according to the target moving direction and target moving speed.

[0109] The motion control method of the inspection robot provided by the embodiment of the present disclosure can determine the necessary electrical components, that is, the target electrical components, required by the inspection robot when performing the inspection task based on the equipment to be detected. The energy consumption of the target electrical components will directly affect the power consumption of the inspection robot. Then, based on the target electrical components, the first power consumption required to move from the current position to the first charging base station is determined. Then, based on the remaining power and the first power consumption, the target moving speed of the inspection robot is dynamically adjusted. For example, when the remaining power is sufficient to support the inspection robot to reach the first charging base station at the current speed or faster and complete the inspection task of the equipment to be detected, the target moving speed can be maintained or increased; when the remaining power is insufficient to support the inspection robot to reach the first charging base station at the current speed and complete the inspection task of the equipment to be detected, the target moving speed is reduced to extend the working time of the robot and ensure that it can smoothly reach the first charging base station for charging.

[0110] The disclosed embodiment can dynamically adjust the target moving speed of the inspection robot according to the remaining power and the actual situation of the equipment to be inspected, ensuring that the robot can complete the task while avoiding task interruption due to power exhaustion. By reasonably adjusting the target moving speed, it is possible to maximize power savings while ensuring inspection efficiency, extend the robot's working time, reduce the number of charging times and charging time, and thus improve the overall inspection efficiency.

[0111] 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.

[0112] In this embodiment, the operating parameters of the device to be detected refer to parameters that reflect the operating status and health of the device, including but not limited to the current, voltage, temperature, vibration, etc. of the device. The environmental parameters of the target inspection area refer to parameters that have an important impact on the working effect, stable operation and performance of electrical components of the device, including but not limited to temperature, humidity, light intensity, vibration, electromagnetic interference, etc.

[0113] Different environmental parameters and operating parameters will have an impact on the failure probability of the equipment. For details, please refer to the above embodiment. In this embodiment, 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.

[0114] According to the needs of the data to be collected, the target electrical components that the inspection robot needs to use are determined. For example, if high-definition images need to be collected to detect appearance defects or wear of equipment, the target electrical components include cameras; if temperature collection is required, the target electrical components include infrared thermal imagers.

[0115] In this embodiment, the target electrical components can be determined based on the operating parameters of the device to be detected and the environmental parameters of the target inspection area, so that the target electrical components can be accurately determined based on the actual needs of the device 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. This embodiment avoids unnecessary energy waste and component wear by accurately matching the data to be collected with the target electrical components, 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.

[0116] Optionally, the step of determining a first power consumption required for a target power component to move to a first charging base station includes: obtaining a first power consumption rate of the target power component; and obtaining a target time required for the inspection robot to move from a current position to the first charging base station along a target inspection route; and determining the target power consumption based on the first power consumption rate and the target time of the target power component.

[0117] In this embodiment, the first 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 first 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 duration 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 first power consumption rate and target duration of the target power-consuming component, the target power consumption can be determined. The specific target power consumption = first power consumption rate × target duration.

[0118] Optionally, the step of determining the target moving speed of the inspection robot based on the remaining power and the first power consumption includes: determining a first power difference between the remaining power and the first power consumption; obtaining a target detection point in the process of moving to the first charging base station along the target inspection route; and determining the target moving speed of the inspection robot based on the first power difference and the target detection point.

[0119] In this embodiment, the difference between the remaining power and the first power consumption, that is, the first power difference, can be calculated. The first power difference reflects the power margin that the inspection robot can continue to work without charging. Then obtain the target detection point information that needs to be detected in the process of moving to the first charging base station according to the target inspection route. The target detection point refers to the detection point that requires the inspection robot to conduct detailed inspection and recording. After obtaining the first power difference and the target detection point, a comprehensive analysis and calculation are performed to dynamically adjust the target movement speed to ensure that the inspection robot can complete the task safely and efficiently within the limit of the remaining power, avoid the inspection robot from stopping at a position far away from the charging base station due to exhaustion, and enhance the safety of the system. In this embodiment, by considering the target detection point and adjusting the movement speed of the inspection robot, it can be ensured that there is enough time for detailed inspection and recording at the target detection point, thereby improving the detection quality.

[0120] Optionally, the step of determining the target moving speed of the inspection robot based on the first power difference and the target detection point includes: obtaining a second power consumption required for performing a detection operation at the target detection point; determining a second power consumption difference between the first power difference and the second power consumption; and determining the target moving speed of the inspection robot based on the second power difference.

[0121] In this embodiment, first, the amount of electricity required for the detection operation at each target detection point, i.e., the second electricity consumption, is determined based on the type and number of target detection points and the complexity of the detection operation. The second electricity consumption reflects the energy consumption requirement of the inspection robot when performing the detection task. Then, the difference between the first electricity consumption difference and the second electricity consumption, i.e., the second electricity consumption difference, is calculated. The second electricity consumption difference reflects how much electricity the inspection robot has left to move to the first charging base station after completing all target detection point tasks. Then, based on the second electricity consumption difference, the target movement speed of the inspection robot is dynamically adjusted. For example, if the second electricity consumption difference is large, it means that the inspection robot has sufficient electricity margin and can move at a faster speed to complete the inspection task as soon as possible; if the second electricity consumption difference is small, the target movement speed can be reduced to extend the working time of the robot to ensure that there is enough electricity to reach the first charging base station after completing all detection tasks.

[0122] In this embodiment, it is possible to ensure that the inspection robot completes all inspection tasks within a limited amount of power, thereby improving task completion and inspection quality. By real-time monitoring and calculating power differences, the power usage of the inspection robot can be finely managed, thus avoiding power waste and task interruption caused by insufficient power.

[0123] In this embodiment, the second power consumption required by the inspection robot to perform inspection operations at each target inspection point needs to be determined based on specific experiments on actual product equipment, and this application does not make any specific limitations.

[0124] Optionally, the step of determining the target moving speed of the inspection robot based on the second power difference includes: obtaining a second power consumption rate per unit moving distance of the inspection robot at different moving speeds; obtaining a target moving distance from the current position to the first charging base station along the target inspection route; and determining the target moving speed based on the target moving distance and the second power consumption rate.

[0125] In this embodiment, the amount of electricity consumed by the inspection robot per unit moving distance at different moving speeds, that is, the second power consumption rate, will be obtained. The second power consumption rate reflects the energy consumption of the inspection robot at different speeds, and the second power consumption rate can be obtained by actual measurement through the equipment manual, test report or test software carried by the inspection robot. Then calculate the moving distance required to move from the current position to the first charging base station according to the target inspection route, that is, the target moving distance. The target moving distance determines how much electricity the inspection robot needs to consume to reach the first charging base station. When the current position, target position (that is, the position of the first charging base station) and target inspection route of the inspection robot are known, the target moving distance 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.).

[0126] After obtaining the second power consumption rate and the target moving distance, a target moving speed is selected based on the second power difference, which can ensure that the inspection robot completes the remaining detection tasks and reaches the first charging base station before the power is exhausted. Specifically, the power required for the inspection robot to complete the target moving distance at different moving speeds can be calculated and compared with the second power difference, and a speed with a required power less than or equal to the second power difference and the maximum moving speed value is selected as the target moving speed. In this embodiment, by real-time monitoring and calculation of the second power difference, combined with the second power consumption rate and the target moving distance, the power usage of the inspection robot can be managed more finely, avoiding the inspection robot from stopping at a location far away from the charging base station due to power exhaustion, thereby enhancing the safety and reliability of the system.

[0127] Combination Figure 7 As shown, the embodiment of the present disclosure provides another motion control method of an inspection robot, comprising:

[0128] S701, the processor determines the device to be inspected and the target inspection route according to the target inspection area.

[0129] S702: The processor obtains the current position and remaining power of the inspection robot.

[0130] S703, the processor determines the target moving direction of the inspection robot according to the current position and the target inspection route.

[0131] S704: The processor determines the target moving speed of the inspection robot according to the remaining power and the device to be inspected.

[0132] S705: The processor obtains the current moving direction and current moving speed of the inspection robot.

[0133] In this step, the current moving direction and current moving speed of the inspection robot can be obtained through the built-in sensors of the inspection robot or the installed test software.

[0134] S706: The processor determines an angular deviation between the current moving direction and the target moving direction.

[0135] S707: The processor determines a speed deviation between the current moving speed and the target moving speed.

[0136] S708: The processor adjusts the motion posture of the inspection robot according to the angle deviation and the speed deviation.

[0137] The motion control method of the inspection robot provided by the embodiment of the present disclosure can obtain the current moving direction and current moving speed of the inspection robot, and calculate the angle deviation between the current moving direction and the target moving direction, and the speed deviation between the current moving speed and the target moving speed. The angle deviation and the speed deviation determine how the inspection robot needs to adjust its motion posture to approach the target state. The embodiment of the present disclosure achieves precise control of the motion state of the inspection robot by real-time monitoring and calculating the angle deviation and the speed deviation, ensuring that the inspection robot can move according to the predetermined route and speed when performing inspection tasks, thereby improving the accuracy and efficiency of inspections.

[0138] In some embodiments, the inspection robot includes a steering mechanism and a walking wheel 410. The step of adjusting the motion posture of the inspection robot according to the angle deviation and the speed deviation includes: obtaining the diameter of the walking wheel; adjusting the rotation speed of the walking wheel according to the diameter and the speed deviation of the walking wheel; and controlling the steering mechanism to rotate the angle deviation.

[0139] In this embodiment, after determining the diameter of the walking wheel, the rotation speed deviation of the walking wheel can be calculated according to the speed deviation, and then the rotation speed of the walking wheel can be adjusted. Specifically, the diameter of the walking wheel is D, the rotation speed is ω, and the linear speed is V, and V = ω × D / 2π, then the speed deviation △V = △ω × D / 2π, and the rotation speed deviation △ω = △V × 2π / D. When the current moving speed of the inspection robot is less than the target moving speed, the rotation speed △ω of the walking wheel is increased; conversely, if the current moving speed of the inspection robot is greater than the target moving speed, the rotation speed △ω of the walking wheel is reduced. While adjusting the speed, the steering mechanism of the inspection robot is adjusted according to the angular deviation between the current moving direction and the target moving direction, so that the inspection robot rotates the angle deviation so that the movement direction of the robot gradually approaches the target moving direction.

[0140] Optionally, combined Figure 3As shown, the inspection robot 10 also includes a driving motor 415, a speed reducer 416, a steering gear and a transmission shaft. The output end of the driving motor 415 is connected to the input end of the speed reducer 416, the output end of the speed reducer 416 is connected to the input end of the steering gear, and the output end of the steering gear is connected to the transmission shaft. The opposite ends of the transmission shaft are respectively connected to the running wheels 410. The step of adjusting the rotation speed of the running wheels includes: adjusting the output power of the driving motor and / or the output power of the speed reducer.

[0141] In this embodiment, the driving motor 415, the speed reducer 416, the steering gear and the transmission shaft together constitute the driving system of the running wheel 410. Specifically, the driving motor 415, as a power source, converts electrical energy into mechanical energy to drive the speed reducer 416 to operate. The speed reducer 416 plays the role of reducing the rotation speed and increasing the torque, ensuring that the driving motor 415 can operate at an appropriate speed, while outputting a larger torque to meet the driving requirements of the running wheel 410. The steering gear is a device that converts the power on the vertical transmission shaft (the output shaft of the speed reducer 416 in this embodiment) to the horizontal transmission shaft along 90°. The output of the speed reducer 416 is converted into the rotation direction and angle required for the running wheel 410 by the steering gear. Finally, the transmission shaft transmits the output of the steering gear to the running wheel 410 to drive it to rotate.

[0142] In summary, in the process of adjusting the rotation speed of the running wheel, it can be achieved by adjusting the output power of the drive motor and / or the output power of the reducer. Among them, the corresponding relationship between the output power of the drive motor and / or the output power of the reducer and the rotation speed of the running wheel needs to be determined according to the actual product equipment, and this application does not limit it.

[0143] Optionally, the steering mechanism includes a steering motor, and an output end of the steering motor is connected to the transmission shaft. The step of controlling the steering mechanism rotation angle deviation includes: controlling the steering motor rotation angle deviation.

[0144] In this embodiment, the steering motor, the transmission shaft and the walking wheel 410 constitute the rotation system of the inspection robot. The steering motor is the core component for controlling the steering angle of the inspection robot. The output end of the steering motor is connected to the transmission shaft, and the rotational motion of the steering motor is converted into the steering action of the inspection robot through the transmission shaft. In summary, in the process of controlling the steering mechanism rotation angle deviation, it can be achieved by controlling the steering motor rotation angle deviation.

[0145] Combination Figure 8As shown, the embodiment of the present disclosure provides a motion control device 80 for an inspection robot, including a first determination module 810, a parameter acquisition module 820, a second determination module 830, a third determination module 840 and a posture control module 850. The first determination module 810 is configured to determine the equipment to be inspected and the target inspection route according to the target inspection area; the parameter acquisition module 820 is configured to obtain the current position and the remaining power of the inspection robot; the second determination module 830 is configured to determine the target moving direction of the inspection robot according to the current position and the target inspection route; the third determination module 840 is configured to determine the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected; the posture control module 850 is configured to control the inspection robot to move according to the target moving direction and the target moving speed.

[0146] The motion control device 80 of the inspection robot provided in the embodiment of the present disclosure can implement the motion control method of the inspection robot described in the above embodiment. Therefore, the technical effects possessed by the motion control method of the inspection robot described in the above embodiment are also possessed by the embodiment of the present disclosure and will not be repeated here.

[0147] Optionally, the second determination module 830 is also configured to determine a first moving point position from a plurality of moving point positions in the target inspection route when the current position is on the target inspection route; the first moving point position refers to the position of a moving point 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; and the direction from the current position to the first moving point position is taken as the target moving direction.

[0148] Optionally, the second determination module 830 is also configured to correct the target inspection route according to the current position when the current position deviates from the target inspection route; determine the second moving point position from the multiple moving point positions in the corrected target inspection route; the second moving point position refers to the position of the moving point adjacent to the current position on the corrected target inspection route according to the moving direction of the corrected target inspection route from the current position; and use the direction from the current position to the second moving point position as the target moving direction.

[0149] Optionally, the second determination module 830 is also configured to calculate the Euclidean distance from the current position to each moving point position in the target inspection route when the current position deviates from the target inspection route; take the direction of the current position pointing to the third moving point position as the target moving direction; the third moving point position refers to the position of the moving point in the target inspection route with the smallest Euclidean distance from the current position.

[0150] Optionally, a plurality of charging base stations are provided in the target inspection area. The third determination module 840 is further configured to determine the target electrical component of the inspection robot according to the equipment to be inspected; determine the first power consumption required for the target electrical component to move to the first charging base station; the first charging base station refers to a charging base station located on the target inspection route and adjacent to the current position according to the moving direction of the target inspection route from the current position; and determine the target moving speed of the inspection robot according to the remaining power and the first power consumption.

[0151] Optionally, the third determination module 840 is also configured to determine a first power difference between the remaining power and the first power consumption; obtain a target detection point in the process of moving to the first charging base station along the target inspection route; and determine the target moving speed of the inspection robot based on the first power difference and the target detection point.

[0152] Optionally, the third determination module 840 is further configured to obtain a second power consumption required for performing a detection operation at a target detection point; determine a second power difference between the first power difference and the second power consumption; and determine a target moving speed of the inspection robot based on the second power difference.

[0153] Optionally, the posture control module 850 is also configured to obtain the current moving direction and current moving speed of the inspection robot; determine the deviation angle between the current moving direction and the target moving direction; and determine the deviation speed between the current moving speed and the target moving speed; and adjust the movement posture of the inspection robot according to the angle deviation and the speed deviation.

[0154] Optionally, the inspection robot includes a steering mechanism and a walking wheel 410. The posture control module 850 is further configured to obtain the diameter of the walking wheel; adjust the rotation speed of the walking wheel according to the diameter of the walking wheel and the speed deviation; and control the steering mechanism to rotate the deviation angle.

[0155] Combination Fig. 9 As shown, the embodiment of the present disclosure provides a motion control device 90 for an inspection robot, including a processor 900 and a memory 901. Optionally, the device 90 may also include a communication interface 902 and a bus 903. The processor 900, the communication interface 902, and the memory 901 may communicate with each other through the bus 903. The communication interface 902 may be used for information transmission. The processor 900 may call the logic instructions in the memory 901 to execute the motion control method for the inspection robot of the above embodiment.

[0156] In addition, the logic instructions in the memory 901 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.

[0157] The memory 901 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 900 executes the functional application and data processing by running the program instructions / modules stored in the memory 901, that is, the motion control method of the inspection robot in the above embodiment is implemented.

[0158] The memory 901 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 901 may include a high-speed random access memory and may also include a non-volatile memory.

[0159] 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 motion control method of the inspection robot.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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 motion control method for an inspection robot, characterized in that: include: Determine the equipment to be inspected and the target inspection route according to the target inspection area; Get the current position and remaining power of the inspection robot; Determine the target moving direction of the inspection robot based on the current position and the target inspection route; Determine the target moving speed of the inspection robot based on the remaining power and the equipment to be inspected; Control the inspection robot to move according to the target moving direction and target moving speed.

2. The motion control method according to claim 1, characterized in that: The steps of determining the target moving direction of the inspection robot according to the current position and the target inspection route include: When the current position is on the target inspection route, a first moving point position is determined from a plurality of moving point positions in the target inspection route; the first moving point position refers to a position of a moving point adjacent to the current position on the target inspection route according to the moving direction of the target inspection route from the current position; the direction from the current position to the first moving point position is taken as the target moving direction; or When the current position deviates from the target inspection route, the target inspection route is corrected according to the current position; a second moving point position is determined from a plurality of moving point positions in the corrected target inspection route; the second moving point position refers to a position of a moving point adjacent to the current position on the corrected target inspection route according to the moving direction of the corrected target inspection route from the current position; the direction from the current position to the second moving point position is taken as the target moving direction; or, When the current position deviates from the target inspection route, the Euclidean distance from the current position to each moving point position in the target inspection route is calculated; the direction from the current position to the third moving point position is taken as the target moving direction; the third moving point position refers to the position of the moving point in the target inspection route with the smallest Euclidean distance from the current position.

3. The motion control method according to claim 1 or 2, characterized in that: A plurality of charging base stations are provided in the target inspection area; the steps of determining the target moving speed of the inspection robot according to the remaining power and the equipment to be inspected include: Determine the target electrical components of the inspection robot according to the equipment to be inspected; Determine a first power consumption required by the target power-consuming component when moving to a first charging base station; the first charging base station refers to a charging base station located on the target inspection route and adjacent to the current position according to the moving direction of the target inspection route from the current position; The target moving speed of the inspection robot is determined according to the remaining power and the first power consumption.

4. The motion control method according to claim 3, characterized in that: The step of determining the target moving speed of the inspection robot according to the remaining power and the first power consumption includes: Determining a first power difference between the remaining power and the first power usage; Acquire the target detection point in the process of moving to the first charging base station according to the target inspection route; The target moving speed of the inspection robot is determined according to the first electrical quantity difference and the target detection point.

5. The motion control method according to claim 4, characterized in that: The step of determining the target moving speed of the inspection robot according to the first power difference and the target detection point includes: Obtaining a second power consumption required for performing a detection operation at a target detection point; Determining a second power difference between the first power difference and the second power usage; The target moving speed of the inspection robot is determined according to the second electrical quantity difference.

6. The motion control method according to claim 1 or 2, characterized in that: The steps of controlling the inspection robot to move in a target moving direction and at a target moving speed include: Get the current moving direction and current moving speed of the inspection robot; Determine the angular deviation between the current moving direction and the target moving direction; and determine the speed deviation between the current moving speed and the target moving speed; The motion posture of the inspection robot is adjusted according to the angle deviation and the speed deviation.

7. The motion control method according to claim 6, characterized in that: The inspection robot includes a steering mechanism and a walking wheel; the steps of adjusting the motion posture of the inspection robot according to the angle deviation and the speed deviation include: Get the diameter of the travel wheel; Adjusting the rotation speed of the travel wheel according to the diameter of the travel wheel and the speed deviation; and Control the steering mechanism rotation angle deviation.

8. A motion control device for an inspection robot, characterized in that: include: A first determination module is configured to determine the equipment to be inspected and the target inspection route according to the target inspection area; A parameter acquisition module is configured to obtain the current position and remaining power of the inspection robot; A second determination module is configured to determine a target moving direction of the inspection robot according to the current position and the target inspection route; A third determination module is configured to determine a target moving speed of the inspection robot according to the remaining power and the device to be detected; The posture control module is configured to control the inspection robot to move according to a target moving direction and a target moving speed.

9. A motion 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 motion control method of the inspection robot according to any one of claims 1 to 7 when running the program instructions.

10. A patrol robot, characterized in that: include: Robot body; The motion control device of the inspection robot as described in claim 8 or 9 is installed on the robot body.

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