Inspection task execution method and device, electronic equipment and storage medium

Abstract

The invention discloses an inspection task execution method and device, electronic equipment and a storage medium. The method comprises the steps that an inspection sequence is updated based on configuration parameters of all point locations in an inspection task; in the routing inspection process according to the updated routing inspection sequence, determining target components with inconsistent states between the last point position and the current to-be-inspected point position according to the configuration parameters of the last point position and the configuration parameters of the current to-be-inspected point position; and adjusting the target component by using the corresponding configuration parameter of the target component in the current to-be-inspected point location, and performing data acquisition on the current to-be-inspected point location. By updating the routing inspection sequence according to the point position configuration parameters, the component state difference between adjacent point positions in the updated routing inspection sequence is reduced, so that when the previous point position is switched to the current to-be-routing-inspected point position, the action of the component with the consistent state is reduced, and the target component with the inconsistent state is switched to the current to-be-routing-inspected point position. And adjusting and collecting data according to the configuration parameters corresponding to the current to-be-inspected point location so as to improve the inspection efficiency.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, electronic device and storage medium for executing an inspection task. Background Art

[0002] At present, robots are commonly used to complete inspection tasks in the field of facility inspection. In particular, a data center has many computer rooms, each of which is equipped with thousands of devices. Periodic inspections of the equipment in each computer room are required. By assigning inspection tasks to robots, the robots can automatically complete the inspections of each computer room, which can save a lot of labor costs.

[0003] However, currently, robots have a large number of redundant component movements during inspection tasks, resulting in low inspection efficiency, which makes it impossible to meet the inspection requirements of the computer room, such as completing the required number of inspections within the specified time. In addition, redundant component movements also lead to high power consumption, causing the robot to often run out of power and be unable to complete the inspection task. Summary of the Invention

[0004] The purpose of this application is to propose a patrol task execution method, device, electronic device and storage medium to address the deficiencies of the above-mentioned existing technologies, and this purpose is achieved through the following technical solutions.

[0005] The first aspect of the present application provides a method for executing an inspection task, the method comprising:

[0006] Updating the inspection order of each point in the inspection task based on configuration parameters of each point in the inspection task, wherein the configuration parameters represent the status of each component on the robot;

[0007] During the inspection of each point in accordance with the updated inspection sequence, the target component having inconsistent status between the previous point and the current point to be inspected is determined based on the configuration parameters of the previous point and the configuration parameters of the current point to be inspected;

[0008] The target component is adjusted using the configuration parameters corresponding to the target component at the current inspection point, and data is collected for the current inspection point.

[0009] A second aspect of the present application provides a patrol inspection task execution device, the device comprising:

[0010] A sequence adjustment module, configured to update the inspection sequence of each point in the inspection task based on configuration parameters of each point in the inspection task, wherein the configuration parameters represent the status of each component on the robot;

[0011] A component determination module is used to determine target components whose status is inconsistent between the last point and the current point to be inspected, based on the configuration parameters of the last point and the configuration parameters of the current point to be inspected, during the process of inspecting each point in accordance with the updated inspection sequence;

[0012] The inspection module is used to adjust the target component by using the configuration parameters corresponding to the target component in the current inspection point, and collect data from the current inspection point.

[0013] The third aspect of the present application proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect above.

[0014] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method described in the first aspect above.

[0015] Based on the inspection task execution method and device described in the first and second aspects above, this application has at least the following beneficial effects or advantages:

[0016] By readjusting the inspection order of the inspection task according to the configuration parameters of the points, the difference in the status of robot components between adjacent points in the updated inspection order is reduced. Therefore, when switching from the previous point to the current point to be inspected in the process of inspecting each point according to the updated inspection order, the actions of the components with consistent states are reduced, and only the target components with inconsistent states are adjusted and data is collected according to the configuration parameters corresponding to the current point to be inspected, so as to improve the inspection efficiency, reduce the running time of the inspection task, and reduce the power consumption of the robot, thereby achieving the goal of meeting the inspection requirements of the scene.

[0017] The above description is only an overview of the technical solution of this application. In order to more clearly understand the technical means of this application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of this application more obvious and easy to understand, the specific implementation methods of this application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is a schematic diagram of an existing inspection process for a robot;

[0020] Figure 2This is a flow chart of an embodiment of a method for executing an inspection task according to an exemplary embodiment;

[0021] Figure 3 1 is a schematic diagram showing the sorting of points in a set having the same chassis position parameters according to an exemplary embodiment;

[0022] Figure 4 A schematic diagram of the overall architecture of an inspection task execution according to an exemplary embodiment is shown;

[0023] Figure 5 1 is a schematic structural diagram of a patrol inspection task execution device according to an exemplary embodiment;

[0024] Figure 6 is a schematic diagram of a hardware structure of an electronic device according to an exemplary embodiment;

[0025] Figure 7 The figure is a schematic structural diagram of a storage medium according to an exemplary embodiment. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0027] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0028] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0029] like Figure 1The figure shows the existing inspection process of the robot. During the inspection of each point, it is necessary to adjust the various components on the robot according to the configuration requirements of the point. After collecting data, the various components are reset to ensure that the robot moves safely to the next point.

[0030] Depend on Figure 1 The inspection process shows that when the robot inspects various points, the positions of two adjacent points may remain unchanged, but the robot still needs to reset the pan-tilt height and pan-tilt angle after completing data collection at each point. In addition, the requirements for the pan-tilt height or pan-tilt angle of two adjacent points may only change, but the robot still needs to adjust the pan-tilt height and pan-tilt angle in sequence according to the requirements of the current point. This shows that there are a lot of redundant actions when the robot performs inspection tasks, resulting in relatively low inspection efficiency.

[0031] In order to solve the above technical problems, the present application proposes a method for executing inspection tasks. After receiving the inspection tasks arranged by the user, the robot re-sorts the inspection order of the inspection tasks according to the configuration parameters of the points, so that the differences in the status of robot components between adjacent points in the updated inspection order are reduced. Therefore, when the robot inspects each point according to the updated inspection order, when switching from the previous point to the current point to be inspected, the actions of the components with consistent states are reduced, and only the target components with inconsistent states are adjusted and data are collected according to the configuration parameters corresponding to the current point to be inspected, so as to reduce the running time of the inspection task, reduce the power consumption of the robot, and improve the inspection efficiency, thereby achieving the goal of meeting the inspection requirements of the scene.

[0032] The following describes in detail the technical solution of this application and how it solves the aforementioned technical problems using specific embodiments. The specific embodiments listed may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following describes the embodiments of this application in detail with reference to the accompanying drawings.

[0033] Figure 2 This is a flowchart of a method for executing an inspection task according to an exemplary embodiment. In this embodiment of the present application, when a robot performs an inspection task, the components involved may include a chassis, a lifting rod, and a pan / tilt head. The chassis is used to control the robot's movement, and its status can be represented by position coordinates and orientation angles. The lifting rod is used to control the height of the pan / tilt head camera, and its status can be represented by the pan / tilt head height. The pan / tilt head controls the camera's angle, and its status is represented by the pan / tilt head angle.

[0034] like Figure 2 As shown, the inspection task execution method includes the following steps:

[0035] Step 201: Based on the configuration parameters of each point in the inspection task, the inspection order of each point in the inspection task is updated.

[0036] Step 202: During the inspection of each point in the updated inspection sequence, target components having inconsistent states between the previous point and the current point to be inspected are determined based on the configuration parameters of the previous point and the configuration parameters of the current point to be inspected.

[0037] Step 203: adjusting the target component using the configuration parameters corresponding to the target component at the current inspection point, and collecting data for the current inspection point.

[0038] In this embodiment, the inspection task is the task that the robot currently needs to complete. The inspection task includes a point list and the configuration parameters of each point in the point list. The arrangement order of the point list is the inspection order of the points, and the inspection order is used to indicate the order in which the robot inspects each point.

[0039] For example, the various parameters in the configuration parameters may include chassis position parameters, pan-tilt height parameters, pan-tilt angle parameters, data collection mode, etc. These parameters represent the status of various components on the robot. When the status of each component on the robot meets the configuration parameter requirements, the robot collects data at the current point according to the required data collection mode. For example, the chassis position parameter represents the status of the robot chassis, the pan-tilt height parameter represents the status of the robot's lifting rod, and the pan-tilt angle parameter represents the status of the robot's pan-tilt.

[0040] The above-mentioned target component is a robot component whose status is inconsistent between two adjacent points in the inspection sequence. For example, point 2 is adjacent to point 3. The configuration parameters of point 2 include chassis position A, gimbal height D, and gimbal angle E. The configuration parameters of point 3 include chassis position A, gimbal height D, and gimbal angle F. After comparison, it can be determined that the target component with inconsistent status is the gimbal.

[0041] By adjusting the target components, the states of the various components on the robot meet the configuration parameter requirements of the current execution point, so as to facilitate data collection. Specifically, data is collected according to the data collection mode indicated in the configuration parameters of the current execution point, such as photo mode collection, video mode collection, etc.

[0042] At this point, the above is completed Figure 2The inspection task execution process shown in the figure re-arranges the inspection order of the inspection task according to the configuration parameters of the points, so that the difference in the status of robot components between adjacent points in the updated inspection order is reduced. Therefore, when the robot inspects each point according to the updated inspection order, when switching from the previous point to the current point to be inspected, the action of the components with the same status is reduced, and only the target components with inconsistent status are adjusted and data is collected according to the configuration parameters corresponding to the current point to be inspected, so as to reduce the running time of the inspection task, reduce the power consumption of the robot, and improve the inspection efficiency, thereby achieving the goal of meeting the inspection requirements of the scene.

[0043] In some embodiments of the present application, the process of updating the inspection order of each point in the inspection task based on the configuration parameters of each point in the inspection task is carried out by obtaining the preset sorting order of each type of parameters in the configuration parameters, and then updating the position of each point in the inspection order according to the preset sorting order and each type of parameters.

[0044] In this embodiment, the preset sorting order represents the inspection order adjustment strategy. As previously mentioned, the configuration parameters include chassis position parameters, pan-tilt height parameters, pan-tilt angle parameters, data acquisition mode, etc. Considering the different importance of chassis position, pan-tilt height, and pan-tilt angle to safety inspections, the robot should strive to ensure a flat, open, and obstacle-free environment when traveling to the corresponding chassis position. Chassis position is the most important for safety inspections. Pan-tilt height controls the raising and lowering of the lift mast, ensuring that the robot's height direction is open. Pan-tilt angle controls the rotation of the pan-tilt camera, ensuring that the direction of rotation of the pan-tilt camera is open. Based on this, the sorting order of the various parameters can be chassis position parameters, pan-tilt height parameters, and pan-tilt angle parameters, that is, the points are sorted first by chassis position parameters, then by pan-tilt height parameters, and finally by pan-tilt angle parameters. Thus, updating the inspection order using the preset sorting order can not only reduce the differences in the robot component states between adjacent points and reduce repeated component movements, but also ensure the safety of the robot inspection.

[0045] In some embodiments of the present application, in the process of updating the position of each point in the inspection order according to the preset sorting order and various parameters, the points with the same chassis position parameters in each point can be divided into the same set to obtain multiple sets, and then the points in each set are sorted based on the gimbal height parameters and the gimbal angle parameters to obtain the sorting results of the points in each set, and then the chassis position parameters of the points in each set are used to sort each set to obtain the sorting results of each set, and based on the sorting results of each set and the sorting results of the points in each set, the sorting results of each point in the inspection task are obtained, so that the inspection order is updated using the obtained sorting results.

[0046] Among them, by dividing the points with the same chassis position parameters into a set, it is equivalent to clustering the points according to the chassis position parameters, so that the points in the set can be further sorted based on the pan-tilt height parameters and pan-tilt angle parameters. Therefore, the sorting result of the points in the set is the sorting of the points with the same chassis position parameters, and the sorting result of each set is the sorting between sets with different chassis position parameters. The sorting results of all points in the inspection task can be obtained through the sorting results of each set and the sorting results of the points in each set.

[0047] In an optional implementation, the process of sorting the points in each set based on the gimbal height parameter and the gimbal angle parameter is as follows: for each set, the points in the set with the same gimbal height parameter are divided into the same subset; for each subset obtained by the division, the points in the subset are sorted in order of the size of the gimbal angle parameter, and each subset is sorted in order of the size of the gimbal height parameter, thereby obtaining the sorting results of each subset; finally, based on the sorting results of each subset and the sorting results of the points in each subset, the sorting results of the points in the set are obtained.

[0048] In this implementation, by grouping points with the same gimbal height parameter into subsets, the points in the set are clustered according to the gimbal height parameter, allowing for further sorting of the points in the subsets by the gimbal angle parameter. Points within a subset are sorted by gimbal angle parameter, while points within subsets are sorted by gimbal height parameter. This reduces the amount of gimbal height and angle adjustments required by the robot.

[0049] The above order of size can be understood as from large to small or from small to large.

[0050] For example, Figure 3As shown, the set contains four points, all with the same chassis position A. These four points have two different gimbal heights: A and B. Therefore, the set can be divided into two subsets: subset 1 and subset 2. Subset 1 contains two points: points 3 and 4, and subset 2 contains two points: points 7 and 10. For subset 1, the points are sorted in ascending order of their gimbal angle parameters. Since gimbal angle A < gimbal angle B, the points in subset 1 are sorted as follows: point 4 → point 3. For subset 2, the points are sorted in ascending order of their gimbal angle parameters. Since gimbal angle A < gimbal angle B, the points in subset 2 are sorted as follows: point 7 → point 10. Since gimbal height A < gimbal height B, the two subsets are sorted as follows: subset 1 → subset 2.

[0051] From the sorting of the above two subsets and the sorting of the points in each subset, we can get the sorting result of the points in the entire set: point 4 → point 3 → point 7 → point 10.

[0052] In an optional implementation, the process of sorting each set using the chassis position parameters of the points in each set to obtain the sorting results of each set is to obtain the current robot position, calculate the distance between the chassis position parameters of the points in each set and the robot position, and then sort each set in order of distance from small to large to obtain the sorting results of each set, thereby completing the sorting between the sets.

[0053] In this implementation, by sorting the collections from nearest to farthest based on the robot's location, the robot's travel distance can be reduced, improving inspection efficiency. It's worth noting that the distance between the chassis position parameter and the robot's position can be understood as the length of the path from the robot's location, as planned according to the scene map, to the location indicated by the corresponding chassis position parameter.

[0054] In some embodiments of the present application, when there are multiple target components, for the process of adjusting the target component using the configuration parameters corresponding to the target component in the current inspection point, environmental information corresponding to the area to which the current inspection point belongs can be obtained. If the obtained environmental information meets the preset parallel conditions, the target component can be adjusted in parallel using the configuration parameters of the current inspection point. If the obtained environmental information does not meet the preset parallel conditions, the target component is adjusted using the configuration parameters of the current inspection point and the preset serial order.

[0055] Environmental information can include information about whether there are obstacles in the corresponding area and whether the ground is flat. In a data center scenario, environmental information can include whether there are obstacles in the computer room where the inspection point is located and whether the ground is flat. Based on this, the preset parallel conditions are no obstacles and a flat ground. Parallel adjustment refers to the synchronous adjustment of various components. For example, the target components include the chassis, lifting rod, and pan-tilt head. In the process of adjusting the chassis state according to the chassis position parameters, the robot also adjusts the lifting rod according to the pan-tilt head height parameters and adjusts the pan-tilt head according to the pan-tilt head angle parameters. Therefore, when the robot reaches the position specified by the chassis position parameters, the pan-tilt head height and pan-tilt head angle have also been adjusted. Therefore, this parallel adjustment method can greatly improve inspection efficiency.

[0056] The preset serial order can be the adjustment sequence for the chassis, lift, and gimbal. This means first moving the robot to the position specified by the chassis position parameters, then adjusting the lift, and finally adjusting the gimbal. If the environment information does not meet the preset parallel conditions, it indicates that the robot's environment has obstacles or the ground is uneven. Adjusting the target components in the preset serial order can ensure the safe execution of the movements of each component.

[0057] In another embodiment of the present application, during the parallel adjustment of target components, the driving smoothness of the robot can be detected. If the driving smoothness does not meet the preset smoothness conditions, the adjustment of target components other than the chassis can be stopped, and all target components other than the chassis can be reset.

[0058] The degree of driving smoothness can be represented by the detection results of various sensor data on the robot, such as radar, gyroscope, etc. and / or the turning angle of the robot. For example, the robot's running smoothness is detected based on the data of various sensors, or the robot makes a large turn and its turning angle reaches a certain threshold. These results and corresponding weights are calculated to obtain the degree of driving smoothness.

[0059] By detecting the robot's driving stability in real time, the safe execution of the movements of each component on the robot can be further guaranteed, and by resetting the components to a safe position, the components can be ensured not to be damaged.

[0060] In another embodiment of the present application, after data is collected at the current inspection point, the data identifier of the collected data can be added to a preset data queue, and when a preset timed task arrives, the data identifier at the head of the data queue can be dequeued, and the data corresponding to the dequeued data identifier can be uploaded to the cloud, thereby realizing asynchronous data push.

[0061] Based on the above embodiments, Figure 4This is a schematic diagram of the overall architecture of the inspection task execution shown according to an exemplary embodiment. First, the robot receives a list of points that need to be executed from the cloud, reorders the list of points according to the configuration parameters, and puts the reordered list of points into the task queue, so that the robot pushes the points in the task queue one by one to inspect the pushed points; then, the configuration parameters of the pushed points are obtained, and the component execution list of the area to which the pushed points belong is obtained according to the data collection mode of the pushed points, the target components that need to be executed in the component execution list are determined, and it is judged whether the environmental information of the area to which it belongs meets the preset parallel conditions, the execution of the target components is triggered according to the judgment result, and the robot posture adjustment result is obtained according to the component execution result. If the posture adjustment result is successful, data is collected for the points, and the identifier of the collected data is added to the reporting queue, and the data in the reporting queue is asynchronously reported to the cloud through a scheduled task.

[0062] The triggering and execution of the target component can be controlled by calling the corresponding component interface to increase the control stability of the component. The component interface includes the component reset interface, component status interface, component execution result feedback interface, component execution action interface, and component execution cancellation interface. The components in the component execution list can include chassis, lifts, gimbals, sensors, etc.

[0063] In addition, for the entire task inspection process, the robot is also equipped with different security daemon threads, including the following threads:

[0064] Safety motion thread: detects the robot's driving stability in real time. If it is detected that the driving stability does not meet the preset stability conditions, the movement of other components except the chassis will be stopped and these other components will be reset.

[0065] Collision processing thread: When a collision is detected between the robots, the current task is canceled and an alarm is issued.

[0066] Equipment emergency stop thread: When receiving an instruction to instruct an emergency stop, cancel the current task.

[0067] Fault handling thread: When a fault is detected, an alarm prompt will be issued and the preset fault handling process can be output.

[0068] 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 used 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 must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0069] Corresponding to the above-mentioned embodiment of the inspection task execution method, the present application also provides an embodiment of the inspection task execution device.

[0070] Figure 5 FIG. 1 is a schematic diagram showing a structure of an inspection task execution device according to an exemplary embodiment, wherein the device is used to execute the inspection task execution method provided in any of the above embodiments, such as Figure 5 As shown, the inspection task execution device includes:

[0071] A sequence adjustment module 510 is configured to update the inspection sequence of each point in the inspection task based on configuration parameters of each point in the inspection task, wherein the configuration parameters represent the status of each component on the robot;

[0072] The component determination module 520 is used to determine, during the inspection of each point in accordance with the updated inspection sequence, a target component whose status is inconsistent between the previous point and the current point to be inspected based on the configuration parameters of the previous point and the configuration parameters of the current point to be inspected;

[0073] The inspection module 530 is used to adjust the target component by using the configuration parameters corresponding to the target component at the current inspection point, and collect data from the current inspection point.

[0074] In an optional implementation, the sequence adjustment module 510 is specifically configured to obtain a preset sorting order of various parameters in the configuration parameters; and update the position of each point in the inspection sequence according to the preset sorting order and the various parameters.

[0075] In an optional implementation, the configuration parameters include chassis position parameters, gimbal height parameters and gimbal angle parameters, and the preset sorting order is chassis position parameters, gimbal height parameters, and gimbal angle parameters in sequence; the sequence adjustment module 510 is specifically used to, in the process of updating the position of each point in the inspection sequence according to the preset sorting order and the various parameters, divide the points with the same chassis position parameters in each point into the same set to obtain multiple sets; based on the gimbal height parameters and gimbal angle parameters, sort the points in each set respectively to obtain the sorting results of the points in each set; use the chassis position parameters of the points in each set to sort each set to obtain the sorting results of each set; obtain the sorting results of each set based on the sorting results of each set and the sorting results of the points in each set; and use the sorting results to update the inspection sequence.

[0076] In an optional implementation, the sequence adjustment module 510 is specifically used to, in the process of sorting the points in each set based on the gimbal height parameter and the gimbal angle parameter, divide the points in the set with the same gimbal height parameter into the same subset for each set; sort the points in the subset in order of the size of the gimbal angle parameter for each divided subset; sort each subset in order of the size of the gimbal height parameter to obtain the sorting results of each subset; and obtain the sorting results of the points in the set based on the sorting results of each subset and the sorting results of the points in each subset.

[0077] In an optional implementation, the sequence adjustment module 510 is specifically used to obtain the current robot position in the process of sorting each set using the chassis position parameters of the points in each set to obtain the sorting results of each set; calculate the distance between the chassis position parameters of the points in each set and the robot position respectively; sort the each set in order of the distance from small to large to obtain the sorting results of each set.

[0078] In an optional implementation, the target component includes multiple components; the inspection module 530 is specifically used to obtain environmental information corresponding to the area to which the current inspection point belongs during the process of adjusting the target component using the configuration parameters corresponding to the target component in the current inspection point; when the environmental information meets the preset parallel conditions, the target component is adjusted in parallel using the configuration parameters of the current inspection point; when the environmental information does not meet the preset parallel conditions, the target component is adjusted using the configuration parameters of the current inspection point and a preset serial order.

[0079] In an optional implementation, the device further includes ( Figure 5 Not shown):

[0080] The safety guard module is used to detect the driving stability of the robot during the parallel adjustment of the target components; if the driving stability does not meet the preset stability conditions, the adjustment of the target components other than the chassis is stopped and all target components other than the chassis are reset.

[0081] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0082] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0083] The embodiment of the present application further provides an electronic device corresponding to the inspection task execution method provided in the aforementioned embodiment, so as to execute the aforementioned inspection task execution method.

[0084] Figure 6 This is a hardware structure diagram of an electronic device according to an exemplary embodiment. The electronic device includes a communication interface 601, a processor 602, a memory 603, and a bus 604. The communication interface 601, the processor 602, and the memory 603 communicate with each other via the bus 604. The processor 602 executes the inspection task execution method described above by reading and executing machine-executable instructions corresponding to the control logic of the inspection task execution method in the memory 603. The details of this method are described in the above embodiments and will not be repeated here.

[0085] The memory 603 mentioned in this application can be any electronic, magnetic, optical or other physical storage device, which can contain stored information, such as executable instructions, data, etc. Specifically, the memory 603 can be RAM (Random Access Memory), flash memory, a storage drive (such as a hard disk drive), any type of storage disk (such as an optical disk, DVD, etc.), or a similar storage medium, or a combination thereof. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 601 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0086] The bus 604 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 603 is used to store programs, and the processor 602 executes the programs after receiving an execution instruction.

[0087] The processor 602 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 602 or an instruction in the form of software. The above-mentioned processor 602 can be a general-purpose processor, including a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or can be completed by a combination of hardware and software modules in the decoding processor.

[0088] The electronic device provided in the embodiment of the present application and the inspection task execution method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0089] The present application also provides a computer-readable storage medium corresponding to the inspection task execution method provided in the above embodiment. Figure 7 As shown, the computer-readable storage medium is a CD 30 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the inspection task execution method provided by any of the aforementioned embodiments will be executed.

[0090] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0091] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the inspection task execution method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0092] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0093] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0094] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for executing an inspection task, characterized in that: The method comprises: Updating the inspection order of each point in the inspection task based on configuration parameters of each point in the inspection task, wherein the configuration parameters represent the status of each component on the robot; During the inspection of each point in accordance with the updated inspection sequence, the target component having inconsistent status between the previous point and the current point to be inspected is determined based on the configuration parameters of the previous point and the configuration parameters of the current point to be inspected; The target component is adjusted using the configuration parameters corresponding to the target component at the current inspection point, and data is collected for the current inspection point.

2. The method according to claim 1, characterized in that The updating of the inspection order of each point in the inspection task based on the configuration parameters of each point in the inspection task includes: Obtaining a preset sorting order of various parameters in the configuration parameters; According to the preset sorting order and the various parameters, the position of each point in the inspection sequence is updated.

3. The method according to claim 2, characterized in that The configuration parameters include chassis position parameters, gimbal height parameters and gimbal angle parameters, and the preset sorting order is chassis position parameters, gimbal height parameters, and gimbal angle parameters; The updating of the position of each point in the inspection sequence according to the preset sorting order and the various parameters includes: The points with the same chassis position parameters among the points are divided into the same set to obtain multiple sets; Based on the pan / tilt height parameter and the pan / tilt angle parameter, the points in each set are sorted respectively to obtain the sorting results of the points in each set; Sort each set using the chassis position parameters of the midpoints in each set to obtain the sorting results of each set; According to the sorting results of each set and the sorting results of the points in each set, the sorting results of each point in the inspection task are obtained; The inspection sequence is updated using the sorting result.

4. The method according to claim 3, characterized in that The sorting of the points in each set based on the gimbal height parameter and the gimbal angle parameter includes: For each set, points with the same gimbal height parameter in the set are divided into the same sub-set; For each subset obtained by division, sort the points in the subset according to the size of the pan / tilt angle parameter; Sort each subset according to the size of the gimbal height parameter to obtain the sorting results of each subset; According to the sorting results of each subset and the sorting results of the points in each subset, the sorting results of the points in the set are obtained.

5. The method according to claim 3, characterized in that The method of sorting each set by using the chassis position parameters of the midpoints of each set to obtain the sorting results of each set includes: Get the current robot position; Calculate the distance between the chassis position parameters of the points in each set and the robot position respectively; The sets are sorted in ascending order of the distances to obtain sorting results for the sets.

6. The method according to claim 1, wherein The target component includes a plurality of components; and adjusting the target component using the configuration parameters corresponding to the target component at the current inspection point includes: Obtain the environmental information corresponding to the area where the current inspection point belongs; When the environmental information satisfies a preset parallel condition, the target component is adjusted in parallel using the configuration parameters of the current inspection point; In the case that the environmental information does not satisfy the preset parallel condition, the target component is adjusted using the configuration parameters of the current inspection point and the preset serial order.

7. The method according to claim 6, characterized in that The method further comprises: During the parallel adjustment of the target component, detecting the driving stability of the robot; When the driving smoothness does not meet the preset smoothness condition, the adjustment of the target components except the chassis is stopped, and all the target components except the chassis are reset.

8. A patrol inspection task execution device, characterized in that: The device comprises: A sequence adjustment module, configured to update the inspection sequence of each point in the inspection task based on configuration parameters of each point in the inspection task, wherein the configuration parameters represent the status of each component on the robot; A component determination module is used to determine target components whose status is inconsistent between the last point and the current point to be inspected, based on the configuration parameters of the last point and the configuration parameters of the current point to be inspected, during the process of inspecting each point in accordance with the updated inspection sequence; The inspection module is used to adjust the target component by using the configuration parameters corresponding to the target component in the current inspection point, and collect data from the current inspection point.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor executes the program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to any one of claims 1 to 7.

Images