Obstacle avoidance method and device for inspection robot, electronic equipment and storage medium

Abstract

The invention provides an inspection robot obstacle avoidance method and device, electronic equipment and a storage medium, and the method comprises the steps: periodically obtaining obstacles and corresponding obstacle information of an inspection robot in a preset radius range during inspection, and obtaining a distance between the obstacles through a distance division criterion; and according to the distance information between the inspection robot and the obstacles in the obstacle information, dividing the obstacles to corresponding distance division grades, and based on the distance division grades of the obstacles and the obstacle information, formulating an obstacle avoidance strategy of the inspection robot to obtain an obstacle avoidance path of the inspection robot. And according to the obstacle avoidance path, the inspection robot is controlled to perform obstacle avoidance by using a PID control algorithm and a brake control rule. The inspection robot obstacle avoidance method based on the distance division criterion and the brake control rule is formed, and the problems that an existing inspection robot obstacle avoidance method cannot be switched to a more suitable control strategy in time and the obstacle avoidance strategy is too single are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle avoidance for inspection robots, and particularly to an obstacle avoidance method, device, electronic device and storage medium for inspection robots. Background Art

[0002] At present, inspection robots are increasingly widely used in the industrial field. In order to ensure that inspection robots can safely and efficiently avoid obstacles when performing industrial tasks, obstacle avoidance technology has become one of the key technologies in the field of inspection robots. Obstacle avoidance technology mainly includes three parts: perception, decision-making, and execution, involving multiple fields such as computer vision, artificial intelligence, and control systems. In the past few decades, researchers have proposed many obstacle avoidance methods, such as obstacle avoidance based on lidar, obstacle avoidance based on vision, and obstacle avoidance based on deep learning.

[0003] The existing obstacle avoidance methods for inspection robots usually only consider a single control source or, in the case of multiple control sources, the control right switching is not flexible enough, resulting in the inspection robot encountering a complex environment during task execution and being unable to switch to a more suitable control strategy in a timely manner; moreover, the existing obstacle avoidance methods for inspection robots usually only adopt a single obstacle avoidance strategy, such as stopping or bypassing, lacking the comprehensive application of multiple obstacle avoidance strategies, and reducing the obstacle avoidance effect of inspection robots in complex environments.

[0004] Therefore, it is of great significance to study an obstacle avoidance method for inspection robots based on a preset distance division criterion and a preset braking control rule, so as to use the preset distance division criterion and the preset braking control rule to control the inspection robot to avoid obstacles, to avoid collision problems of the inspection robot, ensure the safe operation of the inspection robot, and the continuous development of obstacle avoidance for inspection robots. Summary of the Invention

[0005] The present invention provides an obstacle avoidance method, device, electronic device and storage medium for inspection robots, which are used to solve the problems that the existing obstacle avoidance methods for inspection robots cannot switch to a more suitable control strategy in a timely manner and the obstacle avoidance strategy is too single, and lay an important foundation for the safe operation of inspection robots.

[0006] In a first aspect, the present invention provides an obstacle avoidance method for an inspection robot, including:

[0007] Periodically obtain obstacles within a preset radius range during the inspection of the inspection robot and the corresponding obstacle information;

[0008] According to the preset distance division criterion, based on the distance information between the inspection robot and the obstacles in the obstacle information, divide each of the obstacles into corresponding distance division levels;

[0009] Based on the distance division levels and obstacle information of each of the obstacles, formulate an obstacle avoidance strategy for the inspection robot to obtain the obstacle avoidance path of the inspection robot;

[0010] According to the obstacle avoidance path, use the PID control algorithm and the preset braking control rules to control the inspection robot to avoid obstacles.

[0011] Optionally, periodically obtain the obstacles within a preset radius range and the corresponding obstacle information when the inspection robot is on patrol, including:

[0012] Obtain the inspection path information of the inspection robot;

[0013] While controlling the inspection robot to perform patrol according to the inspection path information, periodically obtain the obstacles within a preset radius range and the corresponding obstacle information of the inspection robot.

[0014] Optionally, according to the preset distance division criterion, based on the distance information between the inspection robot and the obstacle in the obstacle information, divide each of the obstacles into the corresponding distance division level, including:

[0015] Extract the distance information between the inspection robot and each of the obstacles from the obstacle information;

[0016] Based on the distance information and taking the preset distance division criterion as the basis, divide each of the obstacles into the corresponding distance division level.

[0017] Optionally, based on the distance information and taking the preset distance division criterion as the basis, divide the obstacles into the corresponding distance division levels, including:

[0018] Respectively judge the magnitude relationship between the distance information and the preset first safety distance and the preset second safety distance in the preset distance division criterion; the preset first safety distance is greater than the preset second safety distance;

[0019] When the distance information is greater than the preset first safety distance, divide the obstacle into the first distance division level;

[0020] When the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance, divide the obstacle into the second distance division level;

[0021] When the distance information is less than the preset second safety distance, divide the obstacle into the third distance division level.

[0022] Optionally, based on the distance division levels and obstacle information of each of the obstacles, an obstacle avoidance strategy for the inspection robot is formulated to obtain an obstacle avoidance path for the inspection robot, including:

[0023] Based on the distance division levels corresponding to each of the obstacles, a corresponding obstacle avoidance strategy is formulated;

[0024] According to the obstacle information of each of the obstacles and the corresponding obstacle avoidance strategy, an obstacle avoidance path for the inspection robot is generated.

[0025] Optionally, according to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule, the inspection robot is controlled to avoid obstacles, including:

[0026] Using a PID control algorithm and a preset braking control rule, a corresponding PID controller is constructed;

[0027] According to the obstacle avoidance path, using the PID controller, the inspection robot is controlled to avoid obstacles.

[0028] In a second aspect, the present invention provides an obstacle avoidance device for an inspection robot, including:

[0029] An acquisition module, configured to periodically acquire obstacles within a preset radius range during the inspection of the inspection robot and corresponding obstacle information;

[0030] A division module, configured to divide each of the obstacles into corresponding distance division levels according to the distance information between the inspection robot and the obstacles in the obstacle information through a preset distance division criterion;

[0031] A formulation module, configured to formulate an obstacle avoidance strategy for the inspection robot based on the distance division levels and obstacle information of each of the obstacles to obtain an obstacle avoidance path for the inspection robot;

[0032] An obstacle avoidance module, configured to control the inspection robot to avoid obstacles according to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule.

[0033] In a third aspect, the present invention provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect above are run.

[0034] In a fourth aspect, the present invention provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method provided in the first aspect above are run.

[0035] Fifth aspect, the present invention provides a computer program product, including a computer program / instructions, and when the computer program is executed by a processor, it runs the steps in the method provided in the first aspect as described above.

[0036] As can be seen from the above technical solutions, the present invention has the following advantages:

[0037] The present invention provides an obstacle avoidance method, device, electronic device and storage medium for an inspection robot. The method includes: periodically obtaining obstacles within a preset radius range and corresponding obstacle information when the inspection robot is on patrol, and according to a preset distance division criterion, based on the distance information between the inspection robot and the obstacles in the obstacle information, dividing each of the obstacles into corresponding distance division levels, formulating an obstacle avoidance strategy for the inspection robot based on the distance division levels and obstacle information of each of the obstacles to obtain an obstacle avoidance path for the inspection robot, and according to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles. A set of obstacle avoidance methods for inspection robots based on a preset distance division criterion and a preset braking control rule is formed, which solves the problems that the existing obstacle avoidance methods for inspection robots cannot switch to a more suitable control strategy in time and the obstacle avoidance strategy is too single, laying an important foundation for the safe operation of the inspection robot. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0039] Figure 1 It is a flowchart of the first embodiment of the obstacle avoidance method for an inspection robot of the present invention;

[0040] Figure 2 It is a flowchart of the second embodiment of the obstacle avoidance method for an inspection robot of the present invention;

[0041] Figure 3 It is a structural block diagram of an embodiment of the obstacle avoidance device for an inspection robot of the present invention. Detailed Embodiments

[0042] The embodiments of the present invention provide an obstacle avoidance method, device, electronic device and storage medium for an inspection robot, which are used to solve the problems that the existing obstacle avoidance methods for inspection robots cannot switch to a more suitable control strategy in time and the obstacle avoidance strategy is too single, laying an important foundation for the safe operation of the inspection robot.

[0043] In order to make the object, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Embodiment 1

[0045] Please refer to Figure 1 , Figure 1 which is a flowchart of the steps of Embodiment 1 of an obstacle avoidance method for an inspection robot according to the present invention. The steps include:

[0046] Step S101, periodically obtain obstacles within a preset radius range during the inspection of the inspection robot and the corresponding obstacle information.

[0047] In an alternative embodiment, periodically obtaining obstacles within a preset radius range during the inspection of the inspection robot and the corresponding obstacle information includes:

[0048] Obtain the inspection path information of the inspection robot.

[0049] While controlling the inspection robot to perform inspections according to the inspection path information, periodically obtain obstacles within a preset radius range of the inspection robot and the corresponding obstacle information.

[0050] In the embodiment of the present invention, the inspection path information of the inspection robot is obtained, and according to the inspection path information, the inspection robot is controlled to perform inspections. During the inspections, obstacles within a preset radius range of the inspection robot and the corresponding obstacle information are periodically obtained. Among them, the obstacle information includes the position information of the obstacle, the volume information of the obstacle, the distance information between the obstacle and the inspection robot, and the relative speed information between the obstacle and the inspection robot.

[0051] Step S102, according to the preset distance division criterion and based on the distance information between the inspection robot and the obstacle in the obstacle information, divide each obstacle into the corresponding distance division level.

[0052] In an alternative embodiment, according to the preset distance division criterion and based on the distance information between the inspection robot and the obstacle in the obstacle information, dividing each obstacle into the corresponding distance division level includes:

[0053] Extract the distance information between the inspection robot and each obstacle from the obstacle information.

[0054] Based on the preset distance division criterion and the distance information, each of the obstacles is divided into a corresponding distance division level.

[0055] In an embodiment of the present invention, distance information between the inspection robot and each obstacle is extracted from the obstacle information, and the magnitude relationships between the distance information and a preset first safety distance and a preset second safety distance in the preset distance division criterion are respectively determined. The preset first safety distance is greater than the preset second safety distance. When the distance information is greater than the preset first safety distance, the obstacle is divided into the first distance division level. When the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance, the obstacle is divided into the second distance division level. When the distance information is less than the preset second safety distance, the obstacle is divided into the third distance division level. Thus, based on the preset distance division criterion, each of the obstacles is divided into a corresponding distance division level.

[0056] Step S103: Based on the distance division levels and the obstacle information of each of the obstacles, formulate an obstacle avoidance strategy for the inspection robot to obtain an obstacle avoidance path of the inspection robot;

[0057] In an alternative embodiment, formulating an obstacle avoidance strategy for the inspection robot based on the distance division levels and the obstacle information of each of the obstacles to obtain an obstacle avoidance path of the inspection robot includes:

[0058] Based on the distance division levels corresponding to each of the obstacles, formulate corresponding obstacle avoidance strategies;

[0059] According to the obstacle information of each of the obstacles and the corresponding obstacle avoidance strategies, generate an obstacle avoidance path of the inspection robot.

[0060] In an embodiment of the present invention, corresponding obstacle avoidance strategies are formulated based on the distance division levels corresponding to each obstacle, and an obstacle avoidance path of the inspection robot is generated according to the obstacle information of each obstacle and the corresponding obstacle avoidance strategies.

[0061] Step S104: According to the obstacle avoidance path, use a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles;

[0062] In an alternative embodiment, using a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles according to the obstacle avoidance path includes:

[0063] Use a PID control algorithm and a preset braking control rule to construct a corresponding PID controller;

[0064] According to the obstacle avoidance path, use the PID controller to control the inspection robot to avoid obstacles.

[0065] In the embodiment of the present invention, a PID controller generated based on a PID control algorithm and a preset braking control rule is used to control the inspection robot to avoid obstacles according to the obstacle avoidance path.

[0066] An obstacle avoidance method for an inspection robot provided by an embodiment of the present invention includes: periodically obtaining obstacles within a preset radius range and corresponding obstacle information when the inspection robot is performing inspection, and according to a preset distance division criterion, based on the distance information between the inspection robot and the obstacles in the obstacle information, dividing each of the obstacles into corresponding distance division levels, formulating an obstacle avoidance strategy for the inspection robot based on the distance division levels and obstacle information of each of the obstacles to obtain the obstacle avoidance path of the inspection robot, and according to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles. A set of obstacle avoidance methods for inspection robots based on preset distance division criteria and preset braking control rules is formed to solve the problems that the existing obstacle avoidance methods for inspection robots cannot switch to a more suitable control strategy in time and the obstacle avoidance strategy is too single, laying an important foundation for the safe operation of the inspection robot.

[0067] Embodiment Two

[0068] Please refer to Figure 2 , Figure 2 which is a flowchart of the steps of Embodiment Two of the obstacle avoidance method for an inspection robot according to the present invention. The steps include:

[0069] S201, obtain the inspection path information of the inspection robot;

[0070] In the embodiment of the present invention, the inspection path information of the inspection robot is obtained to identify nearby obstacles when the inspection robot is performing inspection, so as to generate a corresponding obstacle avoidance route (obstacle avoidance path) on the inspection path and avoid the inspection robot from colliding.

[0071] S202, while controlling the inspection robot to perform inspection according to the inspection path information, periodically obtain obstacles within a preset radius range and corresponding obstacle information of the inspection robot;

[0072] When the inspection robot performs inspections according to the inspection path information in the embodiments of the present invention, various sensors such as lidar, ultrasonic radar, depth camera, and laser rangefinder can be used to periodically obtain obstacles within a preset radius range of the inspection robot and the corresponding obstacle information. The obstacle information includes the position information of the obstacle, the volume information of the obstacle, the distance information between the obstacle and the inspection robot, and the relative speed information between the obstacle and the inspection robot. Among them, the preset radius range can be set according to the actual acquisition device (sensor).

[0073] S203, extract the distance information between the inspection robot and each of the obstacles from the obstacle information;

[0074] In the embodiments of the present invention, the distance information between the inspection robot and each obstacle is extracted from the obstacle information to determine the corresponding obstacle avoidance strategy and obstacle avoidance route by analyzing the distance information.

[0075] S204, based on the preset distance division level criterion, divide each of the obstacles into corresponding distance division levels based on the distance information;

[0076] In an alternative embodiment, dividing the obstacles into corresponding distance division levels based on the preset distance division level criterion and based on the distance information includes:

[0077] Respectively judge the magnitude relationship between the distance information and the preset first safety distance and the preset second safety distance in the preset distance division level criterion; the preset first safety distance is greater than the preset second safety distance;

[0078] When the distance information is greater than the preset first safety distance, divide the obstacle into the first distance division level;

[0079] When the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance, divide the obstacle into the second distance division level;

[0080] When the distance information is less than the preset second safety distance, divide the obstacle into the third distance division level.

[0081] In the embodiments of the present invention, the size relationships between the distance information and a preset first safety distance and a preset second safety distance in the preset distance division criterion are respectively determined, where the preset first safety distance is greater than the preset second safety distance; when the distance information is greater than the preset first safety distance, the obstacle is classified into the first distance division level; when the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance, the obstacle is classified into the second distance division level; when the distance information is less than the preset second safety distance, the obstacle is classified into the third distance division level; thus, based on the preset distance division criterion, each obstacle is classified into the corresponding distance division level.

[0082] For example, the preset first safety distance is set to 2.5 m, and the preset second safety distance is 1.5 m. When the detected distance information of the obstacle is greater than 2.5 m, the obstacle is classified into the first distance division level; when the detected distance information of the obstacle is greater than or equal to 1.5 m and less than or equal to 2.5 m, the obstacle is classified into the second distance division level; when the detected distance information of the obstacle is less than 1.5 m, the obstacle is classified into the third distance division level.

[0083] S205, formulating a corresponding obstacle avoidance strategy based on the distance division levels corresponding to the respective obstacles;

[0084] In the embodiments of the present invention, based on the distance division levels corresponding to the respective obstacles, a corresponding obstacle avoidance strategy is formulated. When the distance division level is the first distance division level, the improved dynamic window approach (DWA) is used to formulate the local obstacle avoidance strategy of the inspection robot; when the distance division level is the second distance division level, the improved A* algorithm is used to formulate the global obstacle avoidance strategy of the inspection robot; when the distance division level is the third distance division level, the stop motion obstacle avoidance strategy of the inspection robot is formulated. The local obstacle avoidance strategy, the global obstacle avoidance strategy, and the stop motion obstacle avoidance strategy are summarized, and combined with the obstacle information of each obstacle, an obstacle avoidance path of the inspection robot is generated. Among them, the improved dynamic window approach and the improved A* algorithm are prior arts, and will not be described in detail herein; the local obstacle avoidance strategy is to adjust the traveling direction or the traveling speed of the inspection robot to avoid obstacles, the global obstacle avoidance strategy is to re-plan the path of the inspection robot and adjust the traveling speed to bypass the area where the obstacles are located, and the stop motion obstacle avoidance strategy is to stop the inspection robot (i.e., the inspection robot).

[0085] S206, generating the obstacle avoidance path of the inspection robot according to the obstacle information of each obstacle and the corresponding obstacle avoidance strategy;

[0086] In an embodiment of the present invention, an obstacle avoidance path of the inspection robot is generated according to the obstacle information of each obstacle and the corresponding obstacle avoidance strategy. For example, according to the position information and volume information of the obstacle, combined with the corresponding obstacle avoidance strategy, with the purpose of bypassing the obstacle, an obstacle avoidance path corresponding to the corresponding position is generated on the inspection path of the inspection robot.

[0087] For example, when the distance division level corresponding to the obstacle is the first distance division level, based on the inspection path of the inspection robot, a local obstacle avoidance strategy of the inspection robot is determined. And, according to the obstacle information of the obstacle, by adjusting the traveling direction or traveling speed of the inspection robot to avoid the obstacle, thereby adjusting the inspection path of the inspection robot and generating an obstacle avoidance path corresponding to the corresponding position.

[0088] S207, construct a corresponding PID controller by using the PID control algorithm and the preset braking control rules;

[0089] In an embodiment of the present invention, a corresponding PID controller is constructed by using the PID control algorithm and the preset braking control rules. Among them, the PID control algorithm is a prior art and will not be elaborated here; the preset braking control rules set four control right levels, which respectively correspond to different braking control priorities, namely:

[0090] 1) The first-level control right, the braking control priority of the first-level control right is the highest, and the triggering condition: when the collision sensor set on the inspection robot detects a force greater than 5N or the tilt sensor detects a tilt exceeding ±15°; the response time of the first-level control right is less than 10ms; the inspection robot immediately cuts off the motor power supply after triggering the first-level control right.

[0091] 2) The second-level control right, the braking control priority of the second-level control right is lower than that of the first-level control right, and the triggering condition: when it is detected that the distance to the obstacle is less than the preset first safety threshold or the preset second safety threshold; the response time of the second-level control right is less than 50ms; the inspection robot quickly decelerates to 0.1m / s after triggering the second-level control right, and then stops.

[0092] 3) The third-level control right, the braking control priority of the third-level control right is lower than that of the second-level control right, and the triggering condition: the staff issues a stop instruction through the controller; the response time of the third-level control right is less than 100ms; the inspection robot decelerates uniformly and stops after triggering the third-level control right, and the deceleration is 1m / s 2 .

[0093] 4) The fourth-level control right, the braking control priority of the fourth-level control right is lower than that of the third-level control right, and the triggering condition: the staff issues a stop instruction through the controller; the response time of the fourth-level control right is less than 150ms; the inspection robot decelerates slowly and stops after triggering the fourth-level control right, and the deceleration is 0.5m / s 2 .

[0094] In some embodiments, a PID controller may be pre-constructed using a PID control algorithm and a preset braking control rule, such that step S207 is correspondingly adjusted to: according to the obstacle avoidance path, using the preset PID controller, control the inspection robot to avoid obstacles.

[0095] S208, according to the obstacle avoidance path, using the PID controller, control the inspection robot to avoid obstacles;

[0096] The embodiment of the present invention uses a PID controller to control the inspection robot to travel on the obstacle avoidance path at the corresponding position to avoid obstacles.

[0097] An obstacle avoidance method for an inspection robot disclosed in an embodiment of the present invention includes: periodically obtaining obstacles within a preset radius range during the inspection of the inspection robot and corresponding obstacle information, through a preset distance division criterion, according to the distance information between the inspection robot and the obstacles in the obstacle information, dividing each of the obstacles into corresponding distance division levels, formulating an obstacle avoidance strategy for the inspection robot based on the distance division levels and obstacle information of each of the obstacles, obtaining the obstacle avoidance path of the inspection robot, and according to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule, controlling the inspection robot to avoid obstacles. This solves the problems that the existing obstacle avoidance methods for inspection robots cannot switch to a more suitable control strategy in a timely manner and the obstacle avoidance strategy is too single, laying an important foundation for the safe operation of the inspection robot. At the same time, this method is highly operable, and the process of obstacle avoidance for the inspection robot in actual use is intuitive and clear, and can be easily popularized and applied to the obstacle avoidance process of the inspection robot.

[0098] Embodiment III

[0099] Please refer to Figure 3 , Figure 3 which is a structural block diagram of an embodiment of an obstacle avoidance device for an inspection robot of the present invention, including:

[0100] An acquisition module 301, configured to periodically acquire obstacles within a preset radius range during the inspection of the inspection robot and corresponding obstacle information;

[0101] A division module 302, configured to divide each of the obstacles into corresponding distance division levels according to the distance information between the inspection robot and the obstacles in the obstacle information through a preset distance division criterion;

[0102] A formulation module 303, configured to formulate an obstacle avoidance strategy for the inspection robot based on the distance division levels and obstacle information of each of the obstacles, and obtain the obstacle avoidance path of the inspection robot;

[0103] An obstacle avoidance module 304, configured to control the inspection robot to avoid obstacles according to the obstacle avoidance path by using a PID control algorithm and a preset braking control rule.

[0104] In an optional embodiment, the obtaining module 301 includes:

[0105] A first obtaining sub-module, configured to obtain the inspection path information of the inspection robot;

[0106] A second obtaining sub-module, configured to periodically obtain obstacles within a preset radius range and corresponding obstacle information while controlling the inspection robot to perform inspections according to the inspection path information.

[0107] In an optional embodiment, the dividing module 302 includes:

[0108] An extraction sub-module, configured to extract the distance information between the inspection robot and each of the obstacles from the obstacle information;

[0109] A dividing sub-module, configured to divide each of the obstacles into corresponding distance division levels based on the distance information according to the preset distance division level criterion.

[0110] In an optional embodiment, the dividing sub-module includes:

[0111] A judgment unit, configured to respectively judge the magnitude relationship between the distance information and a preset first safety distance and a preset second safety distance in the preset distance division level criterion; the preset first safety distance is greater than the preset second safety distance;

[0112] A first dividing unit, configured to divide the obstacle into a first distance division level when the distance information is greater than the preset first safety distance;

[0113] A second dividing unit, configured to divide the obstacle into a second distance division level when the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance;

[0114] A third dividing unit, configured to divide the obstacle into a third distance division level when the distance information is less than the preset second safety distance.

[0115] In an optional embodiment, the formulating module 303 includes:

[0116] A formulating sub-module, configured to formulate corresponding obstacle avoidance strategies based on the distance division levels corresponding to each of the obstacles;

[0117] A generating sub-module, configured to generate an obstacle avoidance path for the inspection robot according to the obstacle information of each of the obstacles and the corresponding obstacle avoidance strategy.

[0118] In an alternative embodiment, the obstacle avoidance module 304 includes:

[0119] A constructing sub-module, configured to construct a corresponding PID controller by using a PID control algorithm and a preset braking control rule;

[0120] A control sub-module, configured to control the inspection robot to avoid obstacles by using the PID controller according to the obstacle avoidance path.

[0121] Embodiment IV

[0122] An embodiment of the present invention further provides an electronic device, including a memory and a processor. When a computer program stored in the memory is executed by the processor, the processor is caused to execute the steps of an obstacle avoidance method for an inspection robot according to any one of the embodiments.

[0123] Embodiment V

[0124] An embodiment of the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps of an obstacle avoidance method for an inspection robot according to any one of the embodiments are implemented.

[0125] Embodiment VI

[0126] An embodiment of the present invention further provides a computer program product, on which a computer program is stored. When the computer program is executed by the processor, the steps of an obstacle avoidance method for an inspection robot according to any one of the embodiments are implemented.

[0127] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0128] In several embodiments provided in the present application, it should be understood that the methods, devices, electronic devices, and storage media disclosed by the present invention can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0129] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0130] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0131] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes 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 described in various embodiments of the present invention. The aforementioned readable storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0132] As described above, the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of various embodiments of the present invention.

Claims

1. An obstacle avoidance method for an inspection robot, characterized in that, Including: Periodically obtaining obstacles within a preset radius range during the inspection of the inspection robot and corresponding obstacle information; According to a preset distance division criterion, based on the distance information between the inspection robot and the obstacles in the obstacle information, dividing each of the obstacles into corresponding distance division levels; Based on the distance division levels and obstacle information of each of the obstacles, formulating an obstacle avoidance strategy for the inspection robot to obtain an obstacle avoidance path for the inspection robot; According to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles.

2. The obstacle avoidance method of the inspection robot according to claim 1, wherein, Periodically obtaining obstacles within a preset radius range during the inspection of the inspection robot and corresponding obstacle information, including: Obtaining the inspection path information of the inspection robot; While controlling the inspection robot to perform inspection according to the inspection path information, periodically obtaining obstacles within a preset radius range of the inspection robot and corresponding obstacle information.

3. The obstacle avoidance method of the inspection robot according to claim 1, characterized in that According to a preset distance division criterion, based on the distance information between the inspection robot and the obstacles in the obstacle information, dividing each of the obstacles into corresponding distance division levels, including: Extracting the distance information between the inspection robot and each of the obstacles from the obstacle information; Based on the distance information and taking the preset distance division criterion as a basis, dividing each of the obstacles into corresponding distance division levels.

4. The obstacle avoidance method of the inspection robot according to claim 3, wherein Based on the distance information and taking the preset distance division criterion as a basis, dividing the obstacles into corresponding distance division levels, including: Respectively judging the magnitude relationship between the distance information and a preset first safety distance and a preset second safety distance in the preset distance division criterion; the preset first safety distance is greater than the preset second safety distance; When the distance information is greater than the preset first safety distance, dividing the obstacle into a first distance division level; When the distance information is less than or equal to the preset first safety distance and greater than or equal to the preset second safety distance, dividing the obstacle into a second distance division level; When the distance information is less than the preset second safety distance, dividing the obstacle into a third distance division level.

5. The obstacle avoidance method of the inspection robot according to claim 1, wherein Based on the distance division levels and obstacle information of each of the obstacles, formulating an obstacle avoidance strategy for the inspection robot to obtain an obstacle avoidance path for the inspection robot, including: Formulating corresponding obstacle avoidance strategies based on the distance division levels corresponding to each of the obstacles; Generating an obstacle avoidance path for the inspection robot according to the obstacle information of each of the obstacles and the corresponding obstacle avoidance strategies.

6. The obstacle avoidance method of the inspection robot according to claim 1, wherein According to the obstacle avoidance path, using a PID control algorithm and a preset braking control rule to control the inspection robot to avoid obstacles, including: Using a PID control algorithm and a preset braking control rule to construct a corresponding PID controller; According to the obstacle avoidance path, using the PID controller to control the inspection robot to avoid obstacles.

7. An obstacle avoidance device for a patrol robot, characterized in that, Including: An acquisition module, configured to periodically acquire obstacles within a preset radius range during the patrol of the patrol robot and corresponding obstacle information. A division module, configured to divide each of the obstacles into corresponding distance division levels according to the distance information between the patrol robot and the obstacles in the obstacle information through a preset distance division criterion. A formulation module, configured to formulate an obstacle avoidance strategy for the patrol robot based on the distance division levels and obstacle information of each of the obstacles, and obtain an obstacle avoidance path for the patrol robot. An obstacle avoidance module, configured to control the patrol robot to avoid obstacles according to the obstacle avoidance path by using a PID control algorithm and a preset braking control rule.

8. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1-6 is run.

9. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-6 is run.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-6 is implemented.

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