Inspection robot distributed charging control method and device, equipment and storage medium

Abstract

The application discloses a kind of inspection robot distribution charging control method, device, equipment and storage medium, it is related to charging management technical field, discloses inspection robot distribution charging control method, comprising: response robot terminal sends charging request, and the charging pile state parameters of distributed charging pile, charging pile position parameters and environmental safety state parameters are collected by central controller;According to charging pile state parameters, charging pile position parameters and environmental safety state parameters determine the candidate charging pile information of target inspection robot;According to candidate charging pile set information, determine target charging pile from distributed charging pile;Central controller sends target charging pile information to the robot terminal, and according to target charging pile information, control target inspection robot reaches target charging pile and charges by robot terminal.The scheme of the application can efficiently and safely charge management to inspection robot in high-risk scene.

Description

Technical Field

[0001] This application relates to the field of charging management technology, and in particular to a method, apparatus, equipment and storage medium for distributed charging control of inspection robots. Background Technology

[0002] Currently, the application of inspection robots in high-risk areas is becoming increasingly widespread, greatly improving patrol efficiency and reducing the frequency of human entry and exit into these areas. However, most inspection robots are currently hampered by the cumbersome charging process, which hinders their work efficiency and prevents them from fully realizing their value.

[0003] Traditional inspection robots typically use fixed charging stations, with a one-to-one configuration of charging stations and robots, leading to increased deployment costs. While this approach ensures basic robot operation, in practical applications, deploying charging stations is difficult and maintenance costs are high. Furthermore, the fixed nature of charging points frequently interrupts inspection tasks, requiring robots to repeatedly return to charging stations, resulting in low work efficiency. Additionally, when the inspection environment changes or dynamic obstacles appear, fixed charging points often lead to rigid path planning, causing path conflicts and affecting the continuity and stability of inspection work. Therefore, how to efficiently and safely manage the charging of inspection robots in high-risk scenarios remains a problem to be solved.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a distributed charging control method, device, equipment and storage medium for inspection robots, aiming to solve the technical problem of how to efficiently and safely manage the charging of inspection robots in high-risk scenarios.

[0006] To achieve the above objectives, this application proposes a distributed charging control method for an inspection robot. The distributed charging control method for the inspection robot is applied to a distributed charging control system for the inspection robot, which includes a robot terminal, a central controller, and distributed charging piles.

[0007] The distributed charging control method for the inspection robot includes:

[0008] In response to the charging request sent by the robot terminal, the central controller collects the charging pile status parameters, charging pile location parameters, and environmental safety status parameters of the distributed charging piles.

[0009] determine candidate charging pile information of the target inspection robot according to the charging pile state parameter, the charging pile position parameter, and the environment safety state parameter;

[0010] determine a target charging pile from the distributed charging piles according to the candidate charging pile set information;

[0011] send target charging pile information to the robot terminal through the central controller, and control the target inspection robot to reach the target charging pile for charging according to the target charging pile information through the robot terminal.

[0012] In an embodiment, the charging pile state parameter includes a charging pile communication state parameter and a charging pile charging state parameter;

[0013] The step of determining candidate charging pile information of the target inspection robot according to the charging pile state parameter, the charging pile position parameter, and the environment safety state parameter includes:

[0014] determine candidate charging piles of the target inspection robot from the distributed charging piles according to the charging pile communication state parameter and the environment safety state parameter;

[0015] calculate a charging priority score of the candidate charging pile according to the charging pile position parameter, the environment safety state parameter, and the charging pile charging state parameter to obtain candidate charging pile information.

[0016] In an embodiment, the charging pile charging state parameter includes a charging efficiency parameter and a charging occupation state parameter;

[0017] The step of calculating a charging priority score of the candidate charging pile according to the charging pile position parameter, the environment safety state parameter, and the charging pile charging state parameter to obtain candidate charging pile information includes:

[0018] determine a real-time path distance according to a target inspection robot position parameter and the charging pile position parameter;

[0019] determine a normalized safety level according to an environment safety state parameter;

[0020] determine a charging matching degree according to a target inspection robot charging demand parameter and the charging efficiency parameter;

[0021] determine an occupation penalty term according to a charging occupation state parameter;

[0022] calculate the charging priority score of the candidate charging pile according to the real-time path distance, the normalized safety level, the charging matching degree, and the occupation penalty term based on a scene configuration weight coefficient to obtain candidate charging pile information.

[0023] In an embodiment, the step of controlling the target inspection robot to reach the target charging pile for charging by the robot terminal according to the target charging pile information comprises:

[0024] Planning a global path by the robot terminal according to the target charging pile information;

[0025] Obtaining environmental obstacle state parameters and environmental hazard source state parameters when the target inspection robot moves on the global path;

[0026] Determining a local obstacle avoidance path according to the environmental obstacle state parameters and the environmental hazard source state parameters;

[0027] Controlling the target inspection robot to reach the target charging pile for charging according to the global path and the local obstacle avoidance path.

[0028] In an embodiment, the step of determining a local obstacle avoidance path according to the environmental obstacle state parameters and the environmental hazard source state parameters comprises:

[0029] Determining a velocity search space according to robot kinematics constraint parameters;

[0030] Calculating obstacle distance parameters and obstacle motion trend parameters according to the environmental obstacle state parameters;

[0031] Calculating collision risk cost according to the obstacle distance parameters and the obstacle motion trend parameters;

[0032] Calculating hazard region invasion cost according to the environmental hazard source state parameters;

[0033] Weightedly fusing the collision risk cost and the hazard region invasion cost to obtain a velocity evaluation function;

[0034] Determining a target velocity vector in the velocity search space based on the velocity evaluation function;

[0035] Generating a local obstacle avoidance path according to the target velocity vector.

[0036] In an embodiment, the step of determining a target charging pile from the distributed charging piles according to the candidate charging pile set information comprises:

[0037] When the central controller simultaneously receives charging requests sent by multiple robot terminals, and according to the candidate charging pile set information, it is predicted that the requested charging piles of multiple target inspection robots exist conflicts, obtaining the inspection task execution information and the remaining power information of the target inspection robots;

[0038] According to the inspection task execution information and / or the residual power information, a target charging pile corresponding to each of the target inspection robots is determined from the distributed charging piles.

[0039] In an embodiment, after the step of sending target charging pile information to the robot terminal by the central controller, and controlling the target inspection robot to reach the target charging pile for charging according to the target charging pile information by the robot terminal, the method further comprises:

[0040] When the target inspection robot reaches the target charging pile, wireless charging is initiated between the robot terminal and the target charging pile, and real-time environmental state parameters are obtained;

[0041] According to the real-time environmental state parameters, a real-time safety level of the target charging pile is determined;

[0042] When wireless charging with the target charging pile fails, or the real-time safety level of the target charging pile does not meet environmental safety conditions, charging exception information is reported to the central controller by the robot terminal, and the wireless charging process with the target charging pile is terminated.

[0043] In addition, to achieve the above-mentioned purpose, the present application also provides a distributed charging control device for inspection robots, which comprises:

[0044] An information acquisition module is configured to collect charging pile state parameters, charging pile position parameters, and environmental safety state parameters of distributed charging piles by a central controller in response to a charging request sent by a robot terminal;

[0045] An information processing module is configured to determine candidate charging pile information of a target inspection robot according to the charging pile state parameters, the charging pile position parameters, and the environmental safety state parameters;

[0046] A target determination module is configured to determine a target charging pile from the distributed charging piles according to the candidate charging pile set information;

[0047] A charging control module is configured to send target charging pile information to the robot terminal by the central controller, and control the target inspection robot to reach the target charging pile for charging according to the target charging pile information by the robot terminal.

[0048] In addition, to achieve the above-mentioned purpose, the present application also provides a distributed charging control device for inspection robots, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the distributed charging control method for inspection robots as described above.

[0049] In addition, to achieve the above object, the present application also provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program realizes the steps of the inspection robot distributed charging control method when executed by a processor.

[0050] In addition, to achieve the above object, the present application also provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the inspection robot distributed charging control method when executed by a processor.

[0051] The one or more technical solutions provided by the present application have at least the following technical effects:

[0052] By comprehensively collecting various state parameters of the distributed charging pile after receiving the inspection robot charging request by the central controller, including the state, position information and surrounding environment safety of the charging pile itself, the candidate charging pile is accurately determined based on these comprehensive information, and the optimal target charging pile is further selected from the candidate charging pile, and the related information is sent to the robot terminal to realize the accurate positioning and charging execution of the robot to the target charging pile, the efficient and safe charging management of the inspection robot in the high-risk scene is realized, the charging efficiency is improved, the safety of the charging process is guaranteed, the problems of poor adaptability and low efficiency of the traditional fixed charging pile in the high-risk scene are solved, and the working efficiency and operation stability of the inspection robot in the high-risk environment are improved. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0055] Figure 1 The flowchart provided for the inspection robot distributed charging control method embodiment one of the present application;

[0056] Figure 2 The inspection robot distributed charging control system architecture schematic diagram provided for the inspection robot distributed charging control method embodiment one of the present application;

[0057] Figure 3 The flowchart provided for the inspection robot distributed charging control method embodiment two of the present application;

[0058] Figure 4 A brief flowchart of the distributed charging control method of the inspection robot provided in Embodiment Two of the present application is shown in the figure.

[0059] Figure 5 A module structure diagram of the distributed charging control device of the inspection robot in the present application is shown in the figure.

[0060] Figure 6 A device structure diagram of the hardware operating environment involved in the distributed charging control method of the inspection robot in the present application is shown in the figure.

[0061] The object implementation, functional features and advantages of the present application will be further explained with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0062] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application, and are not used to limit the present application.

[0063] In order to better understand the technical solutions of the present application, the following will be described in detail in conjunction with the drawings and specific embodiments.

[0064] The main solution of the embodiments of the present application is: in response to the charging request sent by the robot terminal, the central controller collects the charging pile state parameters, charging pile position parameters and environmental safety state parameters of the distributed charging piles; the candidate charging pile information of the target inspection robot is determined according to the charging pile state parameters, the charging pile position parameters and the environmental safety state parameters; the target charging pile is determined from the distributed charging piles according to the candidate charging pile set information; the target charging pile information is sent to the robot terminal through the central controller, and the target inspection robot is controlled to reach the target charging pile for charging according to the target charging pile information through the robot terminal.

[0065] In the present embodiment, for the convenience of description, the following describes the identification of the inspection robot distributed charging control system as the execution subject.

[0066] Since the traditional inspection robot mostly uses fixed charging piles, and the number of charging piles is configured one-to-one with the robot, the deployment cost is increased. Although this method can ensure the basic operation of the robot, in actual application, the deployment of the charging pile is difficult, and the maintenance cost is high. At the same time, due to the fixedness of the charging point, the inspection task is often interrupted, and the robot needs to frequently return to the charging pile for charging, thereby causing low work efficiency. In addition, when the inspection environment changes and dynamic obstacles appear, the fixed charging point often causes the path planning to be rigid, and the robot is prone to path conflict, affecting the continuity and stability of the inspection work. Therefore, how to efficiently and safely charge the inspection robot in a high-risk scene has become a problem to be solved.

[0067] The application provides a solution. After receiving a charging request of an inspection robot, a central controller comprehensively collects various state parameters of distributed charging piles, including the state, position information and surrounding environment safety of the charging pile itself, accurately determines a candidate charging pile based on these comprehensive information, further selects an optimal target charging pile from the candidate charging pile, and sends relevant information to a robot terminal to realize accurate positioning and charging execution of the target charging pile by the robot, realizes efficient and safe charging management of the inspection robot in a high-risk scene, improves charging efficiency, ensures safety of the charging process, solves the problems of poor adaptability and low efficiency of the traditional fixed charging pile in a high-risk scene, and improves work efficiency and operation stability of the inspection robot in a high-risk environment.

[0068] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an inspection robot distributed charging control system, etc. The inspection robot distributed charging control system is taken as an example to describe the embodiment and the following embodiments.

[0069] Based on this, the application embodiment provides an inspection robot distributed charging control method, which is described below with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the inspection robot distributed charging control method of the application is shown in the figure.

[0070] In the embodiment, the inspection robot distributed charging control method is applied to an inspection robot distributed charging control system, and the inspection robot distributed charging control system includes a robot terminal, a central controller and distributed charging piles. The inspection robot distributed charging control method includes steps S10-S40.

[0071] Step S10, in response to the charging request sent by the robot terminal, collecting the charging pile state parameters, charging pile position parameters and environmental safety state parameters of the distributed charging piles through the central controller;

[0072] It should be noted that the inspection robot is an intelligent device with autonomous mobility and environmental perception capability, which can perform periodic or task-based inspection in a predetermined area or path. Its main functions include monitoring the running state of the equipment, such as detecting parameters such as temperature, pressure, vibration, etc.; monitoring environmental indicators, such as temperature and humidity, smoke concentration, etc.; identifying safety risks, such as discovering abnormal conditions such as fire and leakage; and real-time data collection and transmission. The inspection robot is equipped with various sensors that can accurately collect various equipment operation data and environmental information in real time, and transmit the data to the central control system through the communication module, providing data support for equipment maintenance and management, and discovering equipment fault hazards in time to take measures for maintenance or adjustment.

[0073] It should be understood that the proposed inspection robot distributed charging control method of the present application is set for intelligent charging management in high-risk industrial scenes (such as oil and chemical industry, power energy, etc. areas with fire risk), aiming to coordinate the robot terminal, central controller and distributed charging pile, solve the problems of poor adaptability, low efficiency, rigid path planning, etc. of traditional fixed charging piles, optimize the charging process, improve the efficiency of the robot, reduce manual intervention, and ensure the continuity of the inspection task in the high-risk area, so as to realize the efficient autonomous charging of the inspection robot.

[0074] Referring to Figure 2 , Figure 2 The inspection robot distributed charging control system architecture diagram provided by the first embodiment of the inspection robot distributed charging control method of the present application. The inspection robot distributed charging control system includes a robot terminal, a central controller and a distributed charging pile, wherein the robot terminal integrates a communication module, a path planning algorithm module and a power detection module, the central controller integrates a cloud / edge computing module, and the distributed charging pile is built-in wireless charging module, environmental detection module and communication module. Through the communication module, the central controller can communicate with multiple robot terminals and multiple distributed charging piles respectively.

[0075] In addition, the robot terminal is the core control unit integrated in the inspection robot, which has the functions of power monitoring, path planning and communication. The charging request is sent to the central controller through the communication module, and the charging request content includes the robot number, the current position coordinates, the remaining power and the inspection task type (such as regular inspection or fire emergency).

[0076] In addition, the central controller is the decision center of the charging control system, receives the charging request of the robot terminal through the communication module, and collects the state data of the distributed charging pile in real time. The charging task is scheduled by the cloud / edge computing module and the charging management module according to the preset algorithm, and the charging target and the charging sequence of multiple robots are coordinated.

[0077] In addition, the distributed charging pile is a plurality of charging facilities with wireless charging function deployed in the preset high-risk area. When each distributed charging pile is deployed, the corresponding charging pile position information is marked on the three-dimensional point cloud map, so that the central controller can calculate the distance between the distributed charging pile and the inspection robot in real time. The distributed charging pile can report the charging pile state parameters (such as charging pile power, charging pile occupancy state), charging robot number and charging pile environment state parameters (such as temperature, humidity, smoke concentration) in real time through the communication module.

[0078] It should be understood that the inspection robot will be arranged according to the priority, execution time and period of different inspection tasks during the execution of the inspection task. The task idle window is a time interval from the completion of the current task of the inspection robot to the start of the next task. The robot terminal can identify this task idle window by the pre-set inspection task plan and schedule in the task management system. When it is judged that the current state is idle according to the comparison of the current time and the task execution progress, it will send a charging request to the central controller through the communication module. At the same time, the robot terminal can detect whether the power of the inspection robot is lower than the set threshold value through the power detection module. When it is detected that the power of the inspection robot is lower than the set threshold value, it will send a charging request to the central controller through the communication module.

[0079] It should be pointed out that the charging pile state parameter is a parameter reflecting the charging available state collected in real time, such as power supply stable state, occupancy state, communication state and charging efficiency, etc. Among them, the power supply stable state can be evaluated by the output voltage fluctuation of the charging pile, the occupancy state can be determined by the occupancy signal, the communication state can be determined by the connection state with the distributed charging pile, and the charging efficiency can be determined by the rated power (such as 500W / 1kW) and the current output capacity (such as reduced to 80% due to high temperature) of the charging pile.

[0080] In addition, the charging pile position parameter is the accurate position data of the distributed charging pile in the preset high-risk area, which can be expressed in the form of coordinates marked on the three-dimensional point cloud map, representing the relative position of the inspection robot or other geographical reference points.

[0081] In addition, the environmental safety state parameter is the sensor data collected by the environmental monitoring module of the distributed charging pile. The environmental monitoring module integrates a plurality of environmental sensors, including but not limited to temperature sensor, humidity sensor and smoke sensor, etc.

[0082] It should be noted that when the robot terminal detects that the power of the inspection robot is lower than the set threshold or there is a task idle window of the inspection robot, a charging request will be sent to the central controller through the communication module. After the central controller receives the charging request sent by the robot terminal, the charging pile state parameters, charging pile position parameters and environmental safety state parameters of each distributed charging pile are obtained through the communication module of each distributed charging pile.

[0083] Step S20, determining the candidate charging pile information of the target inspection robot according to the charging pile state parameters, the charging pile position parameters and the environmental safety state parameters;

[0084] It should be understood that the target inspection robot is the inspection robot that initiates a charging request to the central controller through the robot terminal. The candidate charging pile information is a set of available charging piles preliminarily screened by the central controller, which at least contains the charging pile number and the corresponding charging priority score.

[0085] It should be noted that after the central controller collects the charging pile state parameters, position parameters and environmental safety state parameters, it will analyze and process these parameters to determine the candidate charging pile information of the target inspection robot. Specifically, according to the pre-set charging priority scoring rules, based on the electrical stability state, the occupancy state, the communication state, the charging efficiency, the distance between the distributed charging pile and the target inspection robot and the safety state, all distributed charging piles are preliminarily screened, and the charging priority score of each distributed charging pile and the target inspection robot is calculated, and each distributed charging pile is sorted according to the charging priority score to obtain the candidate charging pile information of the target inspection robot.

[0086] In a feasible implementation, the charging pile state parameters include charging pile communication state parameters and charging pile charging state parameters; step S20 can include steps S21-S22:

[0087] Step S21, determining the candidate charging pile of the target inspection robot from the distributed charging pile according to the charging pile communication state parameters and the environmental safety state parameters;

[0088] It should be noted that the charging pile communication state parameter is the communication connection state between the distributed charging pile and the central controller, including normal communication (such as responding to the instruction within 30 seconds) and communication interruption (not responding for more than 30 seconds). The charging pile communication state parameter can be determined according to the delay of the charging pile response instruction recorded by the communication link between the central controller and the distributed charging pile in real time.

[0089] It should be understood that the central controller can determine the safety level of the area where the distributed charging pile is located by analyzing the environmental safety state parameters of the distributed charging pile. Specifically, the environmental safety state parameters can include temperature, humidity, and smoke concentration, and the safety hazard degree of the area where the distributed charging pile is located can be analyzed according to the temperature, humidity, and smoke concentration to determine the safety level corresponding to the area where the distributed charging pile is located. The safety level can include safe, warning, and dangerous.

[0090] It should be understood that the central controller will first perform preliminary screening according to the real-time collected charging pile communication state parameters and environmental safety state parameters, traverse all distributed charging piles, eliminate distributed charging piles that do not meet the preset charging requirements, add them to the blacklist, and obtain the candidate charging pile of the target inspection robot. Specifically, the preset charging requirement can be that the charging pile communication state parameter is normal communication, and the environmental safety state parameter is safe or warning, so as to ensure that the candidate charging pile is a distributed charging pile that can normally communicate and has good safety, and to ensure the charging success rate and charging safety of the inspection robot.

[0091] Step S22, calculating the charging priority score of the candidate charging pile according to the charging pile location parameter, the environmental safety state parameter, and the charging pile charging state parameter to obtain the candidate charging pile information.

[0092] It should be understood that the charging pile charging state parameter includes an occupancy state parameter and a charging efficiency parameter, and reflects the working state of the charging pile. The central controller will calculate the charging priority score of the target inspection robot and the candidate charging pile based on the charging pile location parameter, the environmental safety state parameter, and the charging pile charging state parameter according to the pre-set charging priority scoring rule through the cloud / edge computing module, and combine the charging request content of the robot terminal to obtain the candidate charging pile information.

[0093] It should be noted that when the central controller simultaneously receives charging requests from multiple robot terminals, after obtaining the candidate charging pile, the charging priority score of each candidate charging pile and each target inspection robot is calculated based on the content of the charging request of each robot terminal, combined with the charging pile location parameter, the environmental safety state parameter, and the charging pile charging state parameter of the candidate charging pile, and then multiple candidate charging pile information is obtained.

[0094] In a feasible implementation, the charging pile charging state parameter includes a charging efficiency parameter and a charging occupancy state parameter; step S22 can include steps S221-S225:

[0095] Step S221, determining the real-time path distance according to the target inspection robot location parameter and the charging pile location parameter;

[0096] It should be understood that according to the charging pile position parameter and the current position coordinate of the target inspection robot collected in real time, considering factors such as surrounding environmental obstacles and environmental hazards, the actual feasible path length of the target inspection robot can be planned, and the real-time path distance is obtained. The greater the real-time path distance, the lower the charging priority score of the candidate charging pile.

[0097] Step S222, determining a normalized safety level according to the environmental safety state parameter;

[0098] It should be understood that the environmental safety state parameter can be converted into a value in a standard range (between 0 and 1) to obtain a normalized safety level, so as to uniformly and quantitatively compare the environmental safety conditions of different charging piles. Specifically, 0 can represent danger, 0.5 can represent warning, and 1 can represent safety, which facilitates the weighted operation of different parameters in subsequent calculations. The greater the normalized safety level, the higher the charging priority score of the candidate charging pile.

[0099] Step S223, determining a charging matching degree according to the target inspection robot charging demand parameter and the charging efficiency parameter;

[0100] It should be noted that the target inspection robot charging demand parameter is the maximum support power (such as 1 kW power) of the target inspection robot during charging. The charging efficiency parameter includes the rated power (such as 500 W / 1 kW) of the distributed charging pile and the power derating coefficient, which is affected by the temperature of the area where the distributed charging pile is located and is determined according to the charging pile temperature.

[0101] In addition, the actual charging power of the distributed charging pile can be calculated according to the rated power and the power derating coefficient of the charging efficiency parameter. The charging matching degree can be calculated according to the maximum support power of the target inspection robot and the actual charging power of the distributed charging pile. When the maximum support power of the target inspection robot is equal to the actual charging power of the distributed charging pile, the charging matching degree is a default maximum value (such as 1). When the maximum support power of the target inspection robot is greater than the actual charging power of the distributed charging pile, the charging matching degree can be calculated by the following formula: charging matching degree = actual charging power / maximum support power. Considering that in specific implementation, the rated power of the deployed distributed charging pile and the maximum support power of the target inspection robot charging will not differ too much, when the maximum support power of the target inspection robot is less than the actual charging power of the distributed charging pile, the charging matching degree is a default maximum value (such as 1). The greater the charging matching degree, the higher the charging priority score of the candidate charging pile.

[0102] It should be understood that in a high-temperature environment, the internal components of the charging pile (such as transformers, heat dissipation systems, etc.) can overheat due to heat accumulation. If the charging pile does not have sufficient heat dissipation capacity to handle this heat, the output power will be automatically reduced to avoid damaging the equipment or creating safety hazards. Exemplarily, for a charging pile with a rated power of 1 kW, the output capacity may be reduced to 80% due to high temperature factors, i.e., to 800 W.

[0103] Step S224, determining an occupancy penalty term according to the charging occupancy state parameter;

[0104] It should be noted that the charging occupancy state parameter is a parameter reported by the distributed charging pile in real time through the communication module whether it is currently charging, including an idle state flag and an occupied flag, wherein the content of the occupied flag further includes an estimated waiting time. When the charging occupancy state parameter is the idle state flag, the occupancy penalty term is a minimum default value (such as 0); when the charging occupancy state parameter is the occupied flag, the occupancy penalty term is calculated according to the estimated waiting time carried by the occupied flag and the waiting tolerance threshold of the target inspection robot. The charging matching degree can be calculated by the following formula: occupancy penalty term = estimated waiting time / waiting tolerance threshold. The larger the occupancy penalty term, the lower the charging priority score of the candidate charging pile.

[0105] It should be understood that the waiting tolerance threshold of the target inspection robot can be calculated according to the current location coordinates and the remaining power contained in the charging request content. The real-time path distance from the distributed charging pile can be calculated according to the current location coordinates of the target inspection robot, and the endurance time of the target inspection robot can be calculated according to the real-time path distance and the remaining power. The waiting tolerance threshold is determined according to the endurance time, and the waiting tolerance threshold is less than the endurance time of the target inspection robot.

[0106] Step S225, calculating the charging priority score of the candidate charging pile based on the scene configuration weight coefficient, according to the real-time path distance, the normalized safety level, the charging matching degree, and the occupancy penalty term, to obtain the candidate charging pile information.

[0107] It should be noted that the scene configuration weight coefficient includes a first coefficient, a second coefficient, a third coefficient, and a fourth coefficient. The first coefficient is used to adjust the weight of the real-time path distance in calculating the charging priority score; the second coefficient is used to adjust the weight of the normalized safety level in calculating the charging priority score; the third coefficient is used to adjust the weight of the charging matching degree in calculating the charging priority score; and the fourth coefficient is used to adjust the weight of the occupancy penalty term in calculating the charging priority score. For different high-risk industrial scenes, the scene configuration weight coefficient is different. For example, compared with a power energy scene with a lower risk degree, the second coefficient of an oil and chemical industry scene is set to be larger, and the other coefficients are set to be smaller, α = 0.1, β = 0.3, γ = 0.2, and δ = 0.2.

[0108] Exemplarily, the calculation formula of the charging priority score is as follows:

[0109]

[0110] In the formula, a, b, g, d are respectively the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient. represents the real-time path distance, represents the normalized safety level, represents the charging matching degree, represents the occupation penalty term.

[0111] Step S30, determining a target charging pile from the distributed charging piles according to the candidate charging pile set information;

[0112] It should be understood that, according to the candidate charging pile set information, the charging priority score of each candidate charging pile for the target inspection robot can be obtained. If there is a distributed charging pile in the candidate charging pile that meets the preset requirements (such as within 100 meters and the environmental safety level is safe), the distributed charging pile with the highest charging priority score is determined as the target charging pile from the distributed charging piles that meet the preset requirements. If there is no distributed charging pile that meets the preset requirements, the distributed charging pile with the highest charging priority score is determined as the target charging pile from the candidate charging piles.

[0113] In a feasible implementation, step S30 can include: when the central controller simultaneously receives charging requests sent by multiple robot terminals, and according to the candidate charging pile set information, it is predicted that the requested charging piles of multiple target inspection robots exist conflicts, obtaining the inspection task execution information and the remaining power information of the target inspection robot; according to the inspection task execution information and / or the remaining power information, determining the target charging piles corresponding to the multiple target inspection robots from the distributed charging piles.

[0114] It should be noted that the inspection task execution information represents the priority of the inspection task currently undertaken by the target inspection robot. The priority of the inspection task can be determined according to the inspection task information (such as idle, regular inspection, fire emergency) carried by the charging request content. The more urgent the inspection task, the higher the priority. The remaining power information is the current power level of the target inspection robot, which is used to evaluate the urgency of the robot charging demand.

[0115] It should be understood that when the central controller simultaneously receives charging requests of multiple robot terminals, the optimal charging pile corresponding to each of the multiple target inspection robots is selected from the candidate charging piles according to the candidate charging pile set information of the multiple target inspection robots, respectively. If the optimal charging piles corresponding to two or more target inspection robots are the same, the charging priorities of the multiple target inspection robots are determined according to the inspection task execution information. If there is a target inspection robot with the highest charging priority, the optimal charging pile is determined as the target charging pile of the target inspection robot with the highest charging priority; if there is no target inspection robot with the highest charging priority, the optimal charging pile is determined as the target charging pile of the target inspection robot with the lowest power level. The optimal charging pile is removed from the candidate charging piles, the target inspection robot to which the target charging pile is allocated is removed from the charging allocation list, and the target inspection robot and the corresponding candidate charging pile information are updated to continue allocating the target charging pile to the target inspection robot.

[0116] In step S40, the central controller sends target charging pile information to the robot terminal, and the robot terminal controls the target inspection robot to reach the target charging pile for charging according to the target charging pile information.

[0117] It should be understood that after the central controller determines the target charging pile of the target inspection robot, the central controller sends the related information of the target charging pile, i.e., the target charging pile information, to the corresponding robot terminal. The target charging pile information can include the charging pile number and the like. After the robot terminal receives the charging pile number, the robot terminal determines the charging pile position according to the charging pile number, plans a path to the target charging pile through a path planning algorithm module according to the charging pile position, and controls the target inspection robot to move according to the planned path until the target inspection robot reaches the target charging pile for charging.

[0118] In a feasible implementation, after step S40, the method can further include: when the target inspection robot reaches the target charging pile, initiating wireless charging between the robot terminal and the target charging pile, and acquiring real-time environmental state parameters; determining a real-time safety level of the target charging pile according to the real-time environmental state parameters; when the wireless charging with the target charging pile fails or the real-time safety level of the target charging pile does not meet the environmental safety condition, reporting charging abnormal information to the central controller through the robot terminal, and terminating the wireless charging process with the target charging pile.

[0119] It should be noted that the real-time environmental state parameter is the environmental state data (such as temperature, humidity, and smoke concentration) collected by the sensors (such as temperature sensors, humidity sensors, and smoke sensors) configured on the target inspection robot after the target inspection robot arrives at the target charging pile. According to the real-time environmental state parameter, the current safety hazard degree of the area where the target charging pile is located can be analyzed, and the safety level corresponding to the area where the target charging pile is located is determined. The safety level can include safety, warning, and danger.

[0120] It should be understood that the target inspection robot can initiate wireless charging with the target charging pile through radio frequency identification (RFID) technology when it arrives at the target charging pile. RFID is a technology that uses radio frequency signals for non-contact data transmission and identification. Specifically, when the target inspection robot arrives at the target charging pile coordinate threshold range (such as ±0.5 meters), the RFID card reader is automatically activated to scan the charging pile label. If the read charging pile number is consistent with the target charging pile information issued by the central controller, and the position verification code matches the coordinate reference of the three-dimensional point cloud map, a wireless charging handshake signal is sent to the target charging pile. If the verification fails or other reasons cause the charging to fail, the identity authentication failure error code is reported to the central controller, and the charging operation is terminated. The central controller adds the charging pile to the temporary blacklist, and re-executes the target charging pile allocation process.

[0121] In addition, if the robot terminal and the target charging pile fail to verify, the robot terminal sends a charging start signal to the target charging pile, and the two parties establish a wireless charging connection. The environmental safety condition refers to the minimum environmental requirement to ensure the safety of the charging process, which can be set to the real-time safety level as safe or warning. If the real-time safety level is detected as dangerous during the charging process, a charging safety risk code is reported to the central controller, and the charging operation is terminated. The central controller adds the charging pile to the temporary blacklist, and re-executes the target charging pile allocation process.

[0122] The embodiment collects various state parameters of the distributed charging piles, including the state, position information, and surrounding environmental safety of the charging pile itself, by the central controller after receiving the inspection robot charging request. Based on these comprehensive information, the optimal target charging pile is accurately determined from the candidate charging piles, and the related information is sent to the robot terminal to realize the accurate positioning and charging execution of the robot to the target charging pile. The embodiment realizes efficient and safe charging management of the inspection robot in high-risk scenarios, improves the charging efficiency, ensures the safety of the charging process, solves the problems of poor adaptability and low efficiency of traditional fixed charging piles in high-risk scenarios, and improves the working efficiency and operation stability of the inspection robot in high-risk environments.

[0123] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above embodiment one can refer to the above introduction, and the subsequent will not be described. On this basis, please refer to Figure 3 , step S40 can include steps S41-S44:

[0124] Step S41, planning a global path according to the target charging pile information by the robot terminal;

[0125] It should be noted that the global path is the overall moving route from the current position of the robot to the target charging pile, which is calculated by the robot terminal through a path planning algorithm module based on map information (such as a three-dimensional point cloud map), considering the distribution of fixed obstacles (such as buildings, large equipment, etc.), through a global path planning algorithm (such as A* algorithm). The global path is used to achieve efficient movement from the starting point to the ending point, avoiding fixed and known obstacles, and providing a general direction guide for the movement of the target inspection robot.

[0126] It should be understood that after the robot terminal receives the target charging pile information sent by the central controller, it will obtain the charging pile position information according to the target charging pile information, and use the built-in path planning algorithm such as A* algorithm to calculate the optimal global path from the current position to the target charging pile according to the pre-constructed map and the position of the target charging pile, providing a basic path guide for the subsequent movement of the robot.

[0127] Step S42, when the target inspection robot moves on the global path, obtaining environmental obstacle state parameters and environmental hazard source state parameters;

[0128] It should be noted that the environmental obstacle state parameters are the position, size, shape and motion state of various obstacles in the surrounding environment of the target inspection robot during movement along the global path, such as the distance between the obstacle and the current position of the robot, the motion speed and direction of the obstacle, etc., which can be collected by the sensors (such as laser radar, ultrasonic sensor, visual sensor, etc.) carried by the target inspection robot.

[0129] It should be noted that the environmental hazard source state parameters are related information of factors that may cause harm to the target inspection robot or the charging process in the environment during the movement of the target inspection robot along the global path, such as the position, range and danger degree of fire, leakage, high temperature, high humidity, etc. The hazard source can be collected by sensors (such as humidity sensor, temperature sensor, smoke sensor, etc.) carried by the target inspection robot.

[0130] Step S43, determining a local obstacle avoidance path according to the environmental obstacle state parameters and the environmental hazard source state parameters;

[0131] It should be noted that the local obstacle avoidance path is a short distance path temporarily planned to avoid real-time detected environmental obstacles and dangerous sources when the target inspection robot moves along the global path. The local obstacle avoidance path is a dynamic adjustment of the global path to ensure that the target inspection robot moves safely in the local environment, and is a path generated based on the current position of the target inspection robot and the surrounding local environment information.

[0132] It should be understood that if the path planning algorithm module of the robot terminal detects that the path is not passable when planning the local obstacle avoidance path, it will send a path planning fault code to the central controller, and the central controller will assign a suboptimal charging pile from the candidate list based on the latest data reported by the robot terminal.

[0133] Specifically, after the robot obtains the environmental obstacle state parameters and the environmental dangerous source state parameters, it will combine the current position and motion state of itself, and calculate a local path that can avoid obstacles and dangerous sources according to an obstacle avoidance algorithm (such as the dynamic window method). The dynamic window method (DWA) can consider the motion constraints of the robot and the positions of dynamic obstacles in the environment, and dynamically select the speed that the robot should take at the next moment.

[0134] In a possible implementation, step S43 can include steps S431-S437:

[0135] Step S431, determining a speed search space according to robot kinematic constraint parameters;

[0136] It should be noted that the robot kinematic constraint parameters are parameters related to the motion characteristics of the target inspection robot, including maximum speed, maximum acceleration, turning radius, etc. The robot kinematic constraint parameters are determined by the mechanical structure and driving system of the target inspection robot, and limit the speed and motion trajectory of the robot during motion.

[0137] In addition, the speed search space is an allowed speed range set based on the robot kinematic constraints, including linear speed, angular speed, and speed increments in the dynamic window, which defines the speed combinations that the target inspection robot can select at the current moment, and is the basis for subsequent local obstacle avoidance path planning.

[0138] It should be understood that the robot terminal will determine the speed search space according to the kinematic constraint parameters (such as maximum speed, maximum acceleration, turning radius, etc.) of the target inspection robot. According to the maximum speed and maximum acceleration, the upper and lower limits of the linear speed and the range of the angular speed are determined, and the speed increments in the dynamic window are considered to limit the change of the speed within the controllable range of the robot.

[0139] Step S432, calculating a barrier distance parameter and a barrier motion trend parameter according to the environmental barrier state parameter;

[0140] It should be noted that the barrier distance parameter is a quantitative representation of the distance between the barrier and the robot, which is used to measure the proximity between the robot and the barrier. It can be calculated by combining sensor data (such as distance values measured by laser radar, distance information obtained by image processing of visual sensors, etc.) with geometric algorithms. The barrier motion trend parameter reflects the change trend of the barrier's motion direction and speed, which is used to predict the future position of the barrier. It can be calculated based on the sequence data of the barrier's speed and direction observed by continuous scanning or visual sensors, with the help of prediction algorithms such as Kalman filtering.

[0141] It should be understood that the robot terminal will use the sensors (such as laser radar, ultrasonic sensor, visual sensor, etc.) carried to obtain the environmental barrier state parameter. Specifically, for laser radar and ultrasonic sensor, the distance to the barrier is determined by measuring the time difference between the transmitted signal and the received reflected signal, and then the barrier distance parameter is calculated by geometric algorithm; for visual sensor, the barrier is identified and the distance is calculated through image processing technology. At the same time, the visual sensor continuously observes the barrier and records the position information of the barrier at different times, calculates the speed and direction. The barrier speed and direction are input into the prediction algorithm such as Kalman filtering, the historical data is analyzed, and it is determined whether the barrier is stationary, uniform linear motion, or variable speed and direction motion, etc., so as to obtain the barrier motion trend parameter.

[0142] Step S433, calculating a collision risk cost according to the barrier distance parameter and the barrier motion trend parameter;

[0143] It should be noted that the collision risk cost is a quantitative evaluation of the possibility of collision between the target inspection robot and the barrier, which considers the barrier distance parameter and the motion trend parameter, and is used to measure the danger degree of collision between the robot and the barrier in the current motion state. The higher the value, the greater the possibility of collision. According to the barrier distance parameter, the distance between the barrier and the target inspection robot can be calculated, and according to the barrier motion trend parameter, the relative speed between the barrier and the target inspection robot can be calculated. Specifically, the closer the distance between the barrier and the target inspection robot, the higher the collision risk cost. The greater the relative speed between the barrier and the target inspection robot, the higher the collision risk cost.

[0144] Step S434, calculating a dangerous area intrusion cost according to the environmental hazard source state parameter;

[0145] It should be noted that the risk area invasion cost is used to measure the risk degree faced by the robot when entering the risk area, and reflects the cost of the robot entering the risk area. The risk area invasion cost can be calculated according to the risk level of the hazard source and the target inspection robot invasion depth. The greater the risk area invasion cost value, the higher the risk of entering the risk area. Specifically, the higher the risk level of the hazard source, the higher the risk area invasion cost. The greater the target inspection robot invasion depth, the higher the risk area invasion cost.

[0146] It should be understood that the target inspection robot invasion depth represents the distance of the current position or motion path of the target inspection robot entering the range of the hazard source, and is used to quantify the degree of exposure of the robot to the risk area. The invasion depth is positive, indicating that it has been invaded, and negative, indicating that it has not been invaded. According to the type of hazard source, a corresponding geometric model can be selected, and based on the position of the hazard source and the range of the hazard source, the relative position of the robot and the hazard source is calculated to obtain the target inspection robot invasion depth. The type of hazard source includes point source type hazard source (such as gas leakage point, high temperature point) and surface source type hazard source (such as leakage diffusion area, open flame area).

[0147] Step S435, weighting and fusing the collision risk cost and the risk area invasion cost to obtain a speed evaluation function;

[0148] It should be understood that the speed evaluation function can be obtained by weighting and fusing the collision risk cost and the risk area invasion cost, and the speed evaluation function is used to evaluate the comprehensive risk of the robot under different speed vectors. By calculating the speed evaluation function value, the speed vector that minimizes the comprehensive risk can be selected as the target speed vector to guide the motion of the target inspection robot.

[0149] Step S436, determining a target speed vector in the speed search space based on the speed evaluation function;

[0150] It should be understood that the target speed vector is a speed direction in the speed search space that makes the speed evaluation function optimal (i.e. minimized), and the target speed vector contains linear speed and angular speed components, which are used to guide the motion direction and speed of the robot.

[0151] Specifically, in the determined speed search space, all candidate speed vectors are traversed. For each candidate speed vector, the evaluation function value of the speed vector is calculated by combining the current collision risk cost and the risk area invasion cost. The evaluation function values of all candidate speed vectors are compared to find the speed vector that minimizes the evaluation function, and the speed vector that minimizes the evaluation function is determined as the target speed vector.

[0152] Step S437, generating a local obstacle avoidance path according to the target speed vector.

[0153] It should be noted that the target speed vector can determine the movement direction and speed size, combined with the current position and posture of the robot, and the trajectory prediction model can generate the movement trajectory of the target inspection robot in a short period of time in the future. The trajectory prediction model predicts the position and posture change of the robot at each time step according to the target speed vector, forming a series of path points, which constitute the local obstacle avoidance path. If it is found that the path deviates from the global path or a new obstacle appears during the generation of the path, the path is re-evaluated and adjusted.

[0154] Step S44, controlling the target inspection robot to reach the target charging pile for charging according to the global path and the local obstacle avoidance path.

[0155] It should be noted that the robot terminal will use the global path as the basis for the movement framework, and will be positioned in real time through the built-in navigation system (such as laser radar SLAM), to ensure that the overall movement direction of the target inspection robot conforms to the planned route. When the target inspection robot moves along the global path, if the robot terminal detects a dynamic obstacle or a dangerous source, the robot terminal will trigger the local obstacle avoidance logic, avoid the obstacle or stay as far away from the dangerous source boundary as possible according to the planned local obstacle avoidance path, and automatically return to the global path after avoiding the obstacle or dangerous range, until reaching the target charging pile and initiating charging to the target charging pile through the robot terminal.

[0156] The embodiment combines the planning of the global path and the determination of the local obstacle avoidance path, comprehensively considers the position information of the target charging pile and the state of the obstacles and dangerous sources in the real-time environment, and realizes the precise path guidance of the inspection robot in a complex and dangerous scene. Specifically, the global path provides the overall direction for the inspection robot from the current position to the target charging pile, and the local obstacle avoidance path dynamically adjusts the movement trajectory of the robot according to the real-time environmental information, effectively avoiding obstacles and dangerous areas, not only improving the efficiency of the inspection robot reaching the target charging pile, reducing the charging delay caused by unreasonable path, but also enhancing the safety of the charging process, avoiding collisions or accidents caused by the robot entering dangerous areas during movement, and improving the autonomous charging capability and operation stability of the inspection robot in a dangerous industrial scene.

[0157] By way of example, in order to facilitate understanding of the implementation process of the inspection robot distributed charging control method obtained after combining the above-mentioned embodiment one, please refer to Figure 4 , Figure 4 A brief flowchart of an inspection robot distributed charging control method is provided, specifically:

[0158] The robot initiates a charging request through a robot terminal, a central controller responds to the charging request, generates a charging pile candidate set, judges whether multiple robots simultaneously initiate a request, if not, filters and allocates a charging pile from the candidate set; if so, judges the task priority of the robot, and then allocates a charging pile. The robot receives the charging pile allocation result, plans a path through the robot terminal and goes to the specified charging pile, and after arriving, performs identity verification. After verification, start charging, and start charging pile environment monitoring until charging is completed.

[0159] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the distributed charging control method of the inspection robot of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0160] The present application also provides a distributed charging control device for an inspection robot, please refer to Figure 5 , the distributed charging control device for an inspection robot comprises:

[0161] An information acquisition module 10 is configured to respond to a charging request sent by a robot terminal, and collect charging pile state parameters, charging pile position parameters and environmental safety state parameters of distributed charging piles through a central controller;

[0162] An information processing module 20 is configured to determine candidate charging pile information of a target inspection robot according to the charging pile state parameters, the charging pile position parameters and the environmental safety state parameters;

[0163] A target determination module 30 is configured to determine a target charging pile from the distributed charging piles according to the candidate charging pile set information;

[0164] A charging control module 40 is configured to send target charging pile information to the robot terminal through the central controller, and control the target inspection robot to reach the target charging pile for charging according to the target charging pile information through the robot terminal.

[0165] In an embodiment, the information processing module 20 is further configured to determine candidate charging piles of a target inspection robot from the distributed charging piles according to the charging pile communication state parameters and the environmental safety state parameters; calculate a charging priority score of the candidate charging piles according to the charging pile position parameters, the environmental safety state parameters and the charging pile charging state parameters to obtain candidate charging pile information.

[0166] In an embodiment, the information processing module 20 is further configured to determine a real-time path distance according to the target inspection robot position parameter and the charging pile position parameter; determine a normalized safety level according to the environment safety state parameter; determine a charging matching degree according to the target inspection robot charging demand parameter and the charging efficiency parameter; determine an occupancy penalty term according to the charging occupancy state parameter; and calculate a charging priority score of the candidate charging pile based on a scene configuration weight coefficient, the real-time path distance, the normalized safety level, the charging matching degree, and the occupancy penalty term, to obtain candidate charging pile information.

[0167] In an embodiment, the charging control module 40 is further configured to plan a global path according to the target charging pile information through the robot terminal; acquire an environment obstacle state parameter and an environment danger source state parameter when the target inspection robot moves on the global path; determine a local obstacle avoidance path according to the environment obstacle state parameter and the environment danger source state parameter; and control the target inspection robot to reach the target charging pile for charging according to the global path and the local obstacle avoidance path.

[0168] In an embodiment, the charging control module 40 is further configured to determine a speed search space according to a robot kinematics constraint parameter; calculate an obstacle distance parameter and an obstacle motion trend parameter according to the environment obstacle state parameter; calculate a collision risk cost according to the obstacle distance parameter and the obstacle motion trend parameter; calculate a danger region invasion cost according to the environment danger source state parameter; perform weighted fusion on the collision risk cost and the danger region invasion cost to obtain a speed evaluation function; determine a target speed vector in the speed search space based on the speed evaluation function; and generate a local obstacle avoidance path according to the target speed vector.

[0169] In an embodiment, the target determination module 30 is further configured to acquire inspection task execution information and residual power information of the target inspection robot when the central controller simultaneously receives charging requests sent by multiple robot terminals and it is predicted that there is a conflict in the requested charging piles of multiple target inspection robots according to the candidate charging pile set information; and determine target charging piles corresponding to the multiple target inspection robots from the distributed charging piles according to the inspection task execution information and / or the residual power information.

[0170] In an embodiment, the charging control module 40 is further configured to, when the target inspection robot reaches the target charging pile, initiate wireless charging with the target charging pile through the robot terminal, and acquire real-time environmental state parameters; determine a real-time safety level of the target charging pile according to the real-time environmental state parameters; when wireless charging with the target charging pile fails or the real-time safety level of the target charging pile does not meet environmental safety conditions, report charging abnormal information to the central controller through the robot terminal, and terminate the wireless charging process with the target charging pile.

[0171] The inspection robot distributed charging control device provided in the present application adopts the inspection robot distributed charging control method in the above embodiments, and can solve the technical problem of how to efficiently and safely charge the inspection robot in a high-risk scene. Compared with the prior art, the inspection robot distributed charging control device provided in the present application has the same beneficial effects as the inspection robot distributed charging control method provided in the above embodiments, and other technical features in the inspection robot distributed charging control device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0172] The present application provides an inspection robot distributed charging control device, which comprises at least one processor and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the inspection robot distributed charging control method in Embodiment I.

[0173] Reference will now be made to the following description Figure 6 which shows a structural schematic diagram of an inspection robot distributed charging control device suitable for implementing the embodiments of the present application. The inspection robot distributed charging control device in the embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 6 The inspection robot distributed charging control device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0174] As Figure 6As shown, the inspection robot distributed charging control device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. Various programs and data required for the operation of the inspection robot distributed charging control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the inspection robot distributed charging control device to communicate with other devices wirelessly or by wire to exchange data. Although the inspection robot distributed charging control device with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0175] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0176] The inspection robot distributed charging control device provided by the present application adopts the inspection robot distributed charging control method in the above-mentioned embodiments, and can solve the technical problem of how to efficiently and safely charge the inspection robot in a high-risk scene. Compared with the prior art, the inspection robot distributed charging control device provided by the present application has the same beneficial effects as the inspection robot distributed charging control method provided by the above-mentioned embodiments, and other technical features in the inspection robot distributed charging control device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0177] It should be understood that various parts of the present application can be realized in hardware, software, firmware, or a combination thereof. In the above description of embodiments, specific functional, structural, material or characteristic features are combined in a manner known per se; however, each feature can also be implemented individually or in a different combination.

[0178] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any variations and modifications that can be made by those skilled in the art without departing from the spirit of the application are intended to be included in the scope of the application. The scope of the application is defined by the appended claims.

[0179] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., computer programs) for performing the method of distributing charging control of the inspection robot in the above embodiments.

[0180] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable Read Only Memory) or a flash memory, an optical fiber, a CD-ROM (CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to electrical wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0181] The above computer readable storage medium can be included in the inspection robot distributed charging control device; or can exist separately and not be assembled into the inspection robot distributed charging control device.

[0182] The computer readable storage medium carries one or more programs, when the one or more programs are executed by the inspection robot distributed charging control device, the inspection robot distributed charging control device: in response to the charging request sent by the robot terminal, collecting the charging pile state parameters, the charging pile position parameters and the environmental safety state parameters of the distributed charging pile through the central controller; determining the candidate charging pile information of the target inspection robot according to the charging pile state parameters, the charging pile position parameters and the environmental safety state parameters; determining the target charging pile from the distributed charging pile according to the candidate charging pile set information; sending the target charging pile information to the robot terminal through the central controller, and controlling the target inspection robot to reach the target charging pile for charging through the robot terminal according to the target charging pile information.

[0183] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0184] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a part of code, which comprises one or more executable instructions for implementing the specified functions. It should also be noted that, in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or in the opposite order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow diagrams, and combinations of blocks in the block diagrams and / or flow diagrams, can be implemented by dedicated hardware-based systems that perform the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0185] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0186] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the above-mentioned inspection robot distributed charging control method, and can solve the technical problem of how to efficiently and safely charge the inspection robot in a high-risk scene. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the inspection robot distributed charging control method provided by the above-mentioned embodiments, and will not be described here.

[0187] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned inspection robot distributed charging control method.

[0188] The computer program product provided by the present application can solve the technical problem of how to efficiently and safely charge the inspection robot in a high-risk scene. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the inspection robot distributed charging control method provided by the above-mentioned embodiments, and will not be described here.

[0189] The above-mentioned is only some embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or directly / indirectly applied in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A method for distributed charging control of an inspection robot, characterized in that, The inspection robot distributed charging control method is applied to the inspection robot distributed charging control system, which includes a robot terminal, a central controller, and distributed charging piles. The distributed charging control method for the inspection robot includes: In response to the charging request sent by the robot terminal, the central controller collects the charging pile status parameters, charging pile location parameters, and environmental safety status parameters of the distributed charging piles. The candidate charging pile information for the target inspection robot is determined based on the charging pile status parameters, the charging pile location parameters, and the environmental safety status parameters. The target charging pile is determined from the distributed charging piles based on the candidate charging pile information; The central controller sends target charging pile information to the robot terminal, and the robot terminal controls the target inspection robot to reach the target charging pile for charging based on the target charging pile information. The steps of controlling the target inspection robot to reach the target charging station for charging via the robot terminal based on the target charging station information include: The robot terminal plans a global path based on the target charging pile information; When the target inspection robot moves on the global path, it acquires environmental obstacle status parameters and environmental hazard source status parameters. Determine a local obstacle avoidance path based on the environmental obstacle state parameters and the environmental hazard source state parameters; Based on the global path and the local obstacle avoidance path, the target inspection robot is controlled to reach the target charging station for charging; The step of determining a local obstacle avoidance path based on the environmental obstacle state parameters and the environmental hazard source state parameters includes: Determine the velocity search space based on the robot's kinematic constraint parameters; Calculate obstacle distance parameters and obstacle motion trend parameters based on the environmental obstacle state parameters; The collision risk cost is calculated based on the obstacle distance parameters and the obstacle movement trend parameters; Calculate the cost of intrusion into the hazardous area based on the environmental hazard source status parameters; The collision risk cost and the danger zone intrusion cost are weighted and fused to obtain the speed evaluation function; The target velocity vector is determined within the velocity search space based on the velocity evaluation function. A local obstacle avoidance path is generated based on the target velocity vector.

2. The method as described in claim 1, characterized in that, The charging pile status parameters include charging pile communication status parameters and charging pile charging status parameters; The step of determining the candidate charging pile information for the target inspection robot based on the charging pile status parameters, the charging pile location parameters, and the environmental safety status parameters includes: Candidate charging piles for the target inspection robot are determined from the distributed charging piles based on the charging pile communication status parameters and the environmental safety status parameters. The charging priority score of the candidate charging pile is calculated based on the location parameters of the charging pile, the environmental safety status parameters, and the charging status parameters of the charging pile to obtain the candidate charging pile information.

3. The method as described in claim 2, characterized in that, The charging status parameters of the charging pile include charging efficiency parameters and charging occupancy status parameters. The step of calculating the charging priority score of the candidate charging pile based on the charging pile location parameters, the environmental safety status parameters, and the charging pile charging status parameters to obtain candidate charging pile information includes: The real-time path distance is determined based on the target inspection robot's position parameters and the charging pile's position parameters; Determine the normalized safety level based on environmental safety status parameters; The charging matching degree is determined based on the target inspection robot's charging requirement parameters and the charging efficiency parameters. Determine the occupancy penalty item based on the charging occupancy status parameters; Based on the scenario configuration weight coefficient, the charging priority score of the candidate charging pile is calculated according to the real-time path distance, the normalized security level, the charging matching degree, and the occupancy penalty item, so as to obtain the candidate charging pile information.

4. The method as described in claim 1, characterized in that, The step of determining the target charging pile from the distributed charging piles based on the candidate charging pile information includes: When the central controller receives charging requests from multiple robot terminals simultaneously, and predicts a conflict between the charging requests from multiple target inspection robots based on the candidate charging pile information, it obtains the inspection task execution information and remaining battery information of the target inspection robots. Based on the inspection task execution information and / or the remaining power information, multiple target charging piles corresponding to the target inspection robots are determined from the distributed charging piles.

5. The method according to any one of claims 1 to 4, characterized in that, After the steps of sending target charging pile information to the robot terminal through the central controller, and controlling the target inspection robot to reach the target charging pile for charging through the robot terminal based on the target charging pile information, the method further includes: When the target inspection robot arrives at the target charging pile, it initiates wireless charging with the target charging pile through the robot terminal and obtains real-time environmental status parameters. The real-time safety level of the target charging pile is determined based on the real-time environmental status parameters. If wireless charging with the target charging station fails, or if the real-time safety level of the target charging station does not meet the environmental safety conditions, the robot terminal reports the charging anomaly information to the central controller and terminates the wireless charging process with the target charging station.

6. A distributed charging control device for an inspection robot according to any one of claims 1-5, characterized in that, The device includes: The information acquisition module is used to respond to charging requests sent by the robot terminal and collect charging pile status parameters, charging pile location parameters, and environmental safety status parameters of the distributed charging piles through the central controller. The information processing module is used to determine the candidate charging pile information of the target inspection robot based on the charging pile status parameters, the charging pile location parameters, and the environmental safety status parameters. The target determination module is used to determine the target charging pile from the distributed charging piles based on the candidate charging pile information; The charging control module is used to send target charging pile information to the robot terminal through the central controller, and to control the target inspection robot to reach the target charging pile for charging through the robot terminal according to the target charging pile information.

7. A distributed charging control device for an inspection robot, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the inspection robot distributed charging control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the inspection robot distributed charging control method as described in any one of claims 1 to 5.

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