Scheduling method, device and equipment for inspection robot in two-for-one twisting workshop and medium

Abstract

The invention relates to the technical field of two-for-one twisting machine detection, and discloses a scheduling method, device and equipment for a two-for-one twisting workshop inspection robot and a medium. The method comprises the following steps: determining a two-for-one twisting area to be inspected in a two-for-one twisting workshop; determining the total number of the two-for-one twisting equipment to be inspected; acquiring historical energy efficiency data of each inspection robot, and dividing the two-for-one twisting area to obtain each target sub-inspection area; setting an inspection task for each inspection robot according to each target sub-inspection area; receiving inspection information reported by the inspection robots, and determining task scheduling information of at least one inspection robot; and task scheduling information is issued to at least one inspection robot, and the inspection robot executes the target task according to the task scheduling information. The inspection flexibility and the inspection intelligence degree of the two-for-one twisting equipment can be improved, through orderly management of the inspection robot, the cooperation efficiency of the inspection robot is improved, and the detection accuracy of the operation condition of the two-for-one twisting equipment is improved.

Description

Technical Field

[0001] This application relates to the technical field of doubling machine detection, and particularly to a scheduling method, device, equipment and medium for a patrol robot in a doubling workshop. Background Art

[0002] As a pre-process of weaving, yarn breakage occurs during the operation of doubling machines, so there is a need for patrol inspection of doubling machines or doubling equipment. In the prior art, the patrol inspection method for doubling machines is usually to set a magnetic guide rail with a fixed path, and place a mobile trolley on the guide rail to perform patrol inspection according to the inherent path of the magnetic guide rail. Obviously, this existing patrol inspection method is not flexible enough. At the same time, it requires manual laying of the guide rail path. And when the area of the doubling workshop is large and there are many doubling machines or doubling equipment, the laying difficulty increases and it cannot change with the change of the position of the doubling machines in the doubling workshop. Moreover, the existing patrol inspection method usually has a low accuracy in patrolling doubling equipment. Therefore, the technical problems existing in the prior art need to be solved. Summary of the Invention

[0003] Embodiments of this application provide a scheduling method, device, equipment and medium for a patrol robot in a doubling workshop, which can patrol the doubling equipment in the doubling workshop through one or more patrol robots, can adapt to application scenarios with a large area of the doubling workshop or a large number of doubling equipment, and improve the flexibility and intelligence level of patrol inspection.

[0004] On the one hand, an embodiment of this application provides a scheduling method for a patrol robot in a doubling workshop, which is applied to a scheduling system. The scheduling system includes: at least one patrol robot and any number of doubling equipment; each doubling equipment includes a plurality of doubling stations, and the channels between adjacent two doubling equipment form patrol channels. Parent stations are arranged at both ends of the patrol channels. The patrol channels are composed of a plurality of sub-stations corresponding to each doubling station one by one. The method includes: Determine the doubling area to be patrolled in the doubling workshop; Determine the total number of doubling equipment to be patrolled in the doubling area; Obtain the historical energy efficiency data of each patrol robot, and divide the doubling area according to the historical energy efficiency data of each patrol robot and the total number to obtain the target sub-patrol areas of each patrol robot. Each target sub-patrol area includes at least one patrol channel, a plurality of parent stations and a plurality of sub-stations. The patrol robot switches between different patrol channels according to the connection lines between the parent stations. Set an inspection task for each inspection robot according to each inspection channel, each parent site, and each child site within each target sub-inspection area, so that the inspection robot can perform an inspection task on the doubling and twisting equipment within the target sub-inspection area; Receive inspection information about the inspection task reported by each inspection robot, and determine the task scheduling information of at least one inspection robot according to each inspection information; Send the task scheduling information to at least one inspection robot, and the inspection robot executes the target task according to the task scheduling information; Wherein, the inspection information includes the inspection results of each doubling and twisting station within the target sub-inspection area, and the inspection results of the doubling and twisting station are obtained through the following steps: For each doubling and twisting station, the inspection robot takes a picture of the image of the doubling and twisting station to obtain the image information of the doubling and twisting station, and generates the inspection result according to the image information; Wherein, generating the inspection result according to the image information includes: If the image information is consistent with the preset reference image information, it is determined that the doubling and twisting station is a normal station; If the image information is inconsistent with the preset reference image information, a secondary detection instruction is sent to the inspection robot, so that the inspection robot travels to the child site corresponding to the doubling and twisting station according to the secondary detection instruction, and takes pictures of the doubling and twisting station for a preset number of frames to obtain image data of the preset number of frames; The inspection robot compares the image data frame by frame with the reference image information to obtain the multi-frame comparison results of the image data, and generates the inspection result according to the multi-frame comparison results.

[0005] Optionally, determining the doubling and twisting areas to be inspected in the doubling and twisting workshop includes: Through the inspection robot, laser scanning is performed on each doubling and twisting equipment in the doubling and twisting workshop by using an unguided laser navigation method to obtain the characteristics of the doubling and twisting equipment; Generate a map according to the characteristics of the doubling and twisting equipment to obtain a global map; Obtain the doubling and twisting areas to be inspected in the doubling and twisting workshop according to the global map.

[0006] Optionally, dividing the doubling and twisting areas according to the historical energy efficiency data of each inspection robot and the total quantity to obtain the target sub-inspection areas of each inspection robot includes: For each inspection robot, calculate the target number of doubling machines that the inspection robot can inspect within a preset time period according to the historical energy efficiency data; Divide the doubling area according to each of the target numbers and the total number to obtain the target sub-inspection areas for each inspection robot.

[0007] Optionally, the total number of doubling machines to be inspected is obtained through the following steps: For each inspection channel, if the width of the inspection channel is greater than the preset width, determine that the inspection channel is a first channel; Determine a first number according to the first channel and a preset first quantity ratio; For each inspection channel, if the width of the inspection channel is less than or equal to the preset width, determine that the inspection channel is a second channel; Determine a second number according to the second channel and a preset second quantity ratio, where the second quantity ratio is half of the first quantity ratio; Sum the first number and the second number to obtain the total number of doubling machines to be inspected; Wherein, when the inspection robot performs the inspection task, it inspects along the center line of the first channel, and when the inspection robot performs the inspection task, it inspects along one side of the two sides of the second channel.

[0008] Optionally, setting the inspection task for each inspection robot according to each inspection channel, each parent site, and each sub-site in each target sub-inspection area includes: Obtain the inspection start point, inspection end point, number of cyclic detection rounds of the inspection robot in the target sub-inspection area, and the target blocked doubling machines in the target sub-inspection area; Determine the target inspection channels, target parent sites, and target sub-sites that the inspection robot needs to pass through among the inspection channels according to the inspection start point, the inspection end point, and the target blocked doubling machines; Determine the inspection path of the inspection robot in the target sub-inspection area according to the target inspection channels, the target parent sites, and the target sub-sites; Generate the inspection task of the inspection robot according to the inspection path, the number of cyclic detection rounds, and the target blocked doubling machines; Wherein, when the inspection robot inspects according to the inspection path, it is prohibited from inspecting the target blocked doubling machines, and the number of the target doubling machines is 0 or 1 or more.

[0009] Optionally, the inspection information further includes the actual energy efficiency of the inspection robot when performing the inspection task, and determining the task scheduling information of each inspection robot according to each inspection information includes: Obtaining the actual energy efficiency of each inspection robot from each inspection information; Calculating the average energy efficiency based on each actual energy efficiency; For each inspection robot, according to the comparison result between the actual energy efficiency and the average energy efficiency, generating the task scheduling information for instructing to increase or decrease the area of the target inspection area of the inspection robot.

[0010] Optionally, the inspection information further includes the power information of the inspection robot when performing the inspection task, and determining the task scheduling information of each inspection robot according to each inspection information includes: Obtaining the power information of each inspection robot from each inspection information; For each inspection robot, if the power information is lower than a preset power threshold, generating the task scheduling information for instructing the inspection robot to go to a preset charging pile for charging.

[0011] On the other hand, an embodiment of the present application provides a scheduling device for a doubling workshop inspection robot, which is applied to a scheduling system. The scheduling system includes: at least one inspection robot and any number of doubling devices; each doubling device includes a plurality of doubling stations, and the channels between adjacent two doubling devices form inspection channels. Parent stations are provided at both ends of the inspection channel, and the inspection channel is composed of a plurality of sub-stations corresponding to each doubling station one by one; the device includes: A first determination unit, configured to determine the doubling area to be inspected in the doubling workshop; A second determination unit, configured to determine the total number of doubling devices to be inspected in the doubling area; An acquisition unit, configured to acquire the historical energy efficiency data of each inspection robot, and divide the doubling area according to the historical energy efficiency data of each inspection robot and the total number to obtain the target sub-inspection area of each inspection robot. Each target sub-inspection area includes at least one inspection channel, a plurality of parent stations, and a plurality of sub-stations; A setting unit, configured to set an inspection task for each inspection robot according to each inspection channel, each parent station, and each sub-station in each target sub-inspection area, so that the inspection robot performs an inspection task on the doubling device in the target sub-inspection area; A receiving unit, configured to receive inspection information about the inspection task reported by each of the inspection robots, and determine task scheduling information of at least one of the inspection robots according to the inspection information; A task scheduling unit, configured to send the task scheduling information to at least one of the inspection robots, and the inspection robot executes a target task according to the task scheduling information; Wherein, the inspection information includes inspection results of each doubling twisting station in the target sub-inspection area, and the inspection results of the doubling twisting station are obtained through the following steps: For each doubling twisting station, the inspection robot takes a picture of the image of the doubling twisting station to obtain image information of the doubling twisting station, and generates the inspection result according to the image information; Wherein, generating the inspection result according to the image information includes: If the image information is consistent with preset reference image information, it is determined that the doubling twisting station is a normal station; If the image information is inconsistent with the preset reference image information, a secondary detection instruction is sent to the inspection robot, so that the inspection robot travels to a sub-station corresponding to the doubling twisting station according to the secondary detection instruction, and takes pictures of the doubling twisting station for a preset number of frames to obtain image data of the preset number of frames; The inspection robot compares the image data frame by frame with the reference image information to obtain multi-frame comparison results of the image data, and generates the inspection result according to the multi-frame comparison results.

[0012] On the other hand, an embodiment of the present application provides an electronic device, including a processor and a memory; The memory is used to store a computer program; The processor executes the computer program to implement the scheduling method of the doubling twisting workshop inspection robot described above.

[0013] On the other hand, an embodiment of the present application provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to implement the scheduling method of the doubling twisting workshop inspection robot described above.

[0014] The embodiments of the present application at least include the following beneficial effects: According to a scheduling method, device, equipment, and medium of a doubling workshop inspection robot provided by the present application, the doubling area can be divided based on the historical energy efficiency data of each inspection robot and the total number of doubling devices to be inspected in the doubling area, and the target sub-inspection area can be automatically planned according to the level of the historical energy efficiency data. In the case of a large doubling workshop area or a large number of doubling devices, the inspection tasks can be set for each inspection robot to achieve mutual cooperation to complete the inspection of the entire doubling workshop. At the same time, during the actual execution of the inspection task, the target task of the inspection robot can be automatically adjusted according to the reported inspection information, and the inspection tasks of the inspection robot can be continuously and dynamically adjusted, enabling the inspection robots to cooperate more efficiently and complete the inspection of the doubling workshop.

[0015] According to the reported inspection information, the doubling devices with abnormal operations in the doubling workshop can be visually seen through the images obtained by photographing the images of each doubling station. When there is an abnormality, a secondary detection instruction can be issued to enable the inspection robot to perform more refined secondary detection to prevent misjudgment during the first detection, not only improving the accuracy of the inspection but also facilitating subsequent repair and processing to maintain the normal operation of the doubling devices. While ensuring normal operation, the present application can improve the cooperation efficiency of the inspection robots and perform efficient scheduling management on the inspection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the technical solutions of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solutions of the present application and do not constitute a limitation to the technical solutions of the present application.

[0017] Figure 1 It is a schematic diagram of the inspection robot provided by the embodiment of the present application for inspecting the doubling devices on both sides of the passage; Figure 2 It is a schematic diagram of the structure of the inspection robot provided by the embodiment of the present application; Figure 3 It is a schematic diagram of a position of the doubling device in the doubling workshop provided by the embodiment of the present application; Figure 4 It is a schematic diagram of the inspection robot provided by the embodiment of the present application for inspecting in different passages; Figure 5 It is a schematic diagram of the implementation environment of a scheduling method of a doubling workshop inspection robot provided by the embodiment of the present application; Figure 6 It is a schematic flowchart of a scheduling method of a doubling workshop inspection robot provided by the embodiment of the present application; Figure 7 It is a schematic diagram of the inspection robot provided by the embodiment of the present application for inspecting according to the inspection path; Figure 8 Schematic diagram of the interaction between the inspection robot and the background server provided by the embodiment of the present application; Figure 9 Schematic diagram of the detection of the doubling position provided by the embodiment of the present application; Figure 10 Schematic diagram of the overall structure of the doubling workshop provided by the embodiment of the present application; Figure 11 Schematic diagram of the automatic obstacle avoidance of the inspection robot provided by the embodiment of the present application; Figure 12 Schematic diagram of the structure of an electronic device provided by the embodiment of the present application; Figure 13 Block diagram of a scheduling device for the doubling workshop inspection robot provided by the embodiment of the present application.

[0018] Reference numerals Inspection robot 1, doubling equipment 2, laser scanner 3, imaging device 4, laser source 5, pillar 6, inspection area one 7, inspection area two 8, starting point one 9, starting point two 10, charging pile one 11, charging pile two 12, target obstacle 13, doubling position 14, inspection passage 15, parent site 16, child site 17. Detailed implementation manners

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0020] It can be understood that the terms "first", "second", etc. used in the present application can be used to describe various concepts herein, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the words "if", "when" as used herein can be interpreted as "when...", "while...", or "in response to determining".

[0021] As used in this application, the terms "at least one", "a plurality", "each", "any one", etc. The term "at least one" includes one, two or more; "a plurality" includes two or more; "each" refers to each one of the corresponding plurality; and "any one" refers to any one of the plurality.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0023] The scheduling method of the doubling workshop inspection robot provided by the embodiments of this application can be applied to a terminal, a server, or software running on a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a vehicle-mounted terminal, etc., but is not limited thereto; the server side can be configured as an independent physical server, or can be configured as a server cluster or a distributed system composed of multiple physical servers, or can also be configured as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements the scheduling method of the doubling workshop inspection robot, etc., but is not limited to the above forms.

[0024] This application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0025] The following provides a detailed introduction to the specific hardware environment of this application. Please refer to Figure 1 and Figure 2 as shown in Figure 1 is a schematic diagram of the inspection robot inspecting the doubling devices 2 on both sides. Figure 2It is a schematic structural diagram of an inspection robot. Among them, the inspection robot includes a laser scanner 3, camera devices 4 arranged in four directions, and a laser source 5. By emitting an optical signal through the laser source 5, the laser scanner 3 can scan the guide wire loops and overfeed rollers of each side-by-side doubling station in the doubling device 2, so as to obtain the characteristics of the guide wire loops and overfeed rollers of the doubling machine. Similarly, by emitting an optical signal through the laser source 5, the laser scanner 3 can also scan other characteristics of the doubling workshop, such as the characteristics of the charging piles set in the doubling workshop, the wall characteristics, etc., and construct a global map of the doubling workshop through this laser scanning method.

[0026] When the inspection robot inspects the doubling devices 2 on both sides, two camera devices 4 are arranged on both the left and right sides. The two camera devices 4 on each side are arranged in an up-and-down distribution, so that more complete images of the doubling stations in the doubling machine can be collected, and the accuracy of the subsequent image analysis is higher.

[0027] The scheduling system of the present application includes: at least one inspection robot and any number of doubling devices; each doubling device includes a plurality of doubling stations, and the channels between adjacent two doubling devices 2 form an inspection channel 15. The inspection channel 15 can be as Figure 3 shown. The inspection robot 1 moves in the channel between adjacent two doubling devices 2, which is the inspection channel 15. Parent stations 16 are arranged at both ends of the inspection channel 15, and the inspection channel 15 is sequentially connected by a plurality of sub-stations 17 corresponding to each of the doubling stations.

[0028] Can be as Figure 3 and Figure 4 shown, Figure 3 is a schematic diagram of the positions of the doubling devices in the doubling workshop. Figure 3 also shows a column 6, which is an obstacle that the inspection robot may encounter during inspection. Among them, the doubling devices are distributed in a vertical side-by-side manner ( Figure 10 the inspection area 7 shown in), and there is also a horizontal side-by-side distribution (as shown in the lower half of the inspection area 2 of the horizontal side-by-side doubling devices 2 in Figure 10 ). It can be known from Figure 4 that the inspection robot inspects through the channels (i.e., the movable branch roads of the present application) formed between these doubling devices by means of trackless laser navigation, and thus can inspect each doubling station of the doubling device through the camera devices 4 arranged on the left and right sides of the inspection robot. Figure 9 is a schematic diagram of the inspection robot 1 during inspection at each doubling station 14 of the doubling device 2.

[0029] Such as Figure 10 shown, Figure 10The doubling and twisting area is divided into inspection area one 7 and inspection area two 8. Therefore, two starting points need to be set. Among them, starting point one 9 corresponds to inspection area one 7, and starting point two 10 corresponds to inspection area two 8. Figure 10 Also shown are charging pile one 11 and charging pile two 12 (11 and 12 are the preset charging piles mentioned in this application). Figure 11 A path planning diagram of the inspection robot 1 when encountering the target obstacle 13 is shown. When the inspection robot encounters the target obstacle 13 on the movable branch, it will exit the current movable branch; when the inspection robot encounters the target obstacle 13 on the movable main road, it will directly bypass the target obstacle 13.

[0030] Figure 7 The doubling and twisting devices without shading are the doubling and twisting devices that need to be inspected, while Figure 7 the doubling and twisting devices with shading are the marked target shielded doubling and twisting devices, that is, the doubling and twisting devices that need to be shielded. Therefore, Figure 7 the camera device on the side of the target shielded doubling and twisting device is not turned on when the inspection robot is performing inspections.

[0031] Please refer to Figure 5 , Figure 5 shows a schematic diagram of the implementation environment of a scheduling method for an inspection robot in a doubling and twisting workshop provided in an embodiment of this application. In this implementation environment, the main software and hardware entities involved include a terminal device 510 and a background server 520.

[0032] Specifically, relevant application programs can be installed in the terminal device 510, and the background server 520 is the background server for this application program. The terminal device 510 and the background server 520 are communicatively connected. The scheduling method for the inspection robot in the doubling and twisting workshop provided in the embodiment of this application can be executed on the side of the background server 520.

[0033] Among them, the terminal device 510 in the above embodiment can include an inspection robot, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a vehicle-mounted terminal, etc., but is not limited thereto.

[0034] The background server 520 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0035] In addition, the background server 520 can also be a node server in a blockchain network.

[0036] A communication connection can be established between the terminal device 510 and the background server 520 through a wireless network or a wired network. The wireless network or the wired network uses standard communication technologies and / or protocols. The network can be set as the Internet or any other network, such as including but not limited to any combination of a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a private network or a virtual private network. Moreover, between the above-mentioned software and hardware entities, the same communication connection method can be adopted, or different communication connection methods can be adopted, and the present application does not make specific restrictions on this.

[0037] Of course, it can be understood that Figure 5 the implementation environment in Figure 5 is only some optional application scenarios of the scheduling method for the doubling workshop inspection robot provided in the embodiments of the present application. The actual application is not fixed to the

[0038] software and hardware environment shown. The method provided in the embodiments of the present application can be applied to various technical fields, such as shopping, gaming, social networking, etc., and the present application does not make specific restrictions on this.

[0039] As Figure 6 shown, in the embodiments of the present application, a scheduling method for a doubling workshop inspection robot is provided. The scheduling method for the doubling workshop inspection robot can be applied to the Figure 5 background server 520 shown. The background server 520 can schedule and control the terminal device 510, and the above-mentioned terminal device 510 can specifically be an inspection robot. Referring to Figure 6 shown, the scheduling method for the doubling workshop inspection robot provided in the embodiments of the present application specifically includes but is not limited to steps 610 to 660: Step 610: Determine the doubling areas to be inspected in the doubling workshop.

[0040] In the embodiments of the present application, the doubling areas to be inspected in the doubling workshop can be as Figure 3 shown. The doubling devices are distributed in a vertical side-by-side manner or a horizontal side-by-side manner. Figure 3 There are multiple doubling devices arranged side by side in Figure 4 shown, and a passage for the inspection robot to travel is formed between two adjacent doubling devices. CombiningFigure 4 Schematic diagram of an inspection robot for inspecting in the passage formed by two doubling twisting devices.

[0041] In an embodiment of the present application, step 610 includes: Using the inspection robot, performing laser scanning on each doubling twisting device in the doubling twisting workshop by means of trackless laser navigation to obtain the doubling twisting device features; Generating a map according to the doubling twisting device features to obtain a global map; Obtaining the doubling twisting areas to be inspected in the doubling twisting workshop according to the global map.

[0042] Specifically, the doubling twisting device includes a doubling twisting machine guide wire ring and an overfeed roller, then the doubling twisting device features can be specifically: Using the inspection robot, performing laser scanning on the doubling twisting machine guide wire ring in the doubling twisting workshop by means of trackless laser navigation to obtain the doubling twisting machine guide wire ring features, and scanning the overfeed roller in the doubling twisting workshop to obtain the overfeed roller features; wherein, the position of the laser scanning is at any height level between the doubling twisting machine guide wire ring and the overfeed roller; Generating a map according to the doubling twisting machine guide wire ring features and the overfeed roller features to obtain a global map; Obtaining the doubling twisting areas to be inspected in the doubling twisting workshop according to the global map.

[0043] Specifically, the trackless laser navigation, that is, the inspection robot, locates itself in an unknown environment through its internal sensors (such as encoders, IMUs) and external sensors (laser sensors, laser scanners, camera devices, etc.), and incrementally constructs an environmental map based on the environmental information obtained by the external sensors on the basis of the positioning. During the movement of the inspection robot, odometer information is calculated through the encoder combined with the IMU (Inertial Measurement Unit), and the initial pose estimate of the inspection robot is obtained by using the motion model of the inspection robot. Then, the pose of the inspection robot is accurately corrected by combining the laser data obtained by the laser scanner loaded on the inspection robot with the observation model (laser scan matching) to obtain the accurate positioning of the inspection robot. Then, on the basis of the accurate positioning, the laser data is added to the grid map. Repeating this process, the robot moves in the environment and finally completes the construction of the entire scene map. Among them, the laser data is the feature of the godet ring of the doubling machine in the doubling workshop obtained by laser scanning the godet ring of the doubling machine in this application, and the feature of the overfeed roller obtained by scanning the overfeed roller in the doubling workshop. Each doubling device has multiple doubling stations arranged side by side, and each doubling station has a godet ring and an overfeed roller. Therefore, the godet ring and the overfeed roller can be continuously scanned to obtain the features of the doubling device, so as to construct the map of the doubling workshop.

[0044] In an embodiment of the present application, a global map can be constructed by one or more inspection robots. If multiple inspection robots are used for trackless laser navigation to construct a global map, the map data constructed by the multiple inspection robots is local maps, and finally the local maps are stitched together to obtain a global map.

[0045] Step 620: Determine the total number of doubling devices to be inspected in the doubling area.

[0046] Specifically, as Figure 3 shown, Figure 3 the total number of doubling devices to be inspected is 31. When the inspection robot completes the construction of the global map, it is equivalent to having marked the positions of the doubling devices and determined the total number of doubling devices in the doubling workshop.

[0047] Step 630: Obtain the historical energy efficiency data of each inspection robot, and divide the doubling area according to the historical energy efficiency data of each inspection robot and the total number to obtain the target sub-inspection area of each inspection robot. Each target sub-inspection area includes at least one inspection channel, multiple parent stations, and multiple sub-stations. The inspection robot switches between different inspection channels according to the connection lines between the parent stations.

[0048] Specifically, after the inspection robot completes each inspection task or finishes inspecting the doubling twisting equipment within a target sub-inspection area, it reports the energy efficiency data of this inspection as historical energy efficiency data. Therefore, the efficiency and power consumption of each inspection robot can be seen from the historical energy efficiency data. The inspection robot can perform inspections on different inspection channels according to the connections formed between any number of parent sites, that is, switch between different inspection channels.

[0049] In an embodiment of the present application, step 630 includes: For each inspection robot, calculate the target number of doubling twisting equipment that the inspection robot can inspect within a preset duration according to the historical energy efficiency data; Divide the doubling twisting area according to each target number and the total number to obtain the target sub-inspection areas of each inspection robot; Among them, the total number of doubling twisting equipment to be inspected is obtained through the following steps: For each inspection channel, if the width of the inspection channel is greater than the preset width, determine that the inspection channel is the first channel; Determine the first quantity according to the first channel and the preset first quantity ratio; For each inspection channel, if the width of the inspection channel is less than or equal to the preset width, determine that the inspection channel is the second channel; Determine the second quantity according to the second channel and the preset second quantity ratio; where the second quantity ratio is half of the first quantity ratio; Sum the first quantity and the second quantity to obtain the total number of doubling twisting equipment to be inspected; Among them, when the inspection robot performs the inspection task, it inspects along the center line of the first channel, and when the inspection robot performs the inspection task, it inspects along one side of the two sides of the second channel.

[0050] Specifically, for example, inspection robot A consumes 1% of the power in 1 minute and completes the inspection of 4 doubling twisting equipment, and inspection robot B consumes 1% of the power in 1 minute and completes the inspection of 5 doubling twisting equipment. Then at this time, 4 doubling twisting equipment is the target number of inspection robot A, and 5 doubling twisting equipment is the target number of inspection robot B. Among them, 1 minute can be used as the preset duration, but it should be noted that the target number of each inspection robot may be different, and the preset duration can be set arbitrarily according to needs.

[0051] The energy efficiency ratio of inspection robot B is higher than that of inspection robot A. At this time, a larger target sub-inspection area can be assigned to inspection robot B. For example, 10 target sub-inspection areas where doubling machines are located can be assigned to inspection robot B, and 8 target sub-inspection areas where doubling machines are located can be assigned to inspection robot A. It should be noted that within the assigned target sub-inspection areas, all doubling machines are adjacent and continuous, and the above-mentioned are only exemplary data, and the number and total number of doubling machines within the assigned target sub-inspection areas are not limited herein.

[0052] As shown Figure 4 in Figure 4 The left schematic diagram is the schematic diagram of the first channel. Figure 4 The right schematic diagram is the schematic diagram of the second channel. When the inspection robot conducts inspections in the first channel, it travels along the center line of the first channel. When the inspection robot conducts inspections in the second channel, it conducts inspections along one side of the two symmetric sides of the second channel. After one side is inspected, the other side can be inspected as needed. The inspection method for the second channel can be applied to the situation where the gap between two adjacent doubling machines is relatively wide, that is, the width of the channel is greater than the preset width. The preset width can be set arbitrarily according to needs. In this application, the preset width can be set to 120 cm.

[0053] The preset first quantity ratio and the preset second quantity ratio can be set according to needs. In this application, the preset first quantity ratio can be 2, and the preset second quantity ratio can be 1. That is to say, the second quantity ratio is half of the first quantity ratio. For the doubling machines on both sides of the first channel, only one inspection by the inspection robot is required. For the doubling machines on both sides of the second channel, due to the larger channel width, two inspections by the inspection robot are required. The sum of the first quantity and the second quantity obtained therefrom can be used as the total quantity of the doubling machines to be inspected.

[0054] Step 640: Set inspection tasks for each inspection robot according to each target sub-inspection area, so that the inspection robot performs inspection tasks on the doubling machines in the target sub-inspection area.

[0055] Specifically, after dividing each inspection robot into target sub-inspection areas, inspection tasks can be further set. The inspection tasks can be planned by the background server or the scheduling system. Among them, some instructions can be input in advance to set the inspection tasks, such as the inspection start point, the inspection end point, etc. Since the inspection logic of the inspection robot in the first channel and the second channel has been set above, and the doubling machines in each target sub-inspection area are adjacent and continuous, then as long as the inspection start point and the inspection end point are set, the background server can directly plan the inspection path, and the inspection robot only needs to perform inspections according to the planned inspection path without excessive human intervention.

[0056] In an embodiment of the present application, step 640 includes: Obtain the inspection start point, inspection end point, cyclic detection rounds of the inspection robot in the target sub-inspection area, and the target blocked doubling machines in the target sub-inspection area; According to the inspection start point, inspection end point, and target blocked doubling machines, determine the target inspection channels, target parent sites, and target sub-sites that the inspection robot needs to pass through in each inspection channel; Determine the inspection path of the inspection robot in the target sub-inspection area according to the target inspection channels, target parent sites, and target sub-sites; Generate the inspection task of the inspection robot according to the inspection path, cyclic detection rounds, and target blocked doubling machines; Among them, when the inspection robot performs inspections according to the inspection path, it is prohibited from inspecting the target blocked doubling machines, and the number of the doubling machines is 0 or 1 or more.

[0057] Specifically, through the inspection start point, inspection end point, and target blocked doubling machines, the target inspection channels, target parent sites, and target sub-sites that the inspection robot needs to pass through can be determined in each inspection channel, and then the inspection path can be automatically generated according to the connection relationship of the target inspection channels, target parent sites, and target sub-sites.

[0058] The target blocked doubling machines are the doubling machines that need to be blocked in the inspection path (that is, the doubling machines that do not need to be inspected, such as the doubling machines that have stopped running do not need to be inspected), as follows Figure 7 shown: The doubling machines in the three shaded parts are all marked as target blocked doubling machines, and the inspection robot does not turn on the camera on this side for image acquisition and detection during inspections. The cyclic detection rounds mean that after the inspection robot completes the inspections in the target sub-inspection area, it performs the next round of inspections, that is, repeats the inspections of the doubling machines in the target sub-inspection area.

[0059] The inspection tasks of the inspection robot, including whether to turn on the camera device, such as Figure 7 As shown, the inspection robot starts from the starting point in the lower left corner and only turns on the two camera devices on the right. When entering the second channel, since the doubling device on the right side of the second channel is marked as the target-shielded doubling device, only the two camera devices on the left are turned on at this time, and so on.

[0060] Step 650: Receive the inspection information about the inspection tasks reported by each inspection robot, and determine the task scheduling information of at least one inspection robot according to each inspection information.

[0061] Specifically, the inspection robot can continuously report the inspection information about the inspection tasks. As Figure 8 shown, the inspection robot can report the inspection information at intervals of a period of time, or can report the inspection information after completing an inspection task. The reporting frequency of the inspection information can be set arbitrarily. Through the reported inspection information, it can be known about the completion of the inspection tasks of each robot and some problems of the doubling devices found during the inspection process, such as the following existing problems: 1. If the NG (no good) of the work station is repeated, it means that there is an abnormality in the structure of the doubling work station; 2. The wire breakage rate in the inspection area is too high (which can be obtained by analyzing the image information), and the doubling machine can be adjusted or the parameters of the previous process can be optimized; 3. The whole machine is NG, the doubling device is not turned on, and the operator does not set the device not to be inspected; 4. The work station is repeatedly detected twice (which can be obtained by recording the number of times of the issued secondary detection instructions), and there may be structural abnormalities or sensor induction position offsets or ground abnormalities; 5. If more than 1 yarn is detected (which can be obtained by analyzing the image information), it means that the doubling work station is abnormal; 6. The yarn pattern is discontinuous, and there is an abnormality during the twisting of the doubling work station; 7. The energy consumption is too high, the machine's available running time suddenly becomes short, and the equipment moving wheels may be faulty.

[0062] Among them, NG (no good) also represents that there is an abnormality in a certain work station of the doubling device. As Figure 9 shown, Figure 9 is a certain doubling work station with an NG situation. At this time, the inspection robot stops moving forward and returns to the doubling work station with NG for secondary detection. During the inspection process, the inspection robot takes pictures of the doubling work station through the camera device, and can judge whether there are multiple yarns, whether the yarn pattern is continuous, etc. according to the obtained image information. At the same time, the background server can also judge the energy consumption of the inspection robot when performing the inspection task through the reported inspection information, that is, the power consumption. If the energy consumption is too high, it means that the equipment moving wheels of the inspection robot may be faulty.

[0063] In one embodiment of the present application, the inspection information includes the actual energy efficiency of the inspection robot during the execution of the inspection task. The step of determining the task scheduling information of each inspection robot according to each inspection information may include: Obtain the actual energy efficiency of each inspection robot from each inspection information; Calculate the average energy efficiency based on each actual energy efficiency; For each inspection robot, generate task scheduling information for indicating increasing or decreasing the area of the target inspection area of the inspection robot according to the comparison result between the actual energy efficiency and the average energy efficiency.

[0064] Specifically, the actual energy efficiency of each inspection robot can be obtained from the inspection information reported by each inspection robot, and then the average energy efficiency can be calculated. If the actual energy efficiency is lower than the average energy efficiency, then generate task scheduling information for indicating reducing the area of the target inspection area of the inspection robot. If the actual energy efficiency is higher than the average energy efficiency, then generate task scheduling information for indicating increasing the area of the target inspection area of the inspection robot. By continuously dynamically adjusting the area of their respective target inspection areas according to the actual energy efficiency of the inspection robots during the inspection process of the inspection robots, the inspection of the entire area of the doubling workshop can be completed more efficiently.

[0065] In one embodiment of the present application, the inspection information further includes the power information of the inspection robot during the execution of the inspection task. The step of determining the task scheduling information of each inspection robot according to each inspection information may include: Obtain the power information of each inspection robot from each inspection information; For each inspection robot, if the power information is lower than the preset power threshold, then generate task scheduling information for indicating the inspection robot to go to the preset charging pile for charging.

[0066] Specifically, as Figure 10 shown, Figure 10 two charging piles are shown. If the inspection robot has insufficient power during the inspection process, that is, the power information is lower than the preset power threshold, the preset power threshold can be set according to actual needs. The preset power threshold can be set to 30% of the full charge state of the inspection robot. As long as it is lower than the preset power threshold, then generate task scheduling information for indicating the inspection robot to go to the preset charging pile for charging, so that the inspection robot automatically drives to the preset charging pile for charging.

[0067] Step 660: Send the task scheduling information to at least one inspection robot, and the inspection robot executes the target task according to the task scheduling information.

[0068] Specifically, the inspection robot executes the target task according to the task scheduling information, that is, it executes the required target task according to the content of the task scheduling information. The target tasks include enlarging the target sub-inspection area, shrinking the target sub-inspection area, charging instructions, and so on.

[0069] Among them, the inspection information includes the inspection results of each doubling and twisting station in the target sub-inspection area. The inspection results of the doubling and twisting station are obtained through the following steps: For each doubling and twisting station, the inspection robot takes a picture of the image of the doubling and twisting station to obtain the image information of the doubling and twisting station, and generates the inspection result according to the image information; Among them, generating the inspection result according to the image information includes: If the image information is consistent with the preset reference image information, it is determined that the doubling and twisting station is a normal station; If the image information is inconsistent with the preset reference image information, a secondary detection instruction is sent to the inspection robot, so that the inspection robot travels to the sub-station corresponding to the doubling and twisting station according to the secondary detection instruction, and takes pictures of the doubling and twisting station for a preset number of frames to obtain image data of the preset number of frames; The inspection robot compares the image data frame by frame with the reference image information to obtain the multi-frame comparison result of the image data, and generates the inspection result according to the multi-frame comparison result.

[0070] Specifically, continue as Figure 9 shown. As long as the image information is consistent with the preset reference image information, it is determined that the doubling and twisting station is a normal station, that is, it is determined that the current doubling and twisting station is OK, otherwise it is determined to be NG. In the case of NG, secondary detection is required. At this time, the inspection robot needs to return to the station with anomalies, that is, the NG station, for secondary detection.

[0071] The preset number of frames can be set according to actual needs. In the embodiments of the present application, the preset number of frames can be set to 5 frames. The preset reference image information can be stored in a pre-constructed OK yarn image sample feature library. When it is determined as NG, the inspection robot retreats to this doubling position and continuously captures 5 frames of image information for judgment. The secondary detection uses the pre-established OK yarn image sample feature library. The OK yarn image sample feature library collects OK yarn images in a large number of different scenarios. Each frame of image generates 4 layers of Gaussian pyramids. The pyrDown operator is used to generate each layer of the Gaussian pyramid. The original image is gradually downsampled, and the image features of each layer are saved as the OK yarn image sample feature library. The collected image information is used to generate 4 layers of feature maps through the pyrDown operator. The L2 distance (Euclidean distance) is used to violently calculate the similarity with the reference image information in the OK yarn image sample feature library (to obtain multiple frame comparison results). If the average similarity of the 4 layers of feature maps of a certain frame of image information is higher than 90%, and the similarity of more than 3 frames of the 5 frames of image information is higher than 90% compared with the reference image information, it is determined as OK; otherwise, it is determined as NG. Subsequently, the information (inspection result) of the doubling position with NG is reported to the background server (dispatching system).

[0072] In an embodiment of the present application, the inspection path includes a movable main path and a movable branch path. The method of the embodiment of the present application further includes: If the inspection robot detects a target obstacle during inspection on the movable main path, the inspection robot bypasses the target obstacle and continues the inspection according to the inspection path; If the inspection robot detects a target obstacle during inspection on the movable branch path, the inspection robot reports the obstacle information corresponding to the target obstacle and exits the current movable branch path; When the inspection robot receives inspection path adjustment information, the inspection robot conducts inspections according to the inspection path adjustment information; Among them, the movable branch path is the first channel or the second channel, and the movable main path is all channels in the doubling workshop except the movable branch path.

[0073] Specifically, as Figure 11 shown, when the inspection robot encounters a target obstacle on the movable branch path, it will automatically exit the current movable branch path and wait for the dispatching system to issue inspection path adjustment information for re-planning the inspection path. If the inspection robot encounters a target obstacle on the movable main path, it can directly bypass it and directly continue the inspection according to the original inspection path, which can improve the inspection efficiency when encountering target obstacles during the inspection process. The movable main path can be the connection line between each parent site, and the movable branch path can be the connection line between each sub-site.

[0074] Next, in combination with the specific application implementation process, the scheduling method of the twister workshop inspection robot provided in this application will be introduced and described in detail.

[0075] In the embodiment of this application, first, the inspection robot constructs a global map of the twister workshop through the method of trackless laser navigation, thereby obtaining the twister areas to be inspected. At the same time, the total number of twister devices in the twister areas to be inspected can be obtained. According to the historical energy efficiency data of each inspection robot, the initial target sub-inspection areas are divided. The area of the target sub-inspection area divided by the robot with higher historical energy efficiency data is larger, that is, the number of twister devices in the target sub-inspection area is larger.

[0076] According to the divided target sub-inspection areas, an inspection task is set for each inspection robot, that is, the inspection start point, inspection end point, cyclic detection rounds, and target shielded twister devices are set. After setting, the inspection path is directly generated, as well as the actions that the inspection robot needs to execute when patrolling to different positions (such as whether to turn on the camera device). During the inspection process, that is, when executing the inspection task, the inspection robot continuously reports inspection information, that is, it can report the operation status of each twister station in the twister device, the secondary detection situation that occurs, and the energy consumption situation of the inspection robot itself. Managers can intuitively see the operation status of each twister station in the twister device and the secondary detection situation that occurs, and can handle it in time when abnormalities occur to ensure the normal operation of the twister workshop.

[0077] At the same time, according to the reported inspection information, the scheduling system will automatically adjust the target sub-inspection areas of each inspection robot and send a charging instruction to the inspection robot with a lower power level. The inspection robot can judge whether to detour or exit the current channel by itself when encountering an obstacle, with a high degree of intelligence. This application can effectively schedule and manage the inspection robot cluster used in the twister workshop, automatically plan the target sub-inspection areas, and automatically adjust the target sub-inspection areas and achieve effective power management during the actual execution of the inspection task. At the same time, according to the reported inspection information, it is possible to intuitively see the twister devices with abnormal operation in the twister workshop, which is convenient for subsequent repair and processing to maintain the normal operation of the twister devices. While ensuring normal operation, improve the cooperation efficiency of the inspection robots and conduct orderly scheduling and management of the inspection robots.

[0078] The embodiment of this application also discloses an electronic device, including: At least one processor; At least one memory for storing at least one program; When at least one program is executed by at least one processor, at least one processor implements the scheduling method of the twister workshop inspection robot as described above.

[0079] It can be understood that the content in the specific embodiments of the above-mentioned scheduling method for the double-twisting workshop inspection robot is applicable to the embodiments of this electronic device. The functions specifically implemented by the embodiments of this electronic device are the same as those of the embodiments of the above-mentioned scheduling method for the double-twisting workshop inspection robot, and the beneficial effects achieved are also the same as those of the embodiments of the above-mentioned scheduling method for the double-twisting workshop inspection robot.

[0080] The electronic device according to the embodiments of the present application can be an inspection robot, a terminal device, or a background server.

[0081] Exemplarily, referring to Figure 12 , Figure 12 is a schematic structural diagram of an electronic device provided in the embodiments of the present application. Taking the electronic device as a terminal device as an example, Figure 12 in, the terminal device 1200 may include an RF (Radio Frequency) circuit 1210, a memory 1220 including one or more computer-readable storage media, an input unit 1230, a display unit 1240, a sensor 1250, an audio circuit 1260, a short-range wireless transmission module 1270, a processor 1280 including one or more processing cores, and a power supply 1290 and other components. Those skilled in the art can understand that Figure 12 the device structure shown in does not constitute a limitation on the terminal device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0082] The RF circuit 1210 can be used for receiving and transmitting information or signals during a call. Specifically, after receiving the downlink information from the base station, it is handed over to one or more processors 1180 for processing. Additionally, data related to the uplink is transmitted to the base station. Generally, the RF circuit 1210 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, etc. In addition, the RF circuit 1210 can also communicate with the network and other devices via wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0083] The memory 1220 can be used to store software programs and modules (or units). The processor 1280 executes various functional applications and data processing by running the software programs and modules (or units) stored in the memory 1220. The memory 1220 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function), etc.; the data storage area can store data created according to the use of the terminal device 1200 (such as audio data, a phone book), etc. In addition, the memory 1220 can include high-speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. Correspondingly, the memory 1220 can also include a memory controller to provide access to the memory 1220 by the processor 1280 and the input unit 1230. Although Figure 12 the RF circuit 1210 is shown, it can be understood that it does not necessarily constitute a part of the terminal device 1200 and can be omitted entirely within the scope of not changing the essence of the invention according to needs.

[0084] The input unit 1230 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to object settings and function controls. Specifically, the input unit 1230 may include a touch-sensitive surface 1231 and other input devices 1232. The touch-sensitive surface 1231, also known as a touch display screen or a touchpad, can collect touch operations of an object on or near it (such as operations of the object using any suitable object or accessory such as a finger or a stylus on or near the touch-sensitive surface 1231), and drive corresponding connection devices according to a pre-set program. Optionally, the touch-sensitive surface 1231 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the touch orientation of the object, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1280, and can receive and execute the instructions sent by the processor 1280. In addition, various types such as resistive, capacitive, infrared, and surface acoustic wave can be used to implement the touch-sensitive surface 1231. In addition to the touch-sensitive surface 1231, the input unit 1230 may further include other input devices 1232. Specifically, the other input devices 1232 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, joysticks, etc.

[0085] The display unit 1240 can be used to display the information input by the object or the information provided to the object and control various graphical object interfaces of the terminal device 1200. These graphical object interfaces can be composed of graphics, text, icons, videos, and any combination thereof. The display unit 1140 may include a display panel 1241. Optionally, the display panel 1241 can be configured in forms such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode). Further, the touch-sensitive surface 1231 can cover the display panel 1241. When the touch-sensitive surface 1231 detects a touch operation on or near it, it is transmitted to the processor 1280 to determine the type of touch event. Subsequently, the processor 1280 provides a corresponding visual output on the display panel 1241 according to the type of touch event. Although in Figure 12 the touch-sensitive surface 1231 and the display panel 1241 are implemented as two independent components to achieve input and input functions, in some embodiments, the touch-sensitive surface 1231 and the display panel 1241 can be integrated to achieve input and output functions.

[0086] The terminal device 1200 may further include at least one sensor 1250, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. Among them, the ambient light sensor can adjust the brightness of the display panel 1241 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 1241 or the backlight when the terminal device 1200 is moved to the ear. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of the acceleration in each direction (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used in applications for identifying the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc. As for other sensors that the terminal device 1200 may also be configured with, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be elaborated here.

[0087] The audio circuit 1260, the speaker 1261, and the microphone 1262 can provide an audio interface between the object and the terminal device 1200. The audio circuit 1260 can transmit the electrical signal converted from the received audio data to the speaker 1261, and the speaker 1261 converts it into a sound signal for output. On the other hand, the microphone 1262 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1260 and then converted into audio data. After the audio data is output to the processor 1280 for processing, it is sent to another electronic device through the RF circuit 1210, or the audio data is output to the memory 1220 for further processing. The audio circuit 1260 may also include an earphone jack to provide communication between the peripheral earphone and the terminal device 1200.

[0088] The short-range wireless transmission module 1270 can be a WIFI (wireless fidelity) module, a Bluetooth module, an infrared module, etc. The terminal device 1200 can transmit information with the wireless transmission modules set on other devices through the short-range wireless transmission module 1270.

[0089] The processor 1280 is the control center of the terminal device 1200, connecting various parts of the entire device through various interfaces and lines. By running or executing the software programs or modules stored in the memory 1220, and calling the data stored in the memory 1220, it executes various functions of the terminal device 1200 and processes data, thereby overall controlling the device. Optionally, the processor 1280 may include one or more processing cores. Optionally, the processor 1280 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, the object interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 1280 either.

[0090] The terminal device 1200 further includes a power supply 1290 (such as a battery) for powering each component. Optionally, the power supply 1290 can be logically connected to the processor 1280 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 1290 can also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0091] Although not shown, the terminal device 1200 may further include a camera, a Bluetooth module, etc., which will not be elaborated here.

[0092] An embodiment of the present application also discloses a computer-readable storage medium, in which a program executable by a processor is stored. The program executable by the processor, when executed by the processor, is used to implement the scheduling method embodiment of the doubling workshop patrol robot as described above.

[0093] It can be understood that the content in the scheduling method embodiment of the doubling workshop patrol robot described above is applicable to this computer-readable storage medium embodiment. The functions specifically implemented by this computer-readable storage medium embodiment are the same as those of the scheduling method embodiment of the doubling workshop patrol robot described above, and the beneficial effects achieved are also the same as those of the scheduling method embodiment of the doubling workshop patrol robot described above.

[0094] An embodiment of the present application also discloses a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in the computer-readable storage medium described above; Figure 12 The processor of the electronic device shown can read the computer instructions from the computer-readable storage medium described above, and the processor executes the computer instructions, so that the computer device executes the scheduling method of the doubling workshop patrol robot described above.

[0095] It can be understood that the content in the scheduling method embodiment of the doubling workshop patrol robot described above is applicable to this computer program product or computer program embodiment. The functions specifically implemented by this computer program product or computer program embodiment are the same as those of the scheduling method embodiment of the doubling workshop patrol robot described above, and the beneficial effects achieved are also the same as those of the scheduling method embodiment of the doubling workshop patrol robot described above.

[0096] In some alternative embodiments, the functions / operations recited in the block diagrams may not occur in the order presented in the operational illustrations. For example, depending on the functions / operations involved, two blocks shown in succession may actually be executed substantially simultaneously or the blocks can sometimes be executed in the reverse order. Further, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is altered and in which sub-operations described as part of a larger operation are performed independently.

[0097] In addition, although the present application has been described in the context of functional modules, it should be understood that one or more of the functions and / or features may be integrated in a single physical device and / or software module unless otherwise stated to the contrary, or one or more functions and / or features may be implemented in separate physical devices or software modules. It should also be understood that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present application. Rather, given the attributes, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the modules will be understood within the ordinary skill of an engineer. Thus, those skilled in the art can implement the present application as set forth in the claims without undue experimentation. It should also be understood that the particular concepts disclosed are illustrative only and are not intended to limit the scope of the present application, which is determined by the full scope of the appended claims and their equivalents.

[0098] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product stored in a storage medium, including several 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 methods of the various embodiments of the present application. The foregoing storage medium includes: various media that can store program codes, such as a USB flash drive, a portable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[0099] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0100] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0101] In the above description of this specification, the descriptions referring to the terms "one embodiment / example", "another embodiment / example", or "certain embodiments / examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0102] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0103] The above has specifically described the preferred embodiments of the present application, but the present application is not limited to the embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A method for dispatching an inspection robot in a two-for-one twisting workshop, characterized in that: Applied to a dispatching system, the dispatching system comprises: at least one inspection robot and any number of two-for-one twisting devices; each of the two-for-one twisting devices comprises a plurality of two-for-one twisting stations, a channel between two adjacent two-for-one twisting devices forms an inspection channel, parent stations are arranged at both ends of the inspection channel, and the inspection channel consists of a plurality of child stations corresponding to each of the two-for-one twisting stations; the method comprises: Determine the two-for-one twisting area to be inspected in the two-for-one twisting workshop; Determine the total number of two-for-one twisting devices to be inspected in the two-for-one twisting area; Acquire the historical energy efficiency data of each of the inspection robots, and divide the twisting area according to the historical energy efficiency data of each of the inspection robots and the total number, to obtain the target sub-inspection area of ​​each of the inspection robots, each of the target sub-inspection area includes at least one inspection channel, a plurality of the parent sites and a plurality of the child sites, and the inspection robot switches between different inspection channels according to the connection between the parent sites; According to each of the inspection channels, each of the parent sites, and each of the child sites in each of the target sub-inspection areas, an inspection task is set for each of the inspection robots, so that the inspection robot performs the inspection task on the two-for-one twisting device in the target sub-inspection area; Receiving inspection information about the inspection task reported by each of the inspection robots, and determining task scheduling information of at least one of the inspection robots according to each of the inspection information; Sending the task scheduling information to at least one of the inspection robots, so that the inspection robot performs the target task according to the task scheduling information; The inspection information includes the inspection results of each of the two-for-one twisting stations in the target sub-inspection area, and the inspection results of the two-for-one twisting stations are obtained by the following steps: For each two-for-one twisting station, the inspection robot takes an image of the two-for-one twisting station to obtain image information of the two-for-one twisting station, and generates the inspection result according to the image information; Wherein, generating the inspection result according to the image information includes: If the image information is consistent with the preset reference image information, the two-for-one twisting station is determined to be a normal station; If the image information is inconsistent with the preset reference image information, a secondary detection instruction is issued to the inspection robot, so that the inspection robot moves to the sub-station corresponding to the two-for-one twisting station according to the secondary detection instruction, and takes a preset number of frames of images of the two-for-one twisting station to obtain the preset number of frames of image data; The inspection robot compares the image data frame by frame with the reference image information to obtain a multi-frame comparison result of the image data, and generates the inspection result according to the multi-frame comparison result.

2. The method for dispatching the inspection robot in the two-for-one twisting workshop according to claim 1, characterized in that: The step of determining the two-for-one twisting area to be inspected in the two-for-one twisting workshop comprises: By means of the inspection robot, laser scanning is performed on each of the two-for-one twisting devices in the two-for-one twisting workshop by using a trackless laser navigation method to obtain characteristics of the two-for-one twisting devices; Generate a map according to the characteristics of the two-for-one twisting device to obtain a global map; A two-for-one twisting area to be inspected in the two-for-one twisting workshop is obtained according to the global map.

3. The method for dispatching the inspection robot in the two-for-one twisting workshop according to claim 1, characterized in that: The method of dividing the two-for-one twisting area according to the historical energy efficiency data and the total number of each inspection robot to obtain a target sub-inspection area for each inspection robot includes: For each inspection robot, the target number of two-for-one twisting devices that the inspection robot can inspect within a preset time period is calculated based on the historical energy efficiency data; The two-for-one twisting area is divided according to each of the target quantities and the total quantity to obtain a target sub-inspection area for each of the inspection robots.

4. The method for dispatching the inspection robot in the two-for-one twisting workshop according to claim 3, characterized in that: The total number of the two-for-one twisting devices to be inspected is obtained by the following steps: For each inspection channel, if the width of the inspection channel is greater than a preset width, the inspection channel is determined to be a first channel; determining a first quantity according to the first channel and a preset first quantity ratio; For each inspection channel, if the width of the inspection channel is less than or equal to the preset width, determining the inspection channel as a second channel; Determining a second quantity according to the second channel and a preset second quantity ratio; wherein the second quantity ratio is half of the first quantity ratio; The total number of the two-for-one twisting devices to be inspected is obtained by summing the first number and the second number; Wherein, when the inspection robot performs the inspection task, it performs inspection along the center line of the first channel, and when the inspection robot performs the inspection task, it performs inspection along one of the two sides of the second channel.

5. The method for dispatching an inspection robot in a two-for-one twisting workshop according to any one of claims 1 to 4, characterized in that: The setting of inspection tasks for each inspection robot according to each inspection channel, each parent site, and each child site in each target sub-inspection area includes: Obtaining the inspection starting point, inspection end point, cycle detection rounds of the inspection robot in the target sub-inspection area and the target shielded two-for-one twisting device in the target sub-inspection area; According to the inspection starting point, the inspection end point and the target shielded two-for-one twisting device, determining the target inspection channel, the target parent site and the target child site that the inspection robot needs to pass through in each inspection channel; Determine the inspection path of the inspection robot in the target sub-inspection area according to the target inspection channel, the target parent site, and the target sub-site; Generate an inspection task for the inspection robot according to the inspection path, the cyclic detection rounds, and the target shielded two-for-one twisting device; Wherein, when the inspection robot inspects along the inspection path, it is prohibited to inspect the target shielded two-for-one twisting device, and the number of the target two-for-one twisting devices is 0 or 1 or more.

6. The method for dispatching an inspection robot in a two-for-one twisting workshop according to any one of claims 1 to 4, characterized in that: The inspection information also includes the actual energy efficiency of the inspection robot when performing the inspection task. The determining the task scheduling information of each inspection robot according to each inspection information includes: Acquire the actual energy efficiency of each inspection robot from each inspection information; Calculate the average energy efficiency according to the actual energy efficiencies; For each inspection robot, the task scheduling information for instructing to increase or decrease the area of ​​the target inspection region of the inspection robot is generated according to the comparison result between the actual energy efficiency and the average energy efficiency.

7. The method for dispatching an inspection robot in a two-for-one twisting workshop according to any one of claims 1 to 4, characterized in that: The inspection information also includes power information of the inspection robot when performing the inspection task. The task scheduling information of each inspection robot is determined according to each inspection information, including: Acquire power information of each inspection robot from each inspection information; For each inspection robot, if the power information is lower than a preset power threshold, the task scheduling information is generated to instruct the inspection robot to go to a preset charging pile for charging.

8. A dispatching device for a two-for-one twisting workshop inspection robot, characterized in that: Applied to a dispatching system, the dispatching system comprises: at least one inspection robot and any number of two-for-one twisting devices; each of the two-for-one twisting devices comprises a plurality of two-for-one twisting stations, a channel between two adjacent two-for-one twisting devices forms an inspection channel, parent stations are arranged at both ends of the inspection channel, and the inspection channel consists of a plurality of child stations corresponding to each of the two-for-one twisting stations; the device comprises: A first determining unit is used to determine a two-for-one twisting area to be inspected in the two-for-one twisting workshop; A second determining unit is used to determine the total number of two-for-one twisting devices to be inspected in the two-for-one twisting area; an acquisition unit, configured to acquire the historical energy efficiency data of each of the inspection robots, and divide the twisting area according to the historical energy efficiency data of each of the inspection robots and the total number, to obtain a target sub-inspection area of ​​each of the inspection robots, each of the target sub-inspection areas including at least one inspection channel, a plurality of the parent sites, and a plurality of the child sites; A setting unit, configured to set an inspection task for each inspection robot according to each inspection channel, each parent site, and each child site in each target sub-inspection area, so that the inspection robot performs the inspection task on the two-for-one twisting device in the target sub-inspection area; A receiving unit, configured to receive inspection information about the inspection task reported by each of the inspection robots, and determine task scheduling information of at least one of the inspection robots according to each of the inspection information; A task scheduling unit, used to send the task scheduling information to at least one of the inspection robots, so that the inspection robot performs the target task according to the task scheduling information; The inspection information includes the inspection results of each of the two-for-one twisting stations in the target sub-inspection area, and the inspection results of the two-for-one twisting stations are obtained by the following steps: For each two-for-one twisting station, the inspection robot takes an image of the two-for-one twisting station to obtain image information of the two-for-one twisting station, and generates the inspection result according to the image information; Wherein, generating the inspection result according to the image information includes: If the image information is consistent with the preset reference image information, the two-for-one twisting station is determined to be a normal station; If the image information is inconsistent with the preset reference image information, a secondary detection instruction is issued to the inspection robot, so that the inspection robot moves to the sub-station corresponding to the two-for-one twisting station according to the secondary detection instruction, and takes a preset number of frames of images of the two-for-one twisting station to obtain the preset number of frames of image data; The inspection robot compares the image data frame by frame with the reference image information to obtain a multi-frame comparison result of the image data, and generates the inspection result according to the multi-frame comparison result.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the scheduling method for the inspection robot in the two-for-one twisting workshop as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the scheduling method for the inspection robot in a two-for-one twisting workshop according to any one of claims 1 to 7 is implemented.

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