Inspection control method, inspection robot, inspection system and storage medium

Abstract

The invention relates to the technical field of robots, in particular to an inspection control method, an inspection robot, an inspection system and a storage medium. The inspection control method comprises the steps that the current position of an inspection robot and the device identifier and state information of each target device in a target device set are acquired, the target devices comprise to-be-inspected devices located in a designated inspection area, and the state information comprises position state information and / or action state information; an inspection point position list is generated according to the device identification and the state information, the inspection point position list comprises a target inspection point position of each device to be inspected, a target inspection path is generated according to the current position, the state information and the inspection point position list, and an inspection robot is controlled to conduct inspection according to the target inspection path. The inspection robot can collect the position state information and / or the action state information of each device in the inspection area in real time, and reasonably plan the inspection path based on the information, so as to ensure the normal inspection of the inspection robot in the inspection area.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a patrol control method, a patrol robot, a patrol system and a storage medium. Background Art

[0002] In recent years, with the transformation and development of various industries towards intelligence and digitalization, the application of intelligent inspection robots has become increasingly widespread. Intelligent inspection robots are mobile robots that integrate a variety of sensors and detection equipment, capable of autonomously traveling along pre-set routes and conducting patrol inspections. They integrate advanced technologies such as artificial intelligence, machine vision, multi-sensor fusion, navigation, and behavior planning to achieve automated and intelligent inspection of various environments and equipment.

[0003] In practical applications, current intelligent inspection robots usually need to complete inspection tasks in complex scenarios. However, in many scenarios, there are various devices in the physical space that interfere with the inspection process of the intelligent inspection robots. These devices may produce different interferences at different time points, and intelligent inspection robots are usually not adapted or modified for various complex scenarios. This can easily cause conflicts between intelligent inspection machines and these devices during the inspection process, posing a great safety hazard and seriously affecting the normal inspection of intelligent inspection robots. Summary of the Invention

[0004] One purpose of the present invention is to provide a patrol control method, a patrol robot, a patrol system and a storage medium to solve the technical problem in the related art that the intelligent patrol robot is prone to conflict with the equipment in the scene during the patrol process.

[0005] In a first aspect, an embodiment of the present invention provides a patrol control method, comprising:

[0006] Obtaining the current position of the inspection robot and the device identification and status information of each target device in the target device set, wherein the target device includes the device to be inspected located in the designated inspection area, and the status information includes position status information and / or action status information;

[0007] Generate a patrol point list according to the device identification and the status information, wherein the patrol point list includes a target patrol point of each device to be inspected;

[0008] Generate a target inspection path according to the current position, the status information and the inspection point list;

[0009] The inspection robot is controlled to perform inspection according to the target inspection path.

[0010] Optionally, generating a list of inspection points according to the device identifier and the status information includes:

[0011] Determining the device type of each device to be inspected according to the device identification;

[0012] Determining an observation task for each of the devices to be inspected according to the device type and the status information;

[0013] Determine the target inspection point of each device to be inspected according to the observation task;

[0014] Generate a list of inspection points based on the target inspection points.

[0015] Optionally, determining the observation task of each device to be inspected according to the device type and the status information includes:

[0016] Determining candidate observation items for each of the devices to be inspected according to the device type;

[0017] determining a target observation item among the candidate observation items according to the state information;

[0018] The observation task of each of the devices to be inspected is determined according to the target observation items.

[0019] Optionally, the inspection control method further includes:

[0020] Determining whether the target inspection path is blocked by an obstruction;

[0021] If it is blocked by the blocking object, determining whether the blocking object is the target device;

[0022] If it is a target device, then obtain the state change information of the target device, and determine whether the inspection robot can move along the target inspection path according to the state change information. If so, continue to move along the target inspection path. If not, regenerate the target inspection path according to the current position of the inspection robot, the state change information, the state information of each target device in the target device set, and the inspection point list;

[0023] If it is not the target device, the blocking position of the blocking object is determined, and the target inspection path is regenerated according to the current position of the inspection robot, the blocking position, the status information of each target device in the target device set and the inspection point list.

[0024] Optionally, the inspection control method further includes:

[0025] Determining whether there is a target device outside the designated inspection area based on the status information;

[0026] If so, determining whether the target device is a device to be inspected;

[0027] If it is a device to be inspected, the target device is moved from the target device set to the first device to be inspected set as the first device to be inspected, the target inspection point of the target device is deleted from the inspection point list, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the updated inspection point list;

[0028] If it is not a device to be inspected, the target device will be moved from the target device set to the non-inspected device set as a non-inspected device, and the target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the updated target device set and the inspection point list.

[0029] Optionally, the inspection control method further includes:

[0030] Obtaining current status information of a first device waiting for inspection in a first set of devices waiting for inspection;

[0031] Determining whether the first device awaiting inspection has moved from outside the designated inspection area to within the designated inspection area according to the current state information;

[0032] If so, the first device waiting for inspection is moved from the first device waiting for inspection set to the target device set, the target inspection point of the first device waiting for inspection is determined according to the current status information and the target inspection point is added to the inspection point list, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the updated inspection point list.

[0033] Optionally, the inspection control method further includes:

[0034] Obtaining current status information of uninspected devices in the uninspected device set;

[0035] Determining whether the uninspected device has moved from outside the designated inspection area to within the designated inspection area according to the current status information;

[0036] If so, the uninspected device is moved from the uninspected device set to the target device set, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the inspection point list.

[0037] Optionally, the inspection control method further includes:

[0038] Obtaining current status information of the device to be inspected;

[0039] Determine whether the observation task of the device to be inspected can be completed at the target inspection point according to the current status information;

[0040] If it cannot be completed, determine whether there is a candidate inspection point based on the current status information;

[0041] If so, the candidate inspection point is updated as the target inspection point of the device to be inspected;

[0042] If it does not exist, the device to be inspected will be switched to an inspected device in the target device set and added to the second device to be inspected set as the second device to be inspected, and the target inspection point of the device to be inspected will be deleted from the inspection point list. The target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the target device set and the updated inspection point list.

[0043] Optionally, the inspection control method further includes:

[0044] Obtaining current status information of a second device waiting for inspection in the second set of devices waiting for inspection;

[0045] Determining whether the observation task of the second inspection-waiting device can be completed according to the current state information;

[0046] If it can be completed, the second device waiting for inspection will be deleted from the second device waiting for inspection set and switched from a non-inspected device to a device to be inspected in the target device set. The target inspection point will be determined based on the current status information and the target inspection point will be added to the inspection point list. The target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the target device set and the updated inspection point list.

[0047] Optionally, generating a target inspection path according to the current position, the status information, and the inspection point list includes:

[0048] Performing comprehensive processing on the location status information of each target device according to a preset location restriction condition to obtain a location comprehensive processing result;

[0049] Comprehensively processing the action status information of each target device according to the preset action restriction condition to obtain an action comprehensive processing result;

[0050] A target inspection path is generated according to the position comprehensive processing result, the action comprehensive processing result, the current position and the inspection point list.

[0051] In a second aspect, an embodiment of the present invention provides an inspection robot comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the inspection robot implements the inspection control method described above.

[0052] In a third aspect, an embodiment of the present invention provides an inspection system, including:

[0053] The inspection robot as described above; and

[0054] The state perception module is in communication with the inspection robot and is installed on the target device, and is used to perceive the position and / or movement of the target device.

[0055] In a fourth aspect, an embodiment of the present invention provides a storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the inspection control method described above.

[0056] Compared with the prior art, the embodiments of the present invention provide a patrol control method, a patrol robot, a patrol system, and a storage medium. The patrol control method includes: obtaining the current position of the patrol robot and the device identification and status information of each target device in the target device set, wherein the target device includes the device to be inspected located in a specified patrol area, and the status information includes position status information and / or action status information; generating a patrol point list based on the device identification and status information; the patrol point list includes target patrol points of the device to be inspected; generating a target patrol path based on the current position, status information, and patrol point list; and controlling the patrol robot to perform patrols based on the target patrol path. The patrol robot can collect the position status information and / or action status information of each device in the patrol area in real time, and reasonably plan the patrol path based on this information to avoid conflicts between the patrol robot and these devices in the patrol area, thereby ensuring that the patrol robot conducts normal patrols in the patrol area. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0058] Figure 1 A schematic structural diagram of an inspection system provided by an embodiment of the present invention;

[0059] Figure 2A schematic diagram of the structure of a location status sensing module provided by an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of the structure of an action state perception module provided by an embodiment of the present invention;

[0061] Figure 4 A schematic diagram of a process flow of an inspection control method provided by an embodiment of the present invention;

[0062] Figure 5 A schematic diagram of the process of S22 in a patrol control method provided in an embodiment of the present invention;

[0063] Figure 6 A schematic structural diagram of a patrol control device provided by an embodiment of the present invention;

[0064] Figure 7 A schematic structural diagram of a first generation module in a patrol control device provided by an embodiment of the present invention;

[0065] Figure 8 A schematic structural diagram of a patrol control device provided in another embodiment of the present invention;

[0066] Figure 9 A schematic diagram of the hardware structure of an inspection robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0068] It should be noted that, unless there is a conflict, the various features of the embodiments of the present invention may be combined with each other and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematics and the logical order is shown in the flow charts, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flow charts. Furthermore, the terms "first," "second," "third," etc. used in the present invention do not limit the data or execution order, but only distinguish between identical or similar items with substantially the same functions and effects.

[0069] See also Figure 1 , Figure 1 The present invention provides a schematic diagram of the structure of an inspection system. Figure 1As shown, the inspection system includes a plurality of state perception modules installed on the target device 100 and an inspection robot 200 .

[0070] The target device 100 is a device that occupies a certain physical space in a deployment environment and is not fixedly distributed, including a device with movable wheels, a device with movable mechanisms or components (rotating joints or hinges), and the like.

[0071] The state perception module is in communication with the inspection robot 200 and is used to perceive the position and / or motion of the target device 100. In some embodiments, the state perception module includes a position state perception module and / or a motion state perception module, wherein the position state perception module is used to perceive the position of the target device 100 in real time and generate position state information, which is used to reflect the physical spatial distribution state of the target device 100 in the deployment environment; the motion state perception module is used to perceive the movement direction and movement speed of the target device 100 or the motion distribution of the movable mechanism on the target device 100 in real time and generate motion state information, which is used to reflect the movement state of the target device 100 or the motion distribution state of the movable mechanism on the target device 100.

[0072] In some embodiments, see Figure 2 The position status sensing module includes a first power supply circuit, a position sensing circuit and a first communication circuit.

[0073] The first power supply circuit is used to supply power to the position sensing circuit and the first communication circuit to ensure that the position sensing circuit and the first communication circuit work normally. In some embodiments, the first power supply circuit may include a battery assembly or a power supply circuit. The battery assembly can supply power by discharging the battery. The power supply circuit can output power by connecting to an external power supply and converting the external power supply.

[0074] The position sensing circuit is used to sense the position state of the target device 100 using positioning technology to obtain position state information. In some embodiments, the positioning technology may include UWB (Ultra Wideband) technology.

[0075] In some embodiments, the location sensing circuit can use low-power solutions, such as using a low-power processor and a low-power sensor. When transmitting signals over shorter distances, a low-power transmission module can be used to extend the service life of the location sensing circuit.

[0076] The first communication circuit is electrically connected to the position sensing circuit, and is used to send the position status information collected by the position sensing circuit to the inspection robot 200. In some embodiments, the first communication circuit includes a first wireless communication unit and / or a first wired communication unit, wherein the first wireless communication unit is a unit for realizing wireless communication connection, and the wireless communication connection includes 5G communication, 4G communication, 3G communication, 2G communication, wireless broadband (Wi-Fi), CDMA, CDMA2000, Bluetooth, ultra-wideband (UWB), ZigBee, near field communication (NFC), RFID, GSM, Infrared (IR), ISM, UMTS / 3GPPw / HSDPA or WiMAX, etc.; the first wired communication unit is a unit for realizing wired communication connection, and the wired communication connection includes various types of communication connections that use tangible media such as metal wires and optical fibers to transmit information.

[0077] In some embodiments, see Figure 3 The action state sensing module includes a second power supply circuit, an action sensing circuit and a second communication circuit.

[0078] The second power supply circuit is used to supply power to the motion sensing circuit and the second communication circuit to ensure that the motion sensing circuit and the second communication circuit work normally. In some embodiments, the second power supply circuit may include a battery assembly or a power supply circuit. The battery assembly can supply power by discharging the battery, and the power supply circuit can output power by connecting to an external power supply and converting the external power supply.

[0079] The motion sensing circuit is used to sense the motion direction and speed of the target device 100 or the motion distribution of the movable mechanism on the target device 100 using any inertial navigation technology to obtain motion state information. In some embodiments, the inertial navigation technology may include IMU (Inertial Measurement Unit) technology.

[0080] In some embodiments, the motion sensing circuit can use low-power solutions, such as using low-power processors and low-power sensors. When transmitting signals over shorter distances, low-power transmission modules and other methods can be used to extend the service life of the motion sensing circuit.

[0081] The second communication circuit is electrically connected to the motion sensing circuit, and is used to send the motion status information collected by the motion sensing circuit to the inspection robot 200. In some embodiments, the second communication circuit includes a second wireless communication unit and / or a second wired communication unit. In some embodiments, the second communication circuit includes a second wireless communication unit and a second wired communication unit, wherein the second wireless communication unit is a unit for realizing wireless communication connection, and the wireless communication connection includes 5G communication, 4G communication, 3G communication, 2G communication, wireless broadband (Wi-Fi), CDMA, CDMA2000, Bluetooth, ultra-wideband (UWB), ZigBee, near field communication (NFC), RFID, GSM, Infrared (IR), ISM, UMTS / 3GPPw / HSDPA or WiMAX, etc.; the second wired communication unit is a unit for realizing wired communication connection, and the wired communication connection includes various types of communication connections that use tangible media such as metal wires and optical fibers to transmit information.

[0082] In some embodiments, the target device 100 may be configured with one or all of the above-mentioned position state sensing module and action state sensing module. For example, please continue to refer to Figure 1 The target device 100 includes a first device 101, a second device 102 and a third device 103. The first device 101 is configured with a position state sensing module, the second device 102 is configured with an action state sensing module, and the third device 103 is configured with a position state sensing module and an action state sensing module.

[0083] It is understandable that the type and number of state perception modules configured for the target device 100 can be flexibly configured according to the device type of the target device 100 and the operation status of the inspection robot 200, and can be configured specifically based on whether the position or movement of the target device 100 will affect the operation of the inspection robot 200. For example, Figure 1 As shown, although the first device 101 has a movable mechanism, the movable mechanism will not affect the operation of the inspection robot 200, but the position of the first device 101 will affect the operation of the inspection robot 200, then the first device 101 only needs to be configured with a position state perception module; the position of the second device 102 will not affect the operation of the inspection robot 200, but the movable mechanism on the second device 102 will affect the operation of the inspection robot 200, then the second device 102 only needs to be configured with an action state perception module; the third device 103 has a movable mechanism, and the position and movable mechanism of the third device 103 will affect the operation of the inspection robot 200, then the third device 103 needs to be configured with both the action state perception module and the action state perception module.

[0084] The target device 100 can be a device to be inspected, an inspected device, or a device not to be inspected. The device to be inspected is a device that needs to be observed by the inspection robot 200. During observation, the inspection robot 200 moves to the device to be inspected and locates one or more parts or components on the device to be inspected that need to be observed. The inspected device is a device that has been observed by the inspection robot 200, and the device not to be inspected is a device that does not need to be observed by the inspection robot 200.

[0085] The inspection robot 200 is in communication with each target device 100 and is used to collect the position status information and / or motion status information sent by each target device 100, and based on this information, controls the inspection robot 200 to move to each device to be inspected for observation by executing the inspection control method described below.

[0086] In some embodiments, for example, the inspection robot 200 may be a livestock farming robot such as a chicken farming robot or a pig farming robot placed in a livestock farm, and the target device 100 may be a humidification device, ventilation device, material cart, electric door, etc. placed in the livestock farm. The presence of these devices may interfere with the inspection process of the livestock farming robot in the farm, so it is necessary to install a state perception module. Figure 4 In some embodiments, the inspection control method includes:

[0087] S41. Obtain the current position of the inspection robot and the device identification and status information of each target device in the target device set. The target device includes the device to be inspected located in the designated inspection area. The status information includes position status information and / or action status information.

[0088] In this step, the current position of the inspection robot is the position currently occupied by the inspection robot; the target device set includes multiple target devices. As mentioned above, the target device can be a device to be inspected, an inspected device, or a device not to be inspected, etc.; the device identifier is identification information used to identify the identity of the target device. The inspection robot is pre-configured with the device to be tested and its device identifier, indicating which devices the inspection robot needs to observe next. The inspection robot can obtain the device identifier of each target device and match it with the pre-configured device identifier of the device to be tested, so as to determine whether the target device is the device to be inspected based on the matching result; the designated inspection area is the area that the inspection robot can inspect, that is, the inspection robot will only observe the device to be inspected located in the designated inspection area, and will not observe the device to be inspected outside the designated inspection area. The shape and area size of the designated inspection area can be freely set according to actual needs; the description of the position status information and the action status information can be found in the above embodiment and will not be repeated here.

[0089] S42. Generate a patrol point list based on the device identification and status information. The patrol point list includes target patrol points for each device to be inspected.

[0090] In this embodiment, the inspection point list is a list of target inspection points for each device to be inspected. The target inspection points are the positions occupied by the inspection robot when observing the device to be inspected. The target inspection points in the inspection point list can be configured with a priority order or not. When the target inspection points are configured with a priority order, the inspection robot can move to each target inspection point in sequence according to the priority order to observe each device to be inspected until all devices to be inspected are observed. When the target inspection points are not configured with a priority order, the inspection robot can randomly move to each target inspection point to observe each device to be inspected until all devices to be inspected are observed.

[0091] S43. Generate a target inspection path based on the current location, status information, and inspection point list.

[0092] In this step, since the state information takes into account the physical space occupied by the position state and / or action state of each target device, it is possible to avoid the situation where the target inspection path overlaps or intersects with these occupied physical spaces when planning the target inspection path, thereby preventing the inspection robot from colliding with these target devices that have potential impact on its operation during the inspection process, and ensuring that the inspection robot can observe each device to be inspected normally in the designated inspection area; the inspection point list is used to provide the target inspection point of each device to be inspected, so that the inspection robot starts from the current position and reasonably plans the target inspection path according to the distribution of the target inspection points; the inspection robot can use any appropriate path planning algorithm to plan the target inspection path, including but not limited to Dijkstra algorithm, A * Algorithms, greedy algorithms, etc.

[0093] In some embodiments, the inspection robot can comprehensively process the various position status information in the status information to obtain a position comprehensive processing result, comprehensively process the various action status information in the status information to obtain an action comprehensive processing result, and then generate a target inspection path based on the position comprehensive processing result, the action comprehensive processing result, the current position and the inspection point list.

[0094] In some embodiments, the inspection robot can perform comprehensive processing on various pieces of position status information based on preset position constraints to generate a comprehensive position processing result. For example, if a piece of position status information indicates that the location of a target device does not meet the preset position constraint, preventing the inspection robot from moving along the originally set path, the comprehensive position processing result will include information indicating that the location of the target device is unreachable. The inspection robot will then avoid the location of the target device when generating the target inspection path. The preset position constraint is used to limit the location of the target inspection path to within a preset range.

[0095] In some embodiments, the inspection robot can perform comprehensive processing on each action state information according to preset action restriction conditions to obtain an action comprehensive processing result. For example, if an action state information indicates that some actions being performed by a device to be inspected do not meet the preset action restriction conditions, resulting in the inspection robot being unable to perform the observation task of the device to be inspected, then the action comprehensive result includes information that the observation task of the device to be inspected cannot be observed, the inspection point list will not include the inspection point of the device to be inspected, the inspection robot will cancel the observation task of the device to be inspected, and there is no need to consider the device to be inspected when generating the target inspection path. Among them, the preset action restriction conditions are used to ensure that the inspection robot can complete the observation task of each observable device to be inspected according to the target inspection path.

[0096] S44: Control the inspection robot to perform inspection according to the target inspection path.

[0097] In this step, the inspection robot can move along the target inspection path to each target inspection point to observe each device to be inspected, thereby completing the inspection work.

[0098] Therefore, the inspection robot can collect the position status information and / or action status information of each device in the inspection area in real time, and reasonably plan the inspection path based on this information to avoid conflicts between the inspection robot and these devices in the inspection area, and ensure that the inspection robot can conduct normal inspections in the inspection area.

[0099] In some embodiments, see Figure 5 , S42 includes:

[0100] S421. Determine the device type of each device to be inspected according to the device identification.

[0101] In this step, as mentioned above, the device identifier can be used to determine the identity of the device to be inspected. The identity is unique for each device to be inspected, that is, the device identifiers of different target devices are different. However, different device identifiers can point to the same device type or different device types. For example, although the first device and the second device are different target devices, they are both devices of the same batch and model produced by the same manufacturer. The types of devices to be inspected are different, and the items that the inspection robot can or needs to observe are usually different. For example, for the first device, the observation item can be the observation of fixed parts or components on the first device, and for the second device, the observation item can be the observation of moving parts or components on the second device. For each device to be inspected, the observation item set can be one or more than one, and the number of observation items can be freely set according to actual needs.

[0102] S422. Determine the observation task for each device to be inspected based on the device type and status information.

[0103] In this step, the status information of uninspected devices, inspected devices, and devices to be inspected may affect the observation of the devices to be inspected. For example, the first device can perform three observation items, but an uninspected device is located in front of the first device, which causes the inspection robot to be unable to observe all three observation items and can only complete two of the observation items. For another example, the second device can perform two observation items, but because the movable mechanism of the second device is active, one of the observation items cannot be completed, and the other observation item is not affected. Therefore, when the inspection robot determines the observation task of each device to be inspected, it is necessary to consider not only the device type of the device to be inspected, but also the interference caused by the position status and / or motion status of each target device on the observation of each device to be inspected.

[0104] In some embodiments, S422 includes: determining candidate observation items for each device to be inspected according to the device type, determining target observation items from the candidate observation items according to the status information, and determining an observation task for each device to be inspected according to the target observation items.

[0105] In this embodiment, the candidate observation items are the observation items that can or need to be observed for the equipment to be inspected of a specific equipment type. As mentioned above, for the first equipment, there are three candidate observation items, and for the second equipment, there are two candidate observation items; the target observation items are the observation items that the inspection robot actually wants to observe. As mentioned above, the inspection robot determines two of the three candidate observation items of the first equipment as the target observation items of the first equipment based on the status information. These two target observation items constitute the observation task for the first equipment. The inspection robot determines one of the two candidate observation items of the second equipment as the target observation item of the second equipment based on the status information. This target observation item constitutes the observation task for the second equipment.

[0106] S423. Determine the target inspection point for each device to be inspected based on the observation task.

[0107] In the steps, for the same device to be inspected, if the observation tasks are different, the target inspection points of the device to be inspected may be the same or different. In order to ensure that the current observation task for each device to be inspected can be completed, the inspection robot may select an optimal observation position as the target inspection point based on the distribution of each target observation item in the observation task. In some embodiments, the inspection robot may also determine one or more candidate inspection points based on possible changes in the observation task. The inspection robot monitors the changes in the observation task in real time, so that when the observation task changes and the corresponding device to be inspected is not observed, a candidate inspection point may be determined based on the changed observation task to replace the target observation point, so as to avoid the inspection robot being unable to continue to observe the device to be inspected when the observation task changes, thereby improving the inspection flexibility of the inspection robot.

[0108] S424. Generate a list of inspection points based on the target inspection points.

[0109] In this step, the target inspection points may be configured with a priority order or not. If the target inspection points are configured with a priority order, the inspection robot may generate an inspection point list according to the priority order, as shown in Table 1 below. The target inspection points include point 1 of the first device, point 2 of the second device, point 3 of the third device, and point 4 of the fourth device. The priority order of the second device is first, the priority order of the first device is second, the priority order of the fourth device is third, and the priority order of the third device is fourth. Therefore, the inspection robot moves to points 2, Point 2, point 4 and point 3 observe the second device, the first device, the fourth device and the third device respectively; if the target inspection points are not configured in a priority order, the inspection robot can generate an inspection point list based on the distance of the target inspection point relative to the current position of the inspection robot, that is, each target inspection point is arranged in the inspection point list according to the relative distance from short to long or from long to short. It can be understood that the inspection robot can perform inspections according to the order of each target inspection point in the inspection point list, or it can perform inspections not according to the order of each target inspection point in the inspection point list.

[0110] Table 1

[0111] Name of equipment to be inspected Target inspection points Priority Order First Equipment Point 1 Second place Second device Point 2 First Third device Point 3 Fourth place Fourth device Point 4 Third place

[0112] In order to achieve more reasonable inspections, in some embodiments, the inspection robot can configure a priority order for each target inspection point based on the status information and observation tasks of each device to be inspected, and generate an inspection point list based on the priority order.

[0113] In some embodiments, the inspection robot can determine the task score of each device to be inspected based on the observation task, calculate the relative distance of each target inspection point relative to the current position of the inspection robot, and configure a priority order for each target inspection point based on the task score and relative distance.

[0114] In this embodiment, the task score can be determined based on the number of target observation items in the observation task or the total observation time of the observation task, where the total observation time is the time required for the inspection robot to complete the observation task.

[0115] In some embodiments, the inspection robot can normalize the task score and relative distance respectively to obtain a first normalized value and a second normalized value. The first normalized value is configured with a first weight coefficient, and the second normalized value is configured with a second weight coefficient. The inspection robot can calculate the weighted sum of each target inspection point based on the first normalized value and the corresponding weight coefficient, the second normalized value and the second weight coefficient, and configure a priority order for each target inspection point based on the weighted sum.

[0116] For example, as shown in Table 2 below, the task scores of the first device, the second device, the third device, and the fourth device are s1, s2, s3, and s4, respectively. The relative distances between point 1, point 2, point 3, and point 4 and the current position of the inspection robot are d1, d2, d3, and d4, respectively. The inspection robot normalizes the task score s1 to obtain the first normalized value n11 of point 1, and normalizes the relative distance d1 to obtain the second normalized value n21 of point 1. Similarly, the first normalized value and the second normalized value of point 2 are respectively The first normalized value and the second normalized value of point 3 are n13 and n23 respectively, the first normalized value and the second normalized value of point 4 are n14 and n24 respectively. Assuming that the first weight coefficient is α1 and the second weight coefficient is α2, the weighted sum A1 of point 1 is n11*α1+n21*α2, the weighted sum A2 of point 2 is n12*α1+n22*α2, the weighted sum A3 of point 3 is n13*α1+n23*α2, and the weighted sum A4 of point 4 is n14*α1+n24*α2.

[0117] Table 2

[0118]

[0119] In some embodiments, the larger the weighted sum, the higher the priority order of the corresponding target inspection point is configured, or the smaller the weighted sum, the higher the priority order of the corresponding target inspection point is configured.

[0120] In some embodiments, when the observation task of the device to be inspected is completed, the device to be inspected is switched from the target device set to an inspected device, and the target inspection point of the device to be inspected is deleted from the inspection point list.

[0121] Therefore, this embodiment can avoid meaningless repeated observation of inspected equipment that has already been observed.

[0122] It is understandable that when the inspection robot is inspecting according to the target inspection path, the target inspection path may be accidentally blocked, forcing the inspection robot to be unable to continue moving along the target inspection path. At this time, the inspection robot can determine whether the target inspection path needs to be replanned based on the obstruction.

[0123] In some embodiments, the inspection robot determines whether the target inspection path is blocked by an obstruction. If blocked by an obstruction, it determines whether the obstruction is a target device. If it is a target device, it obtains the state change information of the target device, and determines whether the inspection robot can move along the target inspection path based on the state change information. If so, it continues to move along the target inspection path. If not, it regenerates the target inspection path based on the current position of the inspection robot, the state change information, the state information of each target device in the target device set, and the inspection point list. If it is not a target device, it determines the blocking position of the obstruction, and regenerates the target inspection path based on the current position of the inspection robot, the blocking position, the state information of each target device in the target device set, and the inspection point list.

[0124] Therefore, on the one hand, this embodiment can flexibly select avoidance strategies according to the type of obstruction, thereby improving avoidance flexibility. On the other hand, when the obstruction is a target device, this embodiment can determine that the robot can continue to move along the target inspection path based on the position state change information and / or action state change information, thereby avoiding frequent planning of the target inspection path.

[0125] In some embodiments, the inspection robot determines whether there is a target device beyond the designated inspection area based on the status information. If so, it determines whether the target device is a device to be inspected. If it is a device to be inspected, the target device is moved from the target device set to the first device to be inspected set as the first device to be inspected, and the target inspection point of the target device is deleted from the inspection point list. The target inspection path is regenerated based on the current position of the inspection robot, the updated status information of each target device in the target device set, and the updated inspection point list. If it is not a device to be inspected, the target device is moved from the target device set to the non-inspected device set as a non-inspected device, and the target inspection path is regenerated based on the current position of the inspection robot, the updated status information of each target device in the target device set, and the inspection point list.

[0126] In this embodiment, when an unobserved device to be inspected exceeds the designated inspection area, the inspection robot does not fail to observe it, but first moves it into the first set of devices to be inspected so that the inspection robot can continuously monitor the status of the first device to be inspected. When the first device to be inspected meets the observation conditions, the inspection robot can still observe it, thereby avoiding missed inspections.

[0127] It is understandable that when inspected equipment or uninspected equipment exceeds the designated inspection area, in order to avoid such equipment from interfering with the operation of the inspection robot when entering the designated inspection area again, the inspection robot needs to first move such equipment into the uninspected equipment collection and continuously monitor the status of such equipment in the collection. When such equipment enters the designated inspection area again, the position status or action status of such equipment can be taken into account, and the target inspection path can be re-planned according to the status of all target equipment to avoid conflicts between the inspection robot and such equipment during the inspection process, thereby ensuring the safety of the inspection robot's inspection process.

[0128] In some embodiments, the inspection robot obtains the current status information of the first device waiting for inspection in the first set of devices waiting for inspection, and determines whether the first device waiting for inspection has moved from outside the designated inspection area to within the designated inspection area based on the current status information. If so, the first device waiting for inspection is moved from the first set of devices waiting for inspection to the target device set, and the target inspection point of the first device waiting for inspection is determined based on the current status information and the target inspection point is added to the inspection point list. The target inspection path is regenerated based on the current position of the inspection robot, the updated status information of each target device in the target device set, and the updated inspection point list.

[0129] In this embodiment, since the first device waiting for inspection originally belongs to the device to be inspected, but the first device waiting for inspection exceeds the designated inspection area, when the first device waiting for inspection moves from outside the designated inspection area to within the designated inspection area, the inspection robot can restore the identity of the first device waiting for inspection to be inspected, re-determine the target inspection point for it and regenerate the target inspection path, thereby avoiding missing inspection of the first device waiting for inspection.

[0130] In some embodiments, the inspection robot obtains the current status information of the uninspected equipment in the uninspected equipment set, and determines whether the uninspected equipment has moved from outside the designated inspection area to within the designated inspection area based on the current status information. If so, the uninspected equipment is moved from the uninspected equipment set to the target equipment set, and the target inspection path is regenerated based on the current position of the inspection robot, the updated status information of each target equipment in the target equipment set, and the inspection point list.

[0131] Therefore, this embodiment continuously monitors the status of uninspected devices in the uninspected device set, and when it finds that the device moves from outside the designated inspection area to within the designated inspection area, it takes the position status or action status of the device into consideration, and replans the target inspection path based on the status information of all target devices, so as to avoid conflicts between the inspection robot and the device during the inspection process, thereby ensuring the safety of the inspection process of the inspection robot.

[0132] In some embodiments, the inspection robot obtains the current status information of the equipment to be inspected, and determines whether the observation task of the equipment to be inspected can be completed at the target inspection point based on the current status information. If it cannot be completed, it determines whether there is a candidate inspection point based on the current status information. If so, the candidate inspection point is updated to the target inspection point of the equipment to be inspected. If not, the equipment to be inspected is switched to a non-inspected equipment in the target equipment set and added to the second equipment to be inspected set as the second equipment to be inspected. The target inspection point of the equipment to be inspected is deleted from the inspection point list, and the target inspection path is regenerated based on the current position of the inspection robot, the status information of each target device in the target equipment set, and the updated inspection point list.

[0133] In this embodiment, when the status of the equipment to be inspected changes and the observation task cannot be completed at the target observation point of the equipment to be inspected, the inspection robot can observe the items that can be observed by adjusting the observation point. When the observation point cannot be adjusted or the adjustment of the observation point cannot observe any observation item, the inspection robot does not fail to observe it, but first gathers its second equipment to be inspected so that the inspection robot can continuously monitor the status of the second equipment to be inspected. When the second equipment to be inspected meets the observation conditions, it ensures that the inspection robot can still observe it, thereby avoiding missed inspections.

[0134] In some embodiments, the inspection robot obtains the current status information of the second device waiting for inspection in the second set of devices waiting for inspection, and determines whether the observation task of the second device waiting for inspection can be completed based on the current status information. If it can be completed, the second device waiting for inspection is deleted from the second set of devices waiting for inspection and switched from an uninspected device to an inspected device in the target device set. The target inspection point is determined based on the current status information and the target inspection point is added to the inspection point list. The target inspection path is regenerated based on the current position of the inspection robot, the status information of each target device in the target device set, and the updated inspection point list.

[0135] In this embodiment, since the second device waiting for inspection originally belongs to the device to be inspected, the second device waiting for inspection temporarily does not meet the observation conditions, that is, the observation task of the second device waiting for inspection cannot be completed, and there is no candidate inspection point that can observe any observation item. Therefore, when the second device waiting for inspection currently meets the observation conditions, the inspection robot can restore the identity of the second device waiting for inspection as a device to be inspected, re-determine the target inspection point for it and regenerate the target inspection path, so as to avoid missing the inspection of the second device waiting for inspection.

[0136] In some embodiments, the inspection robot can obtain the state change information of the device to be inspected that is currently being observed, and determine whether the device to be inspected is in motion based on the state change information. If it is in motion, determine whether the observation conditions are met based on the state change information of the device to be inspected and the current state of the inspection robot. If the observation conditions are met, the inspection robot can adjust its own state based on the state change information of the device to be inspected, so that the inspection robot can observe the device to be inspected. If the observation conditions are not met, the device to be inspected is switched to a non-inspected device in the target device set and added to the second device to be inspected as a second device to be inspected, and the target inspection point of the device to be inspected is deleted from the inspection point list, and the target inspection path is regenerated based on the current position of the inspection robot, the state information of each target device in the target device set, and the updated inspection point list.

[0137] For example, the inspection robot can track and observe the equipment to be inspected when it determines, based on its current state and the state change information of the equipment to be inspected that the two have the same movement direction and can track and observe the equipment to be inspected by following. When it is determined that the two have relative movement directions and there is a risk of collision, the inspection robot can temporarily give up observing the equipment to be inspected, and avoid obstacles in time when necessary to prevent the inspection robot from colliding with the equipment to be inspected.

[0138] Therefore, on the one hand, the inspection robot can track and observe the equipment to be inspected that is being observed and moving when the observation conditions are met, thereby improving the flexibility of observation. On the other hand, the inspection robot can also temporarily give up observation or avoid obstacles in time when the observation conditions are not met, thereby avoiding collisions between the inspection robot and the equipment to be inspected, thereby improving the inspection safety of the inspection robot.

[0139] It is understandable that since the second device waiting for inspection originally belongs to the device to be inspected, but the second device waiting for inspection temporarily does not meet the observation conditions, the inspection robot can continuously obtain the current status information of the second device waiting for inspection, and when it is determined based on the current status information that the second device waiting for inspection meets the observation conditions, the second device waiting for inspection is deleted from the second device waiting for inspection set and switched from a non-inspected device to a device to be inspected in the target device set, the target inspection point is determined based on the current status information and the target inspection point is added to the inspection point list, and the target inspection path is regenerated based on the current position of the inspection robot, the status information of each target device in the target device set, and the updated inspection point list. Since the identity of the second device waiting for inspection as a device to be inspected has been restored at this time, the inspection robot can re-determine the target inspection point for it and regenerate the target inspection path, thereby avoiding missed inspection of the second device waiting for inspection.

[0140] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person of ordinary skill in the art can understand from the description of the embodiments of the present invention that, in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0141] As another aspect of an embodiment of the present invention, an inspection control device is provided. The inspection control device may be a software module comprising a plurality of instructions stored in a memory, and a processor may access the memory and execute the instructions to implement the inspection control method described in each of the above embodiments.

[0142] In some embodiments, the inspection control device can be constructed by hardware devices. For example, the inspection control device can be constructed by one or more chips, and the chips can work in coordination with each other to complete the inspection control methods described in the above embodiments. For another example, the inspection control device can also be constructed by a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine), a programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0143] In some embodiments, see Figure 6 The inspection control device 600 provided in the embodiment of the present invention includes a first acquisition module 601 , a second acquisition module 602 , a first generation module 603 , a second generation module 604 and a control module 605 .

[0144] The first acquisition module 601 is used to obtain the current position of the inspection robot, and the second acquisition module 602 is used to obtain the device identification and status information of each target device in the target device set. The target device is a device located in a specified inspection area. The target device includes the device to be inspected. The status information includes position status information and / or action status information. The first generation module 603 is used to generate a patrol point list based on the device identification and status information. The patrol point list includes the target patrol point of each device to be inspected. The second generation module 604 is used to generate a target patrol path based on the current position, status information and patrol point list. The control module 605 is used to control the patrol robot to perform inspection according to the target patrol path.

[0145] In some embodiments, see Figure 7 The first generating module 603 includes a first determining unit 6031 , a second determining unit 6032 , a third determining unit 6033 and a generating unit 6034 .

[0146] The first determination unit 6031 is used to determine the device type of each device to be inspected based on the device identification, the second determination unit 6032 is used to determine the observation task of each device to be inspected based on the device type and status information, the third determination unit 6033 is used to determine the target inspection point of each device to be inspected based on the observation task, and the generation unit 6034 is used to generate an inspection point list based on the target inspection points.

[0147] In some embodiments, the second determination unit 6032 is specifically used to: determine candidate observation items for each device to be inspected according to the device type, determine target observation items among the candidate observation items according to the status information, and determine the observation task for each device to be inspected according to the target observation items.

[0148] In some embodiments, see Figure 8 The inspection control device 600 also includes a switching module 606 and a deletion module 607.

[0149] The switching module 606 is used to switch the device to be inspected from the target device set to the inspected device after the observation task of the device to be inspected is completed. The deleting module 607 is used to delete the target inspection point of the device to be inspected from the inspection point list after the observation task of the device to be inspected is completed.

[0150] It should be noted that the above-mentioned inspection control device can execute the inspection control method provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the embodiment of the inspection control device, please refer to the inspection control method provided in the embodiment of the present invention.

[0151] See also Figure 9 , Figure 9The present invention provides a hardware structure diagram of a patrol robot. Figure 9 As shown, the inspection robot 200 includes one or more processors 201 and a memory 202. Figure 9 A processor 201 is taken as an example.

[0152] The processor 201 is configured to support the computer device in executing the corresponding functions of the method in the above method embodiment. The processor 201 can be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The above hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0153] Memory 202 is used to store program code. Memory 202 may include volatile memory (VM), such as random access memory (RAM); non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the aforementioned types of memory.

[0154] Memory 202 can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as the program instructions / modules corresponding to the inspection control method in the embodiments of the present invention. Processor 201 executes the non-volatile software programs, instructions, and modules stored in memory 202 to execute the various functional applications and data processing of the inspection control method and inspection control device, thereby implementing the functions of the inspection control method and the various modules or units of the inspection control device provided in the above-mentioned method embodiments.

[0155] The memory 202 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data generated based on the use of the inspection control device. In some embodiments, the memory 202 may optionally include a remote memory device located relative to the processor. Such remote memory device may be connected to the inspection control device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0156] The one or more modules are stored in the memory 202. When executed by the one or more processors 201, the inspection control method in any of the above method embodiments is executed, for example, the method steps described in the above method embodiments are executed to realize the functions of the modules described in the above device embodiments.

[0157] An embodiment of the present invention further provides a storage medium storing a computer program. The computer program includes program instructions. When executed by a computer, the program instructions enable the computer to execute the method described in the above embodiment.

[0158] It will be understood by those skilled in the art that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0159] Finally, it should be noted that the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to be additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, under the thinking of the present invention, the above-mentioned technical features continue to be combined with each other, and there are many other changes in different aspects of the present invention as described above, all of which are considered to be within the scope of the description of the present invention. Furthermore, it is clear to those skilled in the art that improvements or changes can be made based on the above description, and all such improvements and changes should fall within the scope of protection of the claims appended to the present invention.

Claims

1. A patrol control method, characterized in that: include: Obtaining the current position of the inspection robot and the device identification and status information of each target device in the target device set, wherein the target device includes the device to be inspected located in the designated inspection area, and the status information includes position status information and / or action status information; Generate a patrol point list according to the device identification and the status information, wherein the patrol point list includes a target patrol point of each device to be inspected; Generate a target inspection path according to the current position, the status information and the inspection point list; The inspection robot is controlled to perform inspection according to the target inspection path.

2. The inspection control method according to claim 1, characterized in that: Generating a list of inspection points according to the device identification and the status information includes: Determining the device type of each device to be inspected according to the device identification; Determining an observation task for each of the devices to be inspected according to the device type and the status information; Determine the target inspection point of each device to be inspected according to the observation task; Generate a list of inspection points based on the target inspection points.

3. The inspection control method according to claim 2, characterized in that: Determining the observation task of each device to be inspected according to the device type and the status information includes: Determining candidate observation items for each of the devices to be inspected according to the device type; determining a target observation item among the candidate observation items according to the state information; The observation task of each of the devices to be inspected is determined according to the target observation items.

4. The inspection control method according to claim 1, characterized in that: Also includes: Determining whether the target inspection path is blocked by an obstruction; If it is blocked by the blocking object, determining whether the blocking object is the target device; If it is a target device, then obtain the state change information of the target device, and determine whether the inspection robot can move along the target inspection path according to the state change information. If so, continue to move along the target inspection path. If not, regenerate the target inspection path according to the current position of the inspection robot, the state change information, the state information of each target device in the target device set, and the inspection point list; If it is not the target device, the blocking position of the blocking object is determined, and the target inspection path is regenerated according to the current position of the inspection robot, the blocking position, the status information of each target device in the target device set and the inspection point list.

5. The inspection control method according to claim 1, characterized in that: Also includes: Determining whether there is a target device outside the designated inspection area based on the status information; If so, determining whether the target device is a device to be inspected; If it is a device to be inspected, the target device is moved from the target device set to the first device to be inspected set as the first device to be inspected, the target inspection point of the target device is deleted from the inspection point list, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the updated inspection point list; If it is not a device to be inspected, the target device will be moved from the target device set to the non-inspected device set as a non-inspected device, and the target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the updated target device set and the inspection point list.

6. The inspection control method according to claim 5, characterized in that: Also includes: Obtaining current status information of a first device awaiting inspection in the first set of devices awaiting inspection; Determining whether the first device awaiting inspection has moved from outside the designated inspection area to within the designated inspection area according to the current state information; If so, the first device waiting for inspection is moved from the first device waiting for inspection set to the target device set, the target inspection point of the first device waiting for inspection is determined according to the current status information and the target inspection point is added to the inspection point list, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the updated inspection point list.

7. The inspection control method according to claim 5, characterized in that: Also includes: Obtaining current status information of uninspected devices in the uninspected device set; Determining whether the uninspected device has moved from outside the designated inspection area to within the designated inspection area according to the current status information; If so, the uninspected device is moved from the uninspected device set to the target device set, and the target inspection path is regenerated according to the current position of the inspection robot, the status information of each target device in the updated target device set and the inspection point list.

8. The inspection control method according to claim 2, characterized in that: Also includes: Obtaining current status information of the device to be inspected; Determine whether the observation task of the device to be inspected can be completed at the target inspection point according to the current status information; If it cannot be completed, determine whether there is a candidate inspection point based on the current status information; If so, the candidate inspection point is updated as the target inspection point of the device to be inspected; If it does not exist, the device to be inspected will be switched to a non-inspected device in the target device set and added to the second set of devices to be inspected as a second device to be inspected. The target inspection point of the device to be inspected will be deleted from the inspection point list, and the target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the target device set and the updated inspection point list.

9. The inspection control method according to claim 8, characterized in that: Also includes: Obtaining current status information of a second device waiting for inspection in the second set of devices waiting for inspection; Determining whether the observation task of the second inspection-waiting device can be completed according to the current state information; If it can be completed, the second device waiting for inspection will be deleted from the second device waiting for inspection set and switched from a non-inspected device to a device to be inspected in the target device set. The target inspection point will be determined based on the current status information and the target inspection point will be added to the inspection point list. The target inspection path will be regenerated based on the current position of the inspection robot, the status information of each target device in the target device set and the updated inspection point list.

10. The inspection control method according to any one of claims 1 to 9, characterized in that: Generating a target inspection path according to the current position, the status information and the inspection point list includes: Performing comprehensive processing on the location status information of each target device according to a preset location restriction condition to obtain a location comprehensive processing result; Comprehensively processing the action status information of each target device according to the preset action restriction condition to obtain an action comprehensive processing result; A target inspection path is generated according to the position comprehensive processing result, the action comprehensive processing result, the current position and the inspection point list.

11. A patrol robot, characterized in that: It includes a memory and a processor, the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the inspection robot implements the inspection control method according to any one of claims 1 to 10.

12. A patrol inspection system, characterized in that: include: The inspection robot according to claim 11; as well as The state perception module is in communication with the inspection robot and is installed on the target device, and is used to perceive the position and / or movement of the target device.

13. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the inspection control method according to any one of claims 1 to 10.

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