Robot non-power-cut deployment and inspection method and device and robot

Abstract

The invention relates to a robot non-power-cut deployment and inspection method and device and a robot. The method comprises the following steps: acquiring an overlook plan of a to-be-inspected power plant, performing grid division on the overlook plan to obtain a plurality of sub-inspection areas, driving to a scheduling position of a target sub-inspection area in the plurality of sub-inspection areas, and deploying an inspection task for each accompanying robot in a robot cluster based on the target sub-inspection area and the overlook plan, and under the condition that the target inspection sub-area does not have the grid area in which the inspection task is not deployed, the accompanying robot which firstly completes the inspection task in the accompanying robots is used as a pilot robot of a new target inspection sub-area. And sending the overlook plan to the pilot robot of the new target inspection sub-area, and returning to execute the operation of driving to the scheduling position of the target inspection sub-area in the inspection sub-areas until the inspection of the inspection sub-areas is completed, so that the inspection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to a method, device and robot for non-stop deployment and inspection of robots. Background Art

[0002] In the complex and vast environment of a power plant, a robot cluster can navigate autonomously and inspect the equipment in the power plant according to a preset inspection task or a real-time task. Through continuous monitoring and analysis, the robot cluster can detect early signs of equipment failures in a timely manner, effectively prevent accidents from occurring, and ensure the safe and stable operation of the power plant.

[0003] However, when the existing robot cluster executes large-scale inspection tasks, it often needs to separately deploy inspection tasks before the start of the task, or needs to stop for deployment of the inspection task in the next area after completing the inspection of one area, resulting in low inspection efficiency of the robot cluster. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device and robot for non-stop deployment and inspection of robots that can improve the inspection efficiency of the robot cluster in view of the above technical problems.

[0005] In a first aspect, the present application provides a method for non-stop deployment and inspection of robots, including:

[0006] Obtain a top-down plan view of the power plant to be inspected, and perform grid division on the top-down plan view to obtain a plurality of sub-inspection areas; the sub-inspection areas include a preset number of grid areas;

[0007] Travel to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploy inspection tasks to each accompanying robot in the robot cluster for each accompanying robot to execute the corresponding inspection tasks;

[0008] In the case that there are no grid areas in the target sub-inspection area where inspection tasks have not been deployed, use the accompanying robot that has completed the inspection task first among the accompanying robots as the leading robot for the new target sub-inspection area, send the top-down plan view to the leading robot for the new target sub-inspection area, and return to execute traveling to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas until the inspection of the plurality of sub-inspection areas is completed.

[0009] In one embodiment, the deploying inspection tasks to each accompanying robot in the robot cluster based on the target sub-inspection area and the top-down plan view includes:

[0010] Take the grid area with inspection points in the target sub-inspection area as the uninspected grid area, and number the uninspected grid area;

[0011] Send a location request message for the inspection point to the control device, receive the location of the inspection point sent by the control device based on the location request message, and mark the location of the inspection point in the top view plan to obtain the marked location of the inspection point;

[0012] Based on the numbering and the marked location of the inspection point, deploy inspection tasks to each of the accompanying robots.

[0013] In one embodiment, the deploying inspection tasks to each of the accompanying robots based on the numbering and the marked location of the inspection point includes:

[0014] When the target accompanying robot among each of the accompanying robots completes the inspection task of the target grid area in the uninspected grid area, determine the next sequential number of the remaining numbers in the numbering;

[0015] Based on the next sequential number and the marked location of the inspection point in the uninspected grid area corresponding to the next sequential number, deploy the inspection task of the uninspected grid area corresponding to the next sequential number to the target accompanying robot.

[0016] In one embodiment, the method further includes:

[0017] Receive the inspection target and the acquisition direction corresponding to the inspection point sent by the control device;

[0018] Send the location, inspection target, and acquisition direction corresponding to the inspection point to each of the accompanying robots; the acquisition direction is used for each of the accompanying robots to obtain image data of the inspection target based on the acquisition direction corresponding to the inspection point after reaching the location of the corresponding inspection point, and determine the distance between the image sensor on the accompanying robot and the inspection target based on the image data, so as to adjust the image sensor based on the distance.

[0019] In one embodiment, the method further includes:

[0020] Take the position in the middle of the target sub-inspection area as the scheduling position.

[0021] In one embodiment, the method further includes:

[0022] Judge whether there is an inspection point in the scheduling grid area where the scheduling position is located;

[0023] When there is an inspection point in the scheduling grid area, based on the position of the inspection point in the scheduling grid area on the top-down plan view, construct the inspection task corresponding to the scheduling grid area, and perform inspections based on the inspection task corresponding to the scheduling grid area.

[0024] In a second aspect, the present application also provides a robot non-power-off deployment and inspection device, including:

[0025] An acquisition module, configured to acquire a top-down plan view of a power plant to be inspected, and perform grid division on the top-down plan view to obtain a plurality of sub-inspection areas; the sub-inspection areas include a preset number of grid areas;

[0026] A deployment module, configured to travel to the scheduling position of a target sub-inspection area among the plurality of sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploy inspection tasks to each accompanying robot in the robot cluster for each accompanying robot to perform corresponding inspection tasks;

[0027] A first determination module, configured to, when there is no grid area without a deployed inspection task in the target sub-inspection area, use the accompanying robot that first completes the inspection task among each accompanying robot as the leading robot of the new target sub-inspection area, send the top-down plan view to the leading robot of the new target sub-inspection area, and return to execute traveling to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas until the inspections of the plurality of sub-inspection areas are completed.

[0028] In a third aspect, the present application also provides a robot, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method steps provided in the first aspect are implemented.

[0029] In a fourth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method steps provided in the first aspect are implemented.

[0030] In a fifth aspect, the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method steps provided in the first aspect are implemented.

[0031] The above-mentioned method, device and robot for non-power-off deployment and inspection of robots obtain a top-down plan view of the power plant to be inspected, divide the top-down plan view into grids to obtain multiple sub-inspection areas, drive to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploy inspection tasks to each accompanying robot in the robot cluster for each accompanying robot to execute the corresponding inspection tasks. In the case that there is no grid area without deployed inspection tasks in the target sub-inspection area, the accompanying robot that first completes the inspection task among the accompanying robots serves as the leading robot for the new target sub-inspection area, sends the top-down plan view to the leading robot for the new target sub-inspection area, and returns to execute driving to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas until the inspection of the multiple sub-inspection areas is completed; the sub-inspection area includes a preset number of grid areas. The embodiments of the present application adopt the method of a robot cluster to carry out inspection tasks. During the execution of the inspection tasks, the top-down plan view of the power plant to be inspected is sliced, a preset number of grid areas are divided into one sub-inspection area, and the target inspection area is determined from the multiple sub-inspection areas to realize the inspection of each sub-inspection area one by one. During the inspection process of the target sub-inspection area, the leading robot makes real-time deployment of inspection tasks for each accompanying robot to ensure efficient inspection, and when there is no grid area without deployed inspection tasks in the target sub-inspection area, switches the leading robot to be the leading robot for the new target sub-inspection area. The leading robot for the new target sub-inspection area can drive in advance to the scheduling position of the new target sub-inspection area and deploy the inspection tasks for the new target sub-inspection area in advance, further ensuring the efficiency of inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0033] Figure 1 It is an application environment diagram of the method for non-power-off deployment and inspection of robots in an embodiment;

[0034] Figure 2 It is a flowchart of the method for non-power-off deployment and inspection of robots in an embodiment;

[0035] Figure 3 It is a flowchart of the inspection task deployment method in an embodiment;

[0036] Figure 4 It is a structural block diagram of the device for non-power-off deployment and inspection of robots in an embodiment. Detailed implementation manners

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, 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.

[0038] In the complex and vast environment of a power plant, a robot cluster can navigate autonomously and conduct meticulous inspections on key equipment in the power plant according to a preset inspection route or in accordance with real-time tasks. Each robot in the robot cluster is usually equipped with a variety of high-precision detection instruments such as a high-definition camera, an infrared thermal imager, and a sound recognition sensor, which can capture and record the operating status of key equipment in real time, including key information such as temperature anomalies, vibration conditions, and oil leakage. Through continuous monitoring and analysis, the robot cluster can promptly detect early signs of key equipment failures, effectively prevent accidents from occurring, and ensure the safe and stable operation of the power plant.

[0039] In addition, the robot cluster also has a high degree of flexibility and scalability. According to the actual needs of the power plant, the number and type of robots can be flexibly adjusted to cope with inspection tasks of different scales and complexities. For example, during a major overhaul of the power plant, the number of robots can be increased to conduct intensified inspections on key areas in the power plant; while during daily operation and maintenance, the inspection efficiency and resource utilization rate can be improved by optimizing the inspection route and task allocation. This flexibility and scalability enable the ground robot cluster to perfectly adapt to the diverse needs of power plant inspections.

[0040] In summary, the application of the robot cluster in power plant inspections not only greatly improves the automation and intelligence levels of inspections and reduces the safety risks and work intensity of manual inspections. However, when existing robot clusters execute large-scale inspection tasks, they often need to separately deploy inspection tasks at the beginning of the task or need to stop the machine to deploy inspection tasks for the next area after completing the inspection of one area, and neither stopping the machine to deploy nor separately deploying inspection tasks at the beginning of the task can maximize the guarantee of inspection efficiency. Therefore, the present application proposes a method, device and robot for deploying inspection tasks without power interruption to improve inspection efficiency.

[0041] The method for deploying inspection tasks without power interruption and inspecting robots provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. The application environment includes a robot cluster 11 and a control device 12. The robot cluster 11 includes a leading robot 111 and each accompanying robot 112. The leading robot 111 obtains a top-down plan view of the power plant to be inspected, divides the top-down plan view into grids to obtain multiple sub-inspection areas, travels to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploys inspection tasks to each accompanying robot 112 in the robot cluster for each accompanying robot 112 to execute the corresponding inspection tasks. In the case where there is no grid area in the target sub-inspection area where the inspection task has not been deployed, the accompanying robot 112 that first completes the inspection task among the accompanying robots 112 is used as the leading robot 111 of the new target sub-inspection area, a top-down plan view is sent to the leading robot 111 of the new target sub-inspection area, and it returns to execute traveling to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas until the inspection of the multiple sub-inspection areas is completed. Specifically, the leading robot 111 deploys inspection tasks to each accompanying robot 112 based on the positions of the inspection points in other grid areas sent by the control device 12. Wireless communication connections are used between the leading robot 111 and each accompanying robot 112 and between the leading robot 111 and the control device 12.

[0042] Optionally, the wireless communication connection method can be wireless broadband (Wi-Fi), ultra-wideband (UWB), or Bluetooth. Bluetooth can achieve point-to-point or one-to-many wireless data and voice transmission within a radius of 10 meters, and the data transmission bandwidth can reach 1 Mbps; wireless broadband is a wireless local area network access technology based on the 802.11 protocol, with a relatively wide coverage range (up to about 100 meters) and a very fast transmission speed (up to 11 Mbps or 54 Mbps); ultra-wideband: uses non-sinusoidal narrow pulses in the nanosecond to picosecond range to transmit data, with high transmission rate, low transmit power, low power consumption, and strong confidentiality. The transmission distance is usually within 10 meters, uses a bandwidth above 1 GHz, and the communication speed can reach hundreds of Mbps or more.

[0043] Those skilled in the art can understand that Figure 1 the structure shown in

[0044] In an exemplary embodiment, as Figure 2 shown, a method for deploying and inspecting robots without power interruption is provided. This method is applied to Figure 1The pilot robot in FIG. 1 is taken as an example to illustrate the process, including the following S201 to S203. Among them:

[0045] S201 , obtaining a top view of the power plant to be inspected, and dividing the top view into grids to obtain a plurality of sub-inspection areas; the sub-inspection areas include a preset number of grid areas.

[0046] In an embodiment of the present application, a robot cluster is initialized, and one robot is randomly selected from multiple robots in the cluster as a pilot robot. The other robots in the cluster are then assigned as companion robots. Each robot is equipped with a patrol deployment module and a patrol execution module. Since each robot can serve as a pilot robot, the patrol deployment module and patrol execution module are activated for the pilot robot, while the companion robots do not need to deploy patrol tasks and only need to execute assigned patrol tasks. Therefore, for each companion robot, only the patrol execution module is activated, and the patrol deployment module is not activated. This can reduce resource consumption, facilitate the subsequent rotation of the pilot robot, and ensure patrol efficiency.

[0047] The top-view plan is evenly divided into a plurality of grid areas, and the plurality of grid areas are then divided to obtain a plurality of sub-inspection areas. For example, each sub-inspection area in the top-view plan may be composed of a plurality of 3*3 grid areas, or each sub-inspection area in the top-view plan may be composed of a plurality of 2*2 grid areas, or a portion of the sub-inspection areas in the top-view plan may be composed of a plurality of 3*3 grid areas, and another portion of the sub-inspection areas may be composed of a plurality of 2*2 grid areas.

[0048] S202 , driving to a scheduling position of a target sub-inspection area among multiple sub-inspection areas, and deploying inspection tasks to each companion robot in the robot cluster based on the target sub-inspection area and the top-view plan, so that each companion robot performs the corresponding inspection task.

[0049] Optionally, the dispatch position can be any position in the sub-inspection area, or the position in the middle of the target sub-inspection area can be used as the dispatch position. If the top-down plan view is divided into sub-inspection areas consisting of multiple 3*3 grid areas, the dispatch position is the middle position of the grid area in the middle of the target sub-inspection area; if the top-down plan view is divided into sub-inspection areas consisting of multiple 2*2 grid areas, the dispatch position is the center position of the four grid areas in the target sub-inspection area, that is, the dispatch position can be located within the grid area or on the dividing line of each grid area. This allows each companion robot to move around the dispatch position when performing inspection tasks, ensuring efficient dispatch and deployment of the pilot robot.

[0050] In the embodiment of the present application, the grid area with inspection points in the target sub-inspection area can be used as the un-inspected grid area, and the un-inspected grid area is numbered. A location request message for the inspection points is sent to the control device, the location of the inspection points sent by the control device based on the location request message is received, and the location of the inspection points is marked in the top-down plan view to obtain the marked location of the inspection points. Based on the numbering and the marked location of the inspection points, inspection tasks are deployed to each accompanying robot.

[0051] In a possible implementation manner, the grid area with inspection points in the target sub-inspection area can be used as the un-inspected grid area. A location request message for the inspection points is sent to the control device, the location of the inspection points sent by the control device based on the location request message is received, and the location of the inspection points is marked in the top-down plan view to obtain the marked location of the inspection points. Inspection tasks for each un-inspected grid area are generated based on the marked location of the inspection points. The inspection tasks are deployed to the accompanying robots according to the number of un-inspected grid areas and the number of accompanying robots. For example, the number of un-inspected grid areas is 8 and the number of accompanying robots is 2. The inspection tasks for 4 un-inspected grid areas are respectively deployed to each accompanying robot. It can be deployed sequentially, that is, after the accompanying robot completes the inspection task of one un-inspected grid area, the inspection task of the next un-inspected grid area is sent to the accompanying robot. It can also be deployed at one time, that is, the inspection tasks for 4 un-inspected grid areas are all sent to the accompanying robot at one time, and the accompanying robot sequentially executes the inspection tasks for 4 un-inspected grid areas.

[0052] S203. In the case that there is no grid area without deployed inspection tasks in the target sub-inspection area, the accompanying robot that first completes the inspection task among the accompanying robots is used as the leading robot for the new target sub-inspection area. A top-down plan view is sent to the leading robot for the new target sub-inspection area, and it returns to execute and drive to the scheduling location of the target sub-inspection area among the multiple sub-inspection areas until the inspection of the multiple sub-inspection areas is completed.

[0053] In the embodiment of the present application, when there is no grid area in the target sub-inspection area where inspection tasks are not deployed, that is, the pilot robot has completed the deployment of all inspection tasks, there may still be grid areas being inspected. At this time, the pilot robot in the target sub-inspection area still needs to be in the scheduling position to complete the data receiving and sending tasks. If it leaves the scheduling position at this time, it is likely to cause fluctuations in data reception and affect data transmission. Therefore, in this case, the pilot robot selects the companion robot that has completed the inspection task first among the companion robots as the pilot robot for the new target sub-inspection area, and sends the top-down floor plan to the pilot robot of the new target sub-inspection area. The pilot robot of the target sub-inspection area can continue to complete the inspection work of the target sub-inspection area. The pilot robot of the new target sub-inspection area returns to execute the steps of S202 above, can arrive at the scheduling position in advance. When all grid areas in the target sub-inspection area have completed the inspection, the pilot robot of the target sub-inspection area turns off the inspection deployment module and participates in the inspection of the new target sub-inspection area as a companion robot of the new target sub-inspection area, ensuring the inspection efficiency.

[0054] In the above method for non-stop deployment and inspection of robots, obtain the top-down floor plan of the power plant to be inspected, perform grid division on the top-down floor plan to obtain multiple sub-inspection areas, drive to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas, and based on the target sub-inspection area and the top-down floor plan, deploy inspection tasks to each companion robot in the robot cluster for each companion robot to execute the corresponding inspection tasks. In the case where there is no grid area in the target sub-inspection area where inspection tasks are not deployed, the companion robot that has completed the inspection task first among the companion robots is used as the pilot robot for the new target sub-inspection area, send the top-down floor plan to the pilot robot of the new target sub-inspection area, and return to drive to the scheduling position of the target sub-inspection area among the multiple sub-inspection areas until the inspection of the multiple sub-inspection areas is completed; the sub-inspection area includes a preset number of grid areas. The embodiment of the present application uses a robot cluster to carry out inspection tasks. During the execution of the inspection tasks, the top-down floor plan of the power plant to be inspected is sliced, and a preset number of grid areas are divided into one sub-inspection area, and the target inspection area is determined from multiple sub-inspection areas to achieve the inspection of each sub-inspection area one by one. During the inspection of the target sub-inspection area, the pilot robot performs real-time deployment of inspection tasks for each companion robot to ensure efficient inspection, and when there is no grid area in the target sub-inspection area where inspection tasks are not deployed, switch the pilot robot as the pilot robot for the new target sub-inspection area. The pilot robot of the new target sub-inspection area can drive to the scheduling position of the new target sub-inspection area in advance and deploy the inspection tasks of the new target sub-inspection area in advance, further ensuring the inspection efficiency.

[0055] Furthermore, the leading robot can also receive the data collected by each accompanying robot and send the data to the control device. The control device continuously monitors and analyzes the inspection points based on the collected data, effectively preventing accidents from occurring.

[0056] Figure 3 It is a schematic flowchart of the inspection task deployment method in an embodiment. As [[ID=H5]] Figure 3 shown, the embodiment of the present application relates to a possible implementation manner of how to deploy inspection tasks to each accompanying robot in a robot cluster based on the target sub-inspection area and the top-down floor plan, including the following steps:

[0057] S301, regard the grid area with inspection points in the target sub-inspection area as the uninspected grid area, and number the uninspected grid area.

[0058] In the embodiment of the present application, the inspection deployment module of the leading robot marks the inspection points in other grid areas, regards the grid area with inspection points in the target sub-inspection area as the uninspected grid area, and during the process of numbering the uninspected grid area, the uninspected grid area can be numbered according to a preset surrounding direction. It can also be randomly numbered for the uninspected grid area.

[0059] S302, send a location request message for the inspection points to the control device, receive the locations of the inspection points sent by the control device based on the location request message, and mark the locations of the inspection points in the top-down floor plan to obtain the marked locations of the inspection points.

[0060] In the embodiment of the present application, the leading robot sends a location request message for the inspection points to the control device, the control device sends the locations of the inspection points to the leading robot based on the location request message, and the leading robot marks the locations of the inspection points in the top-down floor plan to obtain the marked locations of the inspection points.

[0061] S303, deploy inspection tasks to each accompanying robot based on the numbering and the marked locations of the inspection points.

[0062] In the embodiment of the present application, a processing queue is constructed based on the numbering of the uninspected grid area, and the inspection tasks of the uninspected grid area in the processing queue are sequentially assigned to the accompanying robots.

[0063] In a possible implementation, if the number of uninspected grid areas is equal to the number of accompanying robots, one uninspected grid area corresponds to one accompanying robot. Suppose the target sub-inspection area is a 3*3 grid area, and the middle grid area is the scheduling grid area, and the scheduling position is at the center of the scheduling grid area. The surrounding 8 grid areas are uninspected grid areas, which are numbered in clockwise order as 1, 2, 3, 4, 5, 6, 7, and 8 respectively. The target sub-inspection area corresponds to 8 accompanying robots, and the 8 accompanying robots are numbered. According to the numbers, the inspection tasks of the 8 uninspected grid areas are respectively assigned to the corresponding accompanying robots.

[0064] In another possible implementation, if the number of uninspected grid areas is greater than the number of accompanying robots, then after one of the accompanying robots completes the inspection of an uninspected grid area, the leading robot assigns the inspection tasks of the remaining uninspected grid areas with the remaining numbers in the processing queue to the accompanying robots.

[0065] In another possible implementation, if the number of uninspected grid areas is less than the number of accompanying robots, then select the accompanying robots with the same number as the number of uninspected grid areas from multiple accompanying robots, so as to assign inspection tasks to the selected accompanying robots.

[0066] In the embodiments of the present application, the grid areas with inspection points in the target sub-inspection area are used as uninspected grid areas, and the uninspected grid areas are numbered. A location request message for the inspection points is sent to the control device, and the locations of the inspection points sent by the control device based on the location request message are received, and the locations of the inspection points are marked in the top-down plan view to obtain the marked locations of the inspection points. Based on the numbers and the marked locations of the inspection points, inspection tasks are assigned to each accompanying robot. The embodiments of the present application assign inspection tasks to the accompanying robots based on the numbers and the marked locations of the inspection points, which improves the accuracy of the inspection task assignment and also ensures the orderliness of the inspection task assignment.

[0067] In an exemplary embodiment, assigning inspection tasks to each accompanying robot based on the numbers and the marked locations of the inspection points includes: when the target accompanying robot among each accompanying robot completes the inspection task of the target grid area in the uninspected grid area, determining the next sequential number of the remaining numbers in the numbers; based on the next sequential number and the marked location of the inspection point in the uninspected grid area corresponding to the next sequential number, assigning the inspection task of the uninspected grid area corresponding to the next sequential number to the target accompanying robot.

[0068] In an embodiment of the present application, it is assumed that the target sub-inspection area is a 3*3 grid area, the middle grid area is the scheduling grid area, and the scheduling position is at the center of the scheduling grid area. The surrounding 8 grid areas are un-inspected grid areas, which are numbered in a clockwise order as 1, 2, 3, 4, 5, 6, 7, and 8. The target sub-inspection area corresponds to 3 accompanying robots, which are numbered as A, B, and C respectively. The inspection task of the un-inspected grid area numbered 1 is assigned to the accompanying robot A, the inspection task of the un-inspected grid area numbered 2 is assigned to the accompanying robot B, and the inspection task of the un-inspected grid area numbered 3 is assigned to the accompanying robot C. If the accompanying robot C first completes the inspection task of the un-inspected grid area 3, the leading robot assigns the inspection task of the un-inspected grid area numbered 4 to the accompanying robot C.

[0069] In an embodiment of the present application, when the target accompanying robot among the accompanying robots completes the inspection task of the target grid area in the un-inspected grid area, the next sequential number of the remaining numbers in the numbering is determined; based on the next sequential number and the marked position of the inspection point in the un-inspected grid area corresponding to the next sequential number, the inspection task of the un-inspected grid area corresponding to the next sequential number is deployed to the target accompanying robot. Even in the case of fewer accompanying robots, it is possible to enable the accompanying robots to continuously inspect the target sub-inspection area, improving the inspection efficiency.

[0070] In an exemplary embodiment, the method further includes: receiving the inspection target and the acquisition direction corresponding to the inspection point sent by the control device; sending the position, inspection target, and acquisition direction corresponding to the inspection point to each accompanying robot; the acquisition direction is used for each accompanying robot to obtain the image data of the inspection target based on the acquisition direction corresponding to the inspection point after reaching the position of the corresponding inspection point, and determining the distance between the image sensor on the accompanying robot and the inspection target based on the image data, so as to adjust the image sensor based on the distance.

[0071] In an embodiment of the present application, after the accompanying robot reaches the position of the corresponding inspection point, it adjusts its own acquisition direction based on the acquisition direction, so that the image sensor on the accompanying robot faces the inspection target. The image data of the inspection target is obtained, the inspection target on the acquired image data is recognized through a pre-trained image recognition model, the distance between the inspection target on the image data and the image sensor is determined, and this distance is used as the distance between the inspection target and the image sensor in the acquisition direction. The shooting focal length of the image sensor is adjusted using this distance.

[0072] In the embodiments of the present application, after each accompanying robot reaches the position of the corresponding inspection point, it obtains the image data of the inspection target based on the acquisition direction corresponding to the inspection point, and determines the distance between the image sensor on the accompanying robot and the inspection target based on the image data, so as to adjust the image sensor based on the distance, laying a foundation for subsequent monitoring of the power plant to be inspected based on the image data collected by the accompanying robot.

[0073] In an exemplary embodiment, the method further includes: determining whether there is an inspection point in the scheduling grid area where the scheduling position is located; in the case where there is an inspection point in the scheduling grid area, constructing an inspection task corresponding to the scheduling grid area based on the position of the inspection point in the scheduling grid area on the top view plan, and performing inspections based on the inspection task corresponding to the scheduling grid area.

[0074] In the embodiments of the present application, for the target sub-inspection area, on the one hand, the leading robot travels to the scheduling position and orderly deploys the inspection tasks of the uninspected grid areas around the scheduling position to the accompanying robots one by one. On the other hand, it can also determine whether there is an inspection point in the scheduling grid area. In the case where there is an inspection point, the leading robot constructs the corresponding inspection task based on the position of the inspection point in the scheduling grid area on the top view plan, and the leading robot itself completes the inspection of the scheduling grid area, further ensuring the inspection efficiency.

[0075] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0076] Based on the same inventive concept, the embodiments of the present application also provide a robot non-power-off deployment and inspection device for implementing the above-mentioned robot non-power-off deployment and inspection method. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the robot non-power-off deployment and inspection device provided below can refer to the limitations on the robot non-power-off deployment and inspection method in the above text, and will not be repeated here.

[0077] In an exemplary embodiment, as Figure 4As shown, a power-off-free deployment and inspection device for a robot is provided, including: an acquisition module 41, a deployment module 42, and a first determination module 43, where:

[0078] The acquisition module 41 is configured to acquire a top-down plan view of a power plant to be inspected, and perform grid division on the top-down plan view to obtain a plurality of sub-inspection areas; the sub-inspection areas include a preset number of grid areas;

[0079] The deployment module 42 is configured to travel to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas, and deploy inspection tasks to each accompanying robot in the robot cluster based on the target sub-inspection area and the top-down plan view, for each accompanying robot to perform the corresponding inspection tasks;

[0080] The first determination module 43 is configured to, in the case that there is no grid area in the target sub-inspection area where the inspection task has not been deployed, use the accompanying robot that first completes the inspection task among the accompanying robots as the leading robot of the new target sub-inspection area, send the top-down plan view to the leading robot of the new target sub-inspection area, and return to execute traveling to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas until the inspection of the plurality of sub-inspection areas is completed.

[0081] In one embodiment, the deployment module 42 is specifically configured to use the grid areas with inspection points in the target sub-inspection area as uninspected grid areas, and number the uninspected grid areas; send a location request message for the inspection points to the control device, receive the locations of the inspection points sent by the control device based on the location request message, and mark the locations of the inspection points in the top-down plan view to obtain the marked locations of the inspection points; deploy inspection tasks to each accompanying robot based on the numbers and the marked locations of the inspection points.

[0082] In one embodiment, the deployment module 42 is specifically configured to, in the case that the target accompanying robot among the accompanying robots completes the inspection task of the target grid area in the uninspected grid area, determine the next sequential number of the remaining numbers in the numbers; deploy the inspection task of the uninspected grid area corresponding to the next sequential number to the target accompanying robot based on the next sequential number and the marked location of the inspection point in the uninspected grid area corresponding to the next sequential number.

[0083] In one embodiment, the device further includes:

[0084] A receiving module, configured to receive the inspection target and the acquisition direction corresponding to the inspection point sent by the control device;

[0085] A sending module, configured to send the position corresponding to the inspection point, the inspection target, and the acquisition direction to each accompanying robot; the acquisition direction is used for each accompanying robot to obtain image data of the inspection target based on the acquisition direction corresponding to the inspection point after reaching the position of the corresponding inspection point, and determine the distance between the image sensor on the accompanying robot and the inspection target based on the image data, so as to adjust the image sensor based on the distance.

[0086] In one embodiment, the device further includes:

[0087] A second determination module, configured to use the position in the middle of the target sub-inspection area as the scheduling position.

[0088] In one embodiment, the device further includes:

[0089] A judgment module, configured to judge whether there is an inspection point in the scheduling grid area where the scheduling position is located;

[0090] A construction module, configured to, in the case that there is an inspection point in the scheduling grid area, construct an inspection task corresponding to the scheduling grid area based on the position of the inspection point in the scheduling grid area on the top-view plan, and perform inspections based on the inspection task corresponding to the scheduling grid area.

[0091] Each module in the above-mentioned robot power-off deployment and inspection device can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor in the robot in the form of hardware or independent of the processor, or stored in the memory in the robot in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0092] In an exemplary embodiment, a robot is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of any of the above method embodiments are implemented.

[0093] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0094] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0095] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0096] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0097] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded in the present application.

[0098] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for non-power-off deployment and inspection of a robot, characterized in that The method is applied to a leading robot in a robot cluster; the method includes: Obtain a top-down plan view of a power plant to be inspected, and perform grid division on the top-down plan view to obtain a plurality of sub-inspection areas; each sub-inspection area includes a preset number of grid areas; Drive to the scheduling position of a target sub-inspection area among the plurality of sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploy inspection tasks to each accompanying robot in the robot cluster for each accompanying robot to execute corresponding inspection tasks; In the case that there is no grid area in the target sub-inspection area where the inspection task has not been deployed, use the accompanying robot that first completes the inspection task among each accompanying robot as the leading robot of the new target sub-inspection area, send the top-down plan view to the leading robot of the new target sub-inspection area, and return to execute driving to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas until the inspection of the plurality of sub-inspection areas is completed.

2. The method according to claim 1, characterized in that, The deploying inspection tasks to each accompanying robot in the robot cluster based on the target sub-inspection area and the top-down plan view includes: Regard the grid areas with inspection points in the target sub-inspection area as uninspected grid areas, and number the uninspected grid areas; Send a position request message of the inspection point to a control device, receive the position of the inspection point sent by the control device based on the position request message, and mark the position of the inspection point on the top-down plan view to obtain the marked position of the inspection point; Based on the numbering and the marked position of the inspection point, deploy inspection tasks to each accompanying robot.

3. The method according to claim 2, characterized in that, The deploying inspection tasks to each accompanying robot based on the numbering and the marked position of the inspection point includes: In the case that a target accompanying robot among each accompanying robot completes the inspection task of a target grid area in the uninspected grid area, determine the next sequential number of the remaining numbers in the numbering; Based on the next sequential number and the marked position of the inspection point in the uninspected grid area corresponding to the next sequential number, deploy the inspection task of the uninspected grid area corresponding to the next sequential number to the target accompanying robot.

4. The method according to claim 2, characterized in that The method further includes: Receive the inspection target and the acquisition direction corresponding to the inspection point sent by the control device; Send the position, inspection target, and acquisition direction corresponding to the inspection point to each accompanying robot; the acquisition direction is used for each accompanying robot to obtain image data of the inspection target based on the acquisition direction corresponding to the inspection point after reaching the position of the corresponding inspection point, and determine the distance between the image sensor on the accompanying robot and the inspection target based on the image data, so as to adjust the image sensor based on the distance.

5. The method according to claim 1, wherein The method further includes: Regard the position in the middle of the target sub-inspection area as the scheduling position.

6. The method according to claim 1, wherein The method further includes: Judge whether there is an inspection point in the scheduling grid area where the scheduling position is located; When there is an inspection point in the scheduling grid area, based on the position of the inspection point in the scheduling grid area on the top-down plan view, construct an inspection task corresponding to the scheduling grid area, and perform inspections based on the inspection task corresponding to the scheduling grid area.

7. A robot non-power-off deployment and inspection device, characterized in that, The device is applied to a leading robot in a robot cluster; the device includes: An acquisition module, configured to acquire a top-down plan view of a power plant to be inspected, and perform grid division on the top-down plan view to obtain a plurality of sub-inspection areas; the sub-inspection areas include a preset number of grid areas; A deployment module, configured to travel to the scheduling position of a target sub-inspection area among the plurality of sub-inspection areas, and based on the target sub-inspection area and the top-down plan view, deploy inspection tasks to each accompanying robot in the robot cluster for each accompanying robot to perform corresponding inspection tasks; A first determination module, configured to, when there is no grid area in the target sub-inspection area where the inspection task has not been deployed, use the accompanying robot that first completes the inspection task among each accompanying robot as the leading robot of the new target sub-inspection area, send the top-down plan view to the leading robot of the new target sub-inspection area, and return to execute traveling to the scheduling position of the target sub-inspection area among the plurality of sub-inspection areas until the inspections of the plurality of sub-inspection areas are completed.

8. A robot, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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