Task scheduling method, control method, device and equipment of inspection robot

Abstract

The invention relates to a task scheduling method, a control method, a device and equipment for an inspection robot. The task scheduling method comprises the steps of generating a temporary inspection task for target equipment in response to an abnormal state signal of the target equipment in a target environment; the temporary inspection task comprises an equipment position and a target priority of the target equipment; obtaining target information of each candidate inspection robot in a preset range to which the equipment position belongs, wherein the target information comprises unexecuted inspection task information and own state information; selecting a target inspection robot from the candidate inspection robots according to the target information of each candidate inspection robot; and allocating the temporary inspection task to the target inspection robot, so that the target inspection robot executes the inspection task according to the target priority. By the adoption of the method, reasonable distribution of the inspection tasks is achieved, the inspection efficiency can be improved, and meanwhile the emergency demand response capability can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot inspection technology, and in particular to a task scheduling method, control method, device and equipment for an inspection robot. Background Art

[0002] With the development of industrial automation and intelligent technology, inspection robots can replace manual labor to complete the inspection of different equipment, improving the efficiency and safety of equipment operation and maintenance, and reducing the labor intensity and safety risks of manual inspections.

[0003] However, under the traditional inspection and scheduling control method, especially for the tobacco industry, inspection and scheduling have certain limitations, resulting in irrational resource allocation and difficulty in quickly responding to emergency needs. Summary of the Invention

[0004] Based on this, it is necessary to provide a task scheduling method, control method, device and equipment for a patrol robot to address the above technical problems, so as to improve patrol efficiency and emergency demand response capabilities.

[0005] In a first aspect, the present application provides a task scheduling method for an inspection robot, comprising:

[0006] In response to an abnormal state signal of a target device in a target environment, generating a temporary inspection task for the target device; the temporary inspection task includes a device location and a target priority of the target device;

[0007] Obtain target information for each candidate inspection robot within the preset range of the device location, including unexecuted inspection task information and its own status information;

[0008] Selecting a target inspection robot from among the candidate inspection robots according to the target information of each candidate inspection robot;

[0009] The temporary inspection task is assigned to the target inspection robot so that the target inspection robot performs the temporary inspection task according to the target priority.

[0010] In one embodiment, a target patrol robot is selected from each candidate patrol robot based on target information of each candidate patrol robot, including: for each candidate patrol robot, determining the highest patrol priority of the candidate patrol robot based on the unexecuted patrol task information corresponding to the candidate patrol robot; selecting at least one first patrol robot whose highest patrol priority is lower than the target priority from each candidate patrol robot; and selecting a target patrol robot from at least one first patrol robot based on the number of patrol tasks of the first patrol robot and its own status information.

[0011] In one embodiment, a temporary inspection task is assigned to a target inspection robot, including: obtaining a first inspection path that the inspection robot is using in a target environment; generating a reference inspection path for the temporary inspection task based on the robot position of the target inspection robot, the device position of the target device, and the first inspection path; and sending the temporary inspection task and the reference inspection path to the target inspection robot.

[0012] In one embodiment, it also includes: determining the execution status of the temporary inspection task in response to abnormal information of the target inspection robot; the execution status includes an unexecuted state and an executing state; if the execution status is an unexecuted state, the temporary inspection task is assigned to other robots; if the execution status is an executing state, the temporary inspection task is updated according to the inspection data that the target inspection robot has fed back for the temporary inspection task; and the updated temporary inspection task is assigned to other robots.

[0013] In a second aspect, the present application provides a control method for an inspection robot, comprising:

[0014] Obtaining a temporary inspection task assigned by the task scheduling end; the temporary inspection task is determined according to the method of the first aspect in various implementation modes;

[0015] Determine the inspection path of the target inspection robot based on the target priority corresponding to the temporary inspection task;

[0016] Control the target inspection robot to collect obstacle information on the inspection path;

[0017] In response to obstacle information, the inspection path is updated and the obstacle information is sent to the task scheduling end;

[0018] Control the target inspection robot to perform a temporary inspection task at the device location of the target device.

[0019] In a third aspect, the present application further provides a task scheduling device for an inspection robot, comprising:

[0020] A first generating module is configured to generate a temporary inspection task for a target device in response to an abnormal state signal of the target device in the target environment; the temporary inspection task includes a device location and a target priority of the target device;

[0021] The first acquisition module is used to obtain target information of each candidate inspection robot within a preset range of the device location, the target information including unexecuted inspection task information and its own status information;

[0022] A selection module is used to select a target inspection robot from each candidate inspection robot based on the target information of each candidate inspection robot;

[0023] The first allocation module is used to allocate the temporary inspection task to the target inspection robot so that the target inspection robot performs the temporary inspection task according to the target priority.

[0024] In a fourth aspect, the present application further provides a control device for an inspection robot, comprising:

[0025] A second acquisition module is used to acquire a temporary inspection task assigned by the task scheduling terminal; the temporary inspection task is determined according to the task scheduling device of the third aspect above;

[0026] A first determination module is used to determine the inspection path of the target inspection robot according to the target priority corresponding to the temporary inspection task;

[0027] The first control module is used to control the target inspection robot to collect obstacle information on the inspection path;

[0028] A processing module, configured to update the inspection path in response to obstacle information and send the obstacle information to the task scheduling end;

[0029] The second control module is used to control the target inspection robot to perform a temporary inspection task at the device location of the target device.

[0030] In a fifth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the methods of the first and second aspects described above in various implementation modes are implemented.

[0031] In a sixth aspect, the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the methods of the first and second aspects described above in various implementation modes are implemented.

[0032] In a seventh aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the methods of the first and second aspects described above in various implementation modes.

[0033] The task scheduling method, control method, device and equipment of the above-mentioned inspection robot generates a temporary inspection task for the target device in response to the abnormal status signal of the target device in the target environment, and introduces the target priority for the target device in the temporary inspection task, thereby providing an original basis for the reasonable scheduling of the temporary inspection task and a reference for the orderly execution of the inspection task by the inspection robot. By preliminarily screening out candidate inspection robots located within the preset range of the equipment location, and by obtaining the corresponding target information, in order to further screen the candidate inspection robots, the target inspection robot is obtained. By allocating the temporary inspection task to the target inspection robot, so that the target inspection robot performs the temporary inspection task according to the target priority, the reasonable allocation of the inspection task is achieved, which is conducive to improving the inspection efficiency and also conducive to improving the emergency demand response capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1A This is a diagram of an application environment of a task scheduling method for an inspection robot in one embodiment;

[0036] Figure 1B 2 is a schematic structural diagram of an inspection robot in one embodiment;

[0037] Figure 2 1 is a flow chart of a task scheduling method for an inspection robot in one embodiment;

[0038] Figure 3 Schematic diagram of a flow chart of a task scheduling method for an inspection robot in another embodiment;

[0039] Figure 4 1 is a flow chart of a control method for an inspection robot according to an embodiment;

[0040] Figure 5 This is a structural block diagram of a task scheduling device for an inspection robot in one embodiment;

[0041] Figure 6 This is a structural block diagram of a control device for an inspection robot in one embodiment;

[0042] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0044] The task scheduling method of the inspection robot provided in the embodiment of the present application can be applied to Figure 1A In the application environment shown, the task scheduling terminal 104 can communicate with the controller 102 of at least one inspection robot via a network. The data storage system can store data that the task scheduling terminal 104 needs to process. The data storage system can be integrated with the task scheduling terminal 104 or placed on the cloud or other network servers.

[0045] The task scheduling end 104 may be a terminal device, an independent physical server, a server cluster composed of multiple physical servers, a distributed system, or a cloud server providing cloud computing services.

[0046] The inspection robot is located in a target environment. The target environment can be understood as the physical space in which the inspection robot performs its tasks. For example, the target environment can include a cigarette production workshop. The target environment can include multiple first devices, where the first devices can be cigarette making equipment. For example, the first devices can include at least one of the following: an oil tank, oil pump, oil pipe, actuator, motor, transmission component, and silo in a rod press in a dust removal room. For example, the first devices can include at least one of the following: an atmospheric pressure gauge and a machine body in a steam drum.

[0047] In an optional embodiment, the inspection robot may be equipped with an image acquisition device, a temperature detection device, a noise acquisition device, a vibration acquisition device, and a pressure acquisition device. Exemplarily, the image acquisition device is used to capture an image of a first device to identify, based on the device image and the type of the first device, whether the first device has at least one of an abnormality such as oil leakage, smoke and foam leakage, surface cracks, excessive material level, and abnormal pressure gauge pressure. Optionally, the image acquisition device may include a camera. Exemplarily, the temperature detection device is used to capture the device temperature of the first device to generate temperature change cloud map data based on the device temperature, thereby determining the operating status of the first device. Optionally, the temperature detection device may include at least one of a temperature sensor and an infrared sensor. The infrared sensor may include an infrared camera. Exemplarily, the noise acquisition device is used to capture noise data from the first device to generate noise change cloud map data based on the noise data, thereby determining the operating status of the first device. Exemplarily, the vibration acquisition device is used to capture vibration data from the device to determine the operating status of the first device and any degradation trends of the first device based on the vibration data.

[0048] refer to Figure 1B The schematic diagram of the structure of the inspection robot shown in the figure shows that the inspection robot may include a perception detection module 1, a system control module 2, and an action module 3. The perception detection module 1 may include a noise collector 11, an infrared camera 12, a visible light camera 13, and a gas composition detector 14. The action module 3 may include a trolley platform 312, a laser radar 322, and a hydraulic lifting mechanism 31 disposed between the trolley platform 312 and the perception detection module 1. It should be noted that this application does not impose any limitation on the specific structure of the inspection robot.

[0049] In an exemplary embodiment, Figure 2 As shown, a task scheduling method for an inspection robot is provided. Figure 1A The task scheduling terminal 104 in FIG. 1 is used as an example to illustrate the following:

[0050] S210 : In response to an abnormal state signal of a target device in a target environment, generate a temporary inspection task for the target device; the temporary inspection task includes a device location and a target priority of the target device.

[0051] The target device may be provided with a detection sensor for detecting the device status of the target device. When an abnormal device status is detected, the target device may send an abnormal status signal to the task scheduling terminal 104 so that the task scheduling terminal 104 may preferentially assign a temporary inspection task.

[0052] In an optional embodiment, the inspection task may include a temporary inspection task of a periodic inspection task. The periodic inspection task can be understood as an inspection task that periodically inspects the first device in the target environment, and the temporary inspection task can be understood as an inspection task that temporarily inspects the target device in the first device that is abnormal.

[0053] Optionally, inspection frequencies can be assigned to different devices or areas based on their importance. Critical equipment (such as generators and main control rooms) can be prioritized for high-frequency inspections, meaning that the inspection frequency for critical equipment is higher than that for other equipment. Optionally, historical inspection data can be combined to set reasonable inspection frequencies for each device or area to prevent missed inspections or infrequent inspections. Optionally, the target environment can be divided into multiple target areas, with each target area assigned a preset number of inspection robots. This allows for a reasonable distribution of inspection tasks, avoiding task accumulation or duplication. Furthermore, in the process of assigning inspection tasks, inspection tasks can be evenly distributed among inspection robots to prevent overuse or idleness of inspection robots.

[0054] Optionally, for each first device, an inspection priority of the first device can be set according to the device type of the first device; in response to an abnormal status signal of a target device in the first device, the inspection priority of the target device can be increased and updated. The target priority can be understood as the inspection priority of the target device after the update.

[0055] Optionally, inspection priority update data for the inspection task may be sent to the inspection robot so that the inspection robot updates the inspection priority of the inspection task.

[0056] In an optional embodiment, after generating a temporary inspection task for the target device, it can be determined whether a periodic inspection task for the target device has been assigned in the current inspection cycle; if so, the periodic inspection task for the target device in the current periodic inspection is canceled.

[0057] S220 , obtaining target information of each candidate inspection robot within a preset range of the device location, where the target information includes unexecuted inspection task information and its own status information.

[0058] The term "candidate inspection robot" can be understood as an inspection robot located within a preset range of the equipment's location. The preset range can be set by technical personnel based on needs or experience, or determined through extensive experimentation, and this application does not impose any restrictions thereon. For example, if no candidate inspection robot exists within the preset range of the equipment's location, the preset range can be expanded.

[0059] The unexecuted inspection task information may include at least one of the number of inspection tasks corresponding to the inspection tasks not executed by the candidate inspection robot and the inspection priority corresponding to the inspection tasks.

[0060] The self-state information may include at least one of self-power information and self-abnormal information.

[0061] S230 : Select a target inspection robot from the candidate inspection robots based on the target information of each candidate inspection robot.

[0062] In an optional embodiment, for each candidate patrol robot, the highest patrol priority and the number of patrol tasks of the candidate patrol robot can be determined based on the corresponding unexecuted patrol task information of the candidate patrol robot; at least one first patrol robot whose highest patrol priority is lower than the target priority is selected from each candidate patrol robot; and a target patrol robot is selected from at least one first patrol robot based on the number of patrol tasks and the first patrol robot's own status information.

[0063] It is understood that the higher the inspection priority, the more important it is. For each candidate inspection robot, the highest inspection priority among its unexecuted inspection tasks is determined and compared with the target priority. If the highest inspection priority is lower than the target priority, it is selected as the first inspection robot.

[0064] Optionally, the number of inspection tasks may be determined based on the inspection task information.

[0065] Optionally, a target inspection robot may be selected from the first inspection robots, the target inspection robot having a number of inspection tasks less than a preset number threshold and a power level greater than a preset power threshold.

[0066] S240: Allocate the inspection task to the target inspection robot, so that the target inspection robot performs the inspection task according to the target priority.

[0067] In an optional embodiment, a first inspection path currently being used by an inspection robot in a target environment can be obtained; a reference inspection path for a temporary inspection task can be generated based on the robot position of the target inspection robot, the device position of the target device, and the first inspection path; and the temporary inspection task and the reference inspection path can be sent to the target inspection robot. In the above steps, by generating a reference inspection path for the temporary inspection task based on the robot position of the target inspection robot, the device position of the target device, and the first inspection path, interference with other robots during the inspection process can be avoided.

[0068] For example, the robot position and the device position of the target device may be combined to generate a shortest reference inspection path so that the target inspection robot can quickly reach the device position and perform the inspection task.

[0069] In an optional embodiment, the execution status of the temporary inspection task can be determined in response to abnormal information of the target inspection robot; the execution status includes the unexecuted state and the executing state; if the execution status is the unexecuted state, the temporary inspection task is assigned to other robots; if the execution status is the executing state, the inspection task is updated according to the inspection data that the target inspection robot has fed back for the temporary inspection task; the updated temporary inspection task is assigned to other robots.

[0070] The abnormal information may include at least one of the following abnormal information: the power level of the target inspection robot is lower than a preset power threshold, and the target inspection robot is faulty.

[0071] The "Not Executed" state means the target inspection robot has not yet performed inspections on the target device, meaning it has not fed back inspection data for the target device to the task scheduler or platform. The "Executing" state means the inspection has begun but has not yet completed all inspection tasks for the target device.

[0072] The task scheduling method, control method, device and equipment of the above-mentioned inspection robot generates a temporary inspection task for the target device in response to the abnormal status signal of the target device in the target environment, and introduces the target priority for the target device in the temporary inspection task, thereby providing an original basis for the reasonable scheduling of the temporary inspection task and a reference for the orderly execution of the inspection task by the inspection robot. By preliminarily screening out candidate inspection robots located within the preset range of the equipment location, and by obtaining the corresponding target information, in order to further screen the candidate inspection robots, the target inspection robot is obtained. By allocating the temporary inspection task to the target inspection robot, so that the target inspection robot performs the temporary inspection task according to the target priority, the reasonable allocation of the inspection task is achieved, which is conducive to improving the inspection efficiency and also conducive to improving the emergency demand response capability.

[0073] Based on the above embodiments, Figure 3 As shown in the figure, the task scheduling method of the inspection robot is described in detail.

[0074] refer to Figure 3 In another embodiment, a task scheduling method for an inspection robot includes:

[0075] S301 : In response to an abnormal state signal of a target device in a target environment, generate a temporary inspection task for the target device; the temporary inspection task includes a device location and a target priority of the target device.

[0076] S302: Obtain target information of each candidate inspection robot within a preset range of the device location, where the target information includes unexecuted inspection task information and its own status information.

[0077] S303 : For each candidate inspection robot, determine the highest inspection priority of the candidate inspection robot according to the unexecuted inspection task information corresponding to the candidate inspection robot.

[0078] S304 : Select at least one first inspection robot whose highest inspection priority is lower than the target priority from among the candidate inspection robots.

[0079] S305 : Select a target inspection robot from at least one first inspection robot according to the number of inspection tasks of the first inspection robot and its own state information.

[0080] S306: Obtain a first inspection path currently being used by the inspection robot in the target environment.

[0081] S307 : Generate a reference inspection path for the temporary inspection task according to the robot position of the target inspection robot, the device position of the target device, and the first inspection path.

[0082] S308: Send the temporary inspection task and the reference inspection path to the target inspection robot.

[0083] S309 , in response to the abnormal information of the target inspection robot, determining the execution status of the temporary inspection task; the execution status includes an unexecuted state and an executing state.

[0084] S310: If the execution status is not executed, the temporary inspection task is assigned to other robots.

[0085] S311. If the execution status is in the executing state, the inspection task is updated according to the inspection data fed back by the target inspection robot for the temporary inspection task; and the updated temporary inspection task is assigned to other robots.

[0086] Based on the above embodiments, Figure 4 As shown, a control method for an inspection robot is provided, which is applied to a target controller and includes:

[0087] S410, obtaining a temporary inspection task assigned by a task scheduling terminal; the temporary inspection task is determined according to the above-mentioned task scheduling method for the inspection robot.

[0088] In an optional embodiment, the periodic inspection task assigned by the task scheduling end may also be obtained.

[0089] S420: Determine the inspection path of the target inspection robot according to the target priority corresponding to the temporary inspection task.

[0090] In an optional embodiment, a priority ranking of inspection tasks can be obtained based on the current periodic inspection tasks and temporary inspection tasks. The inspection path of the target inspection robot can be determined based on the inspection task priority ranking, the current location of the target inspection robot, and the device locations corresponding to each inspection task. Optionally, the inspection path of the target inspection robot can also be determined in combination with the target inspection robot's own power information.

[0091] In one optional embodiment, if the current battery level is lower than a preset battery level, a path determination request may be sent to the task scheduling end, so that the task scheduling end determines the inspection path of the target inspection robot based on the target priority. In another optional embodiment, the task scheduling end may also obtain the current battery level of the target inspection robot in real time. If the current battery level is lower than the preset battery level, the task scheduling end determines the inspection path of the target inspection robot based on the target priority.

[0092] Optionally, the inspection path of the target inspection robot may be determined based on at least one of a shortest path algorithm and a task sequence optimization algorithm.

[0093] S430: Control the target inspection robot to collect obstacle information on the inspection path.

[0094] The obstacle information may include at least one of an obstacle type and an obstacle position, etc. The obstacle type may include at least one of a mobile obstacle and a fixed obstacle, etc.

[0095] S440 . In response to the obstacle information, update the inspection path and send the obstacle information to the task scheduling end.

[0096] S450: Control the target inspection robot to perform a temporary inspection task at the device location of the target device.

[0097] In an optional embodiment, the acquisition parameters of the acquisition device in the target inspection robot can be adjusted based on the device type of the target device or the task type of the temporary inspection task. The acquisition device can include at least one of a noise collector, an infrared camera, a visible light camera, and a gas composition detector.

[0098] Optionally, intelligent image capture algorithms can automatically adjust shooting parameters such as exposure, focus, and angle based on the device's position, speed, and inspection task. Imaging can also be optimized based on the different surface materials (such as metal, plastic, or glass) of the device, ensuring that every image clearly displays the device's surface details.

[0099] The following is an exemplary description of the process of executing an inspection task on a target device. It should be noted that this should not be construed as limiting the specific inspection tasks.

[0100] A. For the case where the target equipment is a briquette press

[0101] The camera is controlled to capture images of the briquette press's oil tank, oil pump, oil pipe, and briquette press mechanism. The images are then used to identify any abnormalities, such as oil leaks, smoke and foam leaks, or surface cracks. If any abnormality is detected, a warning message is generated and notified to maintenance personnel via the wireless network.

[0102] The infrared camera is controlled to collect the temperature of the motor and bearings of the briquette press and generate temperature change cloud map data. Based on the temperature change cloud map data, it is determined whether the equipment has abnormal heating rate or temperature. If so, a corresponding warning message is generated and the maintenance personnel are notified through the wireless network.

[0103] The noise collector is controlled to collect noise data from the motor and bearings of the briquette press during operation, and generate regional noise change cloud map data; the equipment condition is judged through the regional noise change cloud map, and when the noise data is abnormal, corresponding warning information is generated and notified to maintenance personnel through the wireless network.

[0104] The control vibration sensor collects vibration data of the motor and bearings, determines the equipment operation status based on the current vibration data, generates a corresponding operation analysis summary, determines the equipment operation degradation trend, generates corresponding early warning information when the vibration data is abnormal, and notifies maintenance personnel through the wireless network.

[0105] The camera is controlled to collect silo material level data; if the silo material level exceeds the warning height, a corresponding warning message is generated and the maintenance personnel are notified via the wireless network.

[0106] B. For the case where the target equipment is a steam drum

[0107] The control camera collects image information of the steam drum pressure gauge and determines whether the steam pressure value is normal through image recognition and analysis. If the steam pressure is abnormal or the steam pressure fluctuation is greater than the preset fluctuation threshold, a corresponding warning message is generated and the maintenance personnel are notified through the wireless network.

[0108] The control noise collector detects the noise data of the steam drum and generates regional noise change cloud map data. The regional noise change cloud map is used to determine whether the steam drum is leaking. When the noise data is abnormal, a corresponding warning message is generated and the maintenance personnel are notified through the wireless network.

[0109] In an optional embodiment, the collected images may be pre-processed to improve image quality, thereby improving recognition accuracy.

[0110] Optional image preprocessing can include: a. Denoising: Using filtering algorithms (such as median filtering or Gaussian filtering) to remove noise and interference signals from the image, ensuring image clarity and stability. b. Image enhancement: Using techniques such as contrast adjustment and edge enhancement, the system highlights the features of the device surface, facilitating the detection of anomalies or faults. c. Grayscale conversion: Converting color images to grayscale images simplifies the data dimension and reduces computational complexity. For certain application scenarios, such as detecting surface cracks or corrosion, grayscale images can more clearly display abnormal areas. d. Image correction: If the image is distorted or tilted due to the movement of the inspection robot, geometric correction can be performed to ensure the consistency of the image shape and angle. e. Region of Interest extraction: To improve processing efficiency, the system automatically identifies key areas in the image, known as regions of interest (ROIs). These areas may be critical parts of the equipment (such as screws, welds, joints, etc.). By focusing on these areas, potential faults can be identified more efficiently.

[0111] In an optional embodiment, the collected inspection data can be input into a deep learning model to quickly identify equipment anomalies.

[0112] Alternatively, a convolutional neural network can be used for pattern recognition in device images. Through training with a large amount of historical images and annotated data, it can automatically identify various anomalies that may appear on the device surface, such as cracks, corrosion, wear, and deformation.

[0113] In an optional embodiment, device abnormalities may be classified into mild abnormalities, moderate abnormalities, and severe abnormalities by preset classification standards, so that technicians can handle the abnormalities accordingly based on the severity of the situation.

[0114] The control method of the above-mentioned inspection robot obtains the temporary inspection task assigned by the task scheduling end and determines the inspection path of the target inspection robot according to the target priority, thereby ensuring that the inspection task corresponding to the target inspection robot can be executed according to the priority and ensuring that the inspection task with a higher priority is executed first. By controlling the target inspection robot to collect obstacle information on the inspection path and updating the inspection path in response to the obstacle information, active obstacle avoidance is achieved during the inspection process. At the same time, the obstacle information is sent to the task scheduling end so that the task scheduling end can send the obstacle information to other robots, thereby further improving the working efficiency of the inspection robot. By controlling the target inspection robot to perform temporary inspection tasks at the device location of the target device, rapid inspection response to abnormal target devices is achieved, which is conducive to improving the ability to respond to emergency needs.

[0115] In an optional embodiment, the controller of the inspection robot is further configured to: perform a power-on verification on the inspection robot after the inspection robot is started, wherein the power-on verification includes at least one of a battery charge check, a drive system check, a sensor calibration, and a position information calibration.

[0116] The inspection robots include a target inspection robot and other robots in the target environment. The controllers of the inspection robots include a target controller and controllers corresponding to other robots.

[0117] Exemplarily, battery charge detection includes detecting the battery charge of the target inspection machine; if the battery charge is less than a preset charge threshold, a first prompt message is sent to prompt charging or battery replacement. Drive system inspection includes detecting the working status of the inspection robot's motor, transmission mechanism and suspension system to ensure that there are no mechanical failures or operational blockages. Sensor calibration includes calibrating all key sensors, such as lidar, cameras, ultrasonic sensors, etc., to ensure accurate and reliable data output. Position information calibration includes calibrating the inspection robot's position information based on GPS (Global Positioning System), inertial navigation system or other positioning systems to ensure its positioning accuracy on the map and prevent path deviation.

[0118] In an optional embodiment, the inspection robot is further provided with a self-status monitoring device, which includes a current sensor, a battery management system, a drive system monitoring system, a GPS module, and an inertial navigation system.

[0119] Among them, the current sensor monitors the inspection robot's current consumption. By analyzing current fluctuations, it can determine whether the drive system is experiencing abnormalities such as overload or short circuits. The battery management system monitors the battery's charge level, temperature, and charge status in real time. This allows the controller to dynamically adjust the robot's operating parameters based on the battery level, such as reducing speed or planning the shortest route. This saves energy and ensures the robot can successfully complete its inspection mission. The drive system monitoring system uses temperature and speed sensors to monitor the motor's temperature and speed, ensuring it operates within a safe temperature range and preventing failures caused by overheating. The GPS module provides the inspection robot's precise location information. The gyroscope and accelerometer in the inertial navigation system help record the robot's posture, tilt angle, and acceleration changes. This data ensures the robot can operate smoothly along its planned path. Furthermore, devices such as lidar, ultrasonic sensors, and cameras can help the inspection robot perceive its surroundings in real time, detecting obstacles, pedestrians, or other inspection robots to ensure safe operation.

[0120] In an optional embodiment, the inspection robot's controller can upload its own status information to a central system or task scheduling end via a wireless communication link, ensuring the real-time and reliable data transmission. When the inspection robot is in a normal state, it can use a first preset frequency to upload its own status information to the central system; when the inspection robot is in an abnormal state, it can use a second preset frequency to upload its own status information to the central system. The second preset frequency is greater than the first preset frequency, thereby ensuring that the task scheduling end can respond quickly to abnormal situations. Optionally, the inspection robot can locally store some key data in its own status information as backup data to facilitate troubleshooting and recovery in the event of network failures or other abnormal situations.

[0121] In one optional embodiment, the inspection robot's controller can acquire real-time environmental information collected by devices such as LiDAR, ultrasonic sensors, and cameras. Based on this environmental information, it can create a three-dimensional map model of the target environment. The three-dimensional map model includes at least one of the following: the device location of the first device, the distribution of fixed and mobile obstacles, travel path information, and other structural information. This ensures that the inspection robot can identify the spatial location of obstacles in complex environments and plan an appropriate inspection path. Optionally, sensor data can be continuously acquired and the three-dimensional map model dynamically updated to ensure that the inspection robot can promptly respond and adjust its path planning when the environment changes (such as temporary obstacles or road diversions).

[0122] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0123] Based on the same inventive concept, embodiments of the present application also provide a task scheduling device for an inspection robot for implementing the aforementioned task scheduling method for an inspection robot. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the following embodiments of the task scheduling device for one or more inspection robots can be found in the aforementioned limitations of the task scheduling method for an inspection robot, and will not be further elaborated here.

[0124] In an exemplary embodiment, Figure 5 As shown, a task scheduling device for an inspection robot is provided, comprising: a first generation module 510, a first acquisition module 520, a selection module 530 and a first allocation module 540, wherein:

[0125] A first generating module 510 is configured to generate a temporary inspection task for a target device in response to an abnormal state signal of the target device in the target environment; the temporary inspection task includes a device location and a target priority of the target device;

[0126] The first acquisition module 520 is used to obtain target information of each candidate inspection robot within a preset range of the device location, the target information including unexecuted inspection task information and its own status information;

[0127] A selection module 530 is configured to select a target inspection robot from among the candidate inspection robots based on the target information of each candidate inspection robot;

[0128] The first allocation module 540 is configured to allocate a temporary inspection task to a target inspection robot, so that the target inspection robot performs the temporary inspection task according to a target priority.

[0129] Each module in the task scheduling device for the inspection robot can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0130] In one embodiment, the selection module 530 includes: a first determination unit, used to determine the highest inspection priority of the candidate inspection robot for each candidate inspection robot based on the corresponding unexecuted inspection task information of the candidate inspection robot; a first selection unit, used to select at least one first inspection robot whose highest inspection priority is lower than the target priority from each candidate inspection robot; and a second selection unit, used to select a target inspection robot from at least one first inspection robot based on the number of inspection tasks of the first inspection robot and its own status information.

[0131] In one embodiment, the first allocation module 540 includes: an acquisition unit for acquiring a first inspection path being applied by the inspection robot in the target environment; a generation unit for generating a reference inspection path for a temporary inspection task based on the robot position of the target inspection robot, the device position of the target device, and the first inspection path; and a sending unit for sending the temporary inspection task and the reference inspection path to the target inspection robot.

[0132] In one embodiment, it also includes: a second determination module, which is used to determine the execution status of the temporary inspection task in response to the abnormal information of the target inspection robot; the execution status includes the unexecuted state and the executing state; a second allocation module, which is used to allocate the temporary inspection task to other robots if the execution status is the unexecuted state; a third allocation module, which is used to update the inspection task according to the inspection data that has been fed back by the target inspection robot for the temporary inspection task if the execution status is the executing state; and allocate the updated temporary inspection task to other robots.

[0133] In an exemplary embodiment, Figure 6 As shown, a control device for an inspection robot is provided, comprising: a second acquisition module 610, a first determination module 620, a first control module 630, a processing module 640, and a second control module 650. In particular:

[0134] The second acquisition module 610 is used to acquire a temporary inspection task assigned by the task scheduling terminal; the temporary inspection task is determined according to the task scheduling device of the inspection robot;

[0135] A first determination module 620 is configured to determine an inspection path for a target inspection robot according to a target priority corresponding to a temporary inspection task;

[0136] The first control module 630 is used to control the target inspection robot to collect obstacle information on the inspection path;

[0137] The processing module 640 is used to update the inspection path in response to the obstacle information and send the obstacle information to the task scheduling end;

[0138] The second control module 650 is used to control the target inspection robot to perform a temporary inspection task at the device location of the target device.

[0139] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a task scheduling method and / or a control method for an inspection robot. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0140] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0141] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0142] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0143] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0144] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0145] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0146] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A task scheduling method for an inspection robot, characterized in that: Applied to the task scheduling end, the method includes: In response to an abnormal state signal of a target device in a target environment, generating a temporary inspection task for the target device; the temporary inspection task includes a device location and a target priority of the target device; Obtain target information of each candidate inspection robot within a preset range of the device location, wherein the target information includes unexecuted inspection task information and the robot's own status information; selecting a target inspection robot from the candidate inspection robots according to the target information of each candidate inspection robot; The temporary inspection task is assigned to the target inspection robot so that the target inspection robot performs the inspection task according to the target priority.

2. The method according to claim 1, characterized in that The step of selecting a target inspection robot from the candidate inspection robots according to the target information of each candidate inspection robot includes: For each candidate inspection robot, determine the highest inspection priority of the candidate inspection robot according to the unexecuted inspection task information corresponding to the candidate inspection robot; Selecting at least one first inspection robot whose highest inspection priority is lower than the target priority from each of the candidate inspection robots; A target inspection robot is selected from the at least one first inspection robot according to the number of inspection tasks and the state information of the first inspection robot.

3. The method according to claim 1, characterized in that The allocating the temporary inspection task to the target inspection robot includes: Obtaining a first inspection path currently being used by the inspection robot in the target environment; generating a reference inspection path for the temporary inspection task according to the robot position of the target inspection robot, the device position of the target device, and the first inspection path; The temporary inspection task and the reference inspection path are sent to the target inspection robot.

4. The method according to claim 1, wherein Also includes: In response to the abnormal information of the target inspection robot, determining the execution status of the temporary inspection task; the execution status includes an unexecuted state and an executing state; If the execution status is not executed, the temporary inspection task is assigned to other robots; If the execution state is in the executing state, updating the inspection task according to the inspection data fed back by the target inspection robot for the temporary inspection task; Assign the updated temporary inspection tasks to other robots.

5. A control method for an inspection robot, characterized in that: Applied to a target controller, the method includes: Obtaining a temporary inspection task assigned by the task scheduling end; the temporary inspection task is determined according to the method according to any one of claims 1 to 4; Determining the inspection path of the target inspection robot according to the target priority corresponding to the temporary inspection task; Controlling the target inspection robot to collect obstacle information on the inspection path; In response to the obstacle information, updating the inspection path and sending the obstacle information to the task scheduling end; The target inspection robot is controlled to perform the temporary inspection task at the device location of the target device.

6. A task scheduling device for an inspection robot, characterized in that: The device comprises: A first generating module is configured to generate a temporary inspection task for a target device in a target environment in response to an abnormal state signal of the target device; the temporary inspection task includes a device location and a target priority of the target device; A first acquisition module is configured to acquire target information of each candidate inspection robot within a preset range of the device location, wherein the target information includes information about unexecuted inspection tasks and the robot's own status information; A selection module, configured to select a target inspection robot from the candidate inspection robots based on the target information of each candidate inspection robot; The first allocation module is used to allocate the temporary inspection task to the target inspection robot, so that the target inspection robot performs the temporary inspection task according to the target priority.

7. A control device for an inspection robot, characterized in that: The device comprises: A second acquisition module is configured to acquire a temporary inspection task assigned by the task scheduling terminal; the temporary inspection task is determined by the device according to claim 6; A first determining module is used to determine the inspection path of the target inspection robot according to the target priority corresponding to the temporary inspection task; A first control module is used to control the target inspection robot to collect obstacle information on the inspection path; a processing module, configured to update the inspection path in response to the obstacle information, and send the obstacle information to the task scheduling end; The second control module is used to control the target inspection robot to perform the temporary inspection task at the device location of the target device.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images