Inspection robot cross-floor inspection method, system and equipment and storage medium
By combining elevators with rail docking channels, the efficient deployment of rail-mounted inspection robots for cross-floor inspections has been achieved, solving the problem of low efficiency in cross-floor inspections in existing technologies and improving inspection efficiency.
Patent Information
- Application Number
- CN202510746936.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-05
- Publication Date
- 2025-10-28
AI Technical Summary
In existing technologies, there is a lack of mature cross-floor deployment solutions for rail-mounted inspection robots in multi-floor scenarios, resulting in high costs, waste of resources, and low efficiency.
By pre-setting elevator and pre-setting track docking channels, the inspection robot can achieve multiple track changes and docking between different floors and elevator tracks. By utilizing the vertical lifting of civil elevators and track docking channels, the need to deploy track-mounted inspection robots on each floor can be avoided.
This reduces the complexity of track laying, improves the efficiency of inspection robots performing inspection tasks across floors, and enables timely arrival at target floors and inspection points.
Smart Images
Figure CN120848535A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics technology, and in particular to a method, system, equipment, and storage medium for cross-floor inspection by an inspection robot. Background Technology
[0002] In multi-story scenarios, rail-mounted inspection robots face challenges in continuous installation across floors due to the need for dedicated hoisting tracks. While wheeled robots can be quickly deployed via elevators, the lack of mature deployment solutions for rail-mounted inspection robots leads to the current practice of deploying one robot per floor, a costly and resource-wasting approach. Existing technologies, such as using vertical tracks or elevator car top tracks for floor transitions, suffer from structural complexity, high cost, poor applicability, and significant elevator modifications, resulting in low efficiency for cross-floor inspections. Therefore, improving the efficiency of inspection robots performing cross-floor inspections is a pressing issue. Summary of the Invention
[0003] This application provides a method, system, equipment, and storage medium for inspection robots to perform cross-floor inspections, thereby improving the efficiency of inspection robots in performing inspection tasks across floors.
[0004] Firstly, this application provides a method for a patrol robot to conduct cross-floor inspections, the method comprising:
[0005] Based on the current inspection task instructions, determine the target floor and target inspection point for the inspection robot;
[0006] If the current floor where the inspection robot is located is different from the target floor, control the inspection robot to move to the target floor through a preset elevator and a preset track docking channel;
[0007] Upon detecting that the inspection robot has arrived at the target floor, the robot is controlled to perform the current inspection task and travel to the target inspection point via the preset track docking channel.
[0008] Furthermore, when the current floor of the inspection robot is different from the target floor, controlling the inspection robot to move to the target floor via a preset elevator and a preset track docking channel includes:
[0009] In response to the current inspection task instruction, an elevator call instruction is generated;
[0010] According to the elevator call command, control the preset elevator to move to the current floor;
[0011] The inspection robot is controlled to move to the target floor via the preset elevator and the preset track docking channel.
[0012] Furthermore, controlling the inspection robot to move to the target floor via the preset elevator and the preset track docking channel includes:
[0013] The inspection robot is controlled to move to the elevator track connection point of the current floor through the preset track docking channel, wherein the elevator track connection point is the connection point between the preset elevator and the preset track docking channel;
[0014] Upon detecting that the preset elevator has arrived at the current floor, the inspection robot is controlled to move into the interior of the preset elevator;
[0015] The inspection robot is transported to the target floor via the preset elevator and the current inspection task instruction.
[0016] Furthermore, when the current floor where the inspection robot is located is different from the target floor, before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel, the following steps are included:
[0017] The coordinates of the elevator car track position in the preset elevator and the coordinates of the preset floor track position of each preset floor are obtained in advance.
[0018] Based on the elevator car track position coordinates and the track position coordinates of each preset floor, the preset track docking channel corresponding to each preset floor is determined.
[0019] Furthermore, when the current floor where the inspection robot is located is different from the target floor, before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel, the following steps are included:
[0020] If the inspection robot is detected to be located on the target floor, the inspection robot is controlled to perform the current inspection task.
[0021] Secondly, this application also provides a cross-floor inspection robot system, the system comprising:
[0022] The elevator car docking subsystem is installed inside a preset elevator and is used to carry the inspection robot from a preset track docking channel and transport the inspection robot to the target floor.
[0023] The floor docking subsystem is set on each preset floor and is used to carry the inspection robot from the preset track docking channel to perform the current inspection task or to carry the inspection robot to the preset track docking channel.
[0024] Furthermore, the elevator car docking subsystem includes an internal docking track, a tie rod mechanism, a drive motor, and a positioning sensor;
[0025] The elevator car docking subsystem is also used to detect the position of the inspection robot through the positioning sensor, drive the internal docking track through the lever mechanism, and control the internal docking track to dock with the preset track docking channel;
[0026] The internal docking track is driven by the pull rod mechanism to control the separation of the internal docking track from the preset track docking channel.
[0027] Furthermore, the floor docking subsystem includes positioning sensors and hoisting rails;
[0028] The positioning sensor is used to detect the position of the inspection robot;
[0029] The hoisting track is used to carry the inspection robot to perform the current inspection task on each of the preset floors.
[0030] Thirdly, this application also provides a computer device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the cross-floor inspection method of the inspection robot as described above.
[0031] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the cross-floor inspection method of the inspection robot as described above.
[0032] This application discloses a method, system, device, and storage medium for cross-floor inspection by an inspection robot. The method includes determining the target floor and target inspection point of the inspection robot according to the current inspection task instruction; if the current floor of the inspection robot is different from the target floor, controlling the inspection robot to move to the target floor through a preset elevator and a preset track docking channel; and upon detecting that the inspection robot has arrived at the target floor, controlling the inspection robot to execute the current inspection task and travel to the target inspection point through the preset track docking channel. Through this method, this application avoids deploying a track-mounted inspection robot on each floor by using the vertical lifting of a civil elevator and a track docking channel, reducing the complexity of track laying, enabling the inspection robot to perform multiple track changes and dockings between different floors and elevator tracks, responding to cross-floor inspection tasks, and promptly reaching the target floor and inspection point, thus improving the efficiency of the inspection robot in performing cross-floor inspection tasks. Attached Figure Description
[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0034] Figure 1 This is a schematic flowchart of a cross-floor inspection method for an inspection robot provided in an embodiment of this application;
[0035] Figure 2 This application provides a schematic diagram of the principle of a cross-floor inspection robot system, which is an embodiment of the present application.
[0036] Figure 3 This application provides an application scenario diagram of a cross-floor inspection robot system, as shown in the embodiments of this application.
[0037] Figure 4 This application provides a schematic diagram of an inspection robot before it moves across floors in a cross-floor inspection system.
[0038] Figure 5 This application provides a schematic diagram of an inspection robot transferring between floors in an inspection robot cross-floor inspection system.
[0039] Figure 6 A schematic block diagram of a cross-floor inspection robot device provided for embodiments of this application;
[0040] Figure 7 A schematic block diagram of the structure of a computer device provided for an embodiment of this application. Detailed Implementation
[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0042] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.
[0043] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.
[0044] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0045] This application provides an embodiment of a method, system, device, and storage medium for cross-floor inspection of an inspection robot. The cross-floor inspection method can be applied to rail-mounted inspection robots. By using the vertical lifting of a civil elevator and the rail docking channel, it avoids deploying the inspection robot on each floor, reducing the complexity of rail laying. It enables the inspection robot to perform multiple track changes and dockings between different floors and the elevator rail, responding to cross-floor inspection tasks, and promptly reaching the target floor and inspection point, thus improving the efficiency of the inspection robot in performing cross-floor inspection tasks.
[0046] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0047] See also Figure 1 , Figure 1This is a schematic flowchart illustrating a cross-floor inspection method for an inspection robot, as provided in an embodiment of this application. This cross-floor inspection method can be applied to rail-mounted inspection robots, which are vertically lifted and docked with rails via civil elevators. It avoids deploying rail-mounted inspection robots on each floor, reduces the complexity of rail laying, and enables multiple track changes and dockings between the inspection robot and elevator rails on different floors. This allows the robot to respond to cross-floor inspection tasks, reach the target floor and inspection point in a timely manner, and improve the efficiency of the inspection robot in performing cross-floor inspection tasks.
[0048] like Figure 1 As shown, the cross-floor inspection method of the inspection robot specifically includes steps S10 to S30.
[0049] Step S10: Determine the target floor and target inspection point of the inspection robot according to the current inspection task instruction;
[0050] Step S20: If the current floor where the inspection robot is located is different from the target floor, control the inspection robot to move to the target floor through a preset elevator and a preset track docking channel;
[0051] Step S30: When the inspection robot is detected to have arrived at the target floor, control the inspection robot to perform the current inspection task and travel to the target inspection point through the preset track docking channel.
[0052] In one embodiment, the inspection task instruction is parsed to extract the specific location data of the target floor and the target inspection point. The robot's current floor information is obtained through its own positioning system or external floor sensors. The current floor is compared with the target floor to determine whether it is necessary to move across floors.
[0053] If the current floor is different from the target floor, begin preparing to move across floors. Send a call request to the elevator, specifying the target floor.
[0054] The inspection robot is controlled to move to the track at the elevator entrance through a preset track docking channel, and waits for the elevator to arrive. When the elevator arrives and stops at the current floor, the inspection robot is controlled to enter the preset track docking channel inside the elevator.
[0055] Inside the elevator, the inspection robot is fixed to the elevator track via a track docking channel to conduct safety checks and ensure the stability and safety of the robot during elevator operation. The elevator runs according to the set target floor, stops and opens the elevator door after reaching the target floor.
[0056] The inspection robot is controlled to drive out of the elevator's track docking channel and move to the target floor's track through the preset track docking channel. The robot's own sensors or an external floor recognition system are used to detect whether the inspection robot has successfully reached the target floor.
[0057] This embodiment discloses a method for cross-floor inspection by an inspection robot. The method includes determining the target floor and target inspection point of the inspection robot based on the current inspection task instruction; if the current floor of the inspection robot is different from the target floor, controlling the inspection robot to move to the target floor via a preset elevator and a preset track docking channel; and upon detecting that the inspection robot has arrived at the target floor, controlling the inspection robot to execute the current inspection task and travel to the target inspection point via the preset track docking channel. Through this method, this application avoids deploying a track-mounted inspection robot on each floor by using the vertical lifting of a civil elevator and a track docking channel, reducing the complexity of track laying, enabling the inspection robot to perform multiple track changes and dockings between different floors and elevator tracks, responding to cross-floor inspection tasks, and promptly reaching the target floor and inspection point, thus improving the efficiency of the inspection robot in performing cross-floor inspection tasks.
[0058] based on Figure 1 In the illustrated embodiment, step S20 includes:
[0059] In response to the current inspection task instruction, an elevator call instruction is generated;
[0060] According to the elevator call command, control the preset elevator to move to the current floor;
[0061] The inspection robot is controlled to move to the target floor via the preset elevator and the preset track docking channel.
[0062] Specifically, the system obtains the current floor information of the inspection robot and determines whether the robot needs to move across floors. If it needs to move across floors, the system generates an elevator call command containing the target floor information and sends the command to the control system of the preset elevator.
[0063] After receiving a call command, the elevator automatically moves to the current floor where the inspection robot is located. The system then checks whether the elevator has arrived and stopped at the current floor. Once the elevator arrives, the system controls the inspection robot to move to the track at the elevator entrance via a pre-set track docking channel, and then controls the inspection robot to enter the pre-set track docking subsystem inside the elevator.
[0064] The inspection robot is fixed to the elevator track via a track docking channel. The elevator runs according to the set target floor, stops upon reaching the target floor, and opens its doors. The inspection robot is then controlled to exit from the track docking device inside the elevator and move to the track on the target floor via the preset track docking channel.
[0065] In a specific embodiment, controlling the inspection robot to move to the target floor via the preset elevator and the preset track docking channel includes:
[0066] The inspection robot is controlled to move to the elevator track connection point of the current floor through the preset track docking channel, wherein the elevator track connection point is the connection point between the preset elevator and the preset track docking channel;
[0067] Upon detecting that the preset elevator has arrived at the current floor, the inspection robot is controlled to move into the interior of the preset elevator;
[0068] The inspection robot is transported to the target floor via the preset elevator and the current inspection task instruction.
[0069] In a specific embodiment, before step S20, the following is included:
[0070] The coordinates of the elevator car track position in the preset elevator and the coordinates of the preset floor track position of each preset floor are obtained in advance.
[0071] Based on the elevator car track position coordinates and the track position coordinates of each preset floor, the preset track docking channel corresponding to each preset floor is determined.
[0072] Specifically, by communicating with the elevator control system or using pre-stored data, the position coordinates of the elevator car track in the preset elevator are obtained. The position coordinates of the preset floor track for each preset floor are obtained from the system database. The obtained elevator car track position coordinates are matched and analyzed with the position coordinates of each preset floor track to determine their relative positional relationship and docking feasibility.
[0073] Based on the coordinate matching results, a corresponding preset track docking channel is determined for each preset floor to ensure that the inspection robot can smoothly dock and move between the elevator track and the floor track through these channels. According to the determined preset track docking channels, a docking channel layout diagram of the entire building is generated to clarify the docking relationship and path between each floor and the elevator.
[0074] based on Figure 1 In the illustrated embodiment, before step S20, the following steps are included:
[0075] If the inspection robot is detected to be located on the target floor, the inspection robot is controlled to perform the current inspection task.
[0076] See also Figure 2 , Figure 2 This application provides a schematic diagram of the principle of a cross-floor inspection robot system, which is an embodiment of the present application.
[0077] The inspection robot's cross-floor inspection device includes an elevator car docking subsystem and a floor docking subsystem:
[0078] An elevator car docking subsystem is installed inside a pre-set elevator and is used to carry the inspection robot from a pre-set track docking channel and transport the inspection robot to the target floor.
[0079] The floor docking subsystem is set on each preset floor and is used to carry the inspection robot from the preset track docking channel to perform the current inspection task or to carry the inspection robot to the preset track docking channel.
[0080] Specifically, in order to enable the rail-mounted inspection robot to perform cross-floor inspections, it is first necessary to set up a vertical elevator that can connect each floor (this elevator can be an existing elevator on the floor or a dedicated elevator can be constructed during construction). The hoisting rails deployed on each floor are connected to the elevator door entrance, and a fixed rail is set up in the elevator, which can be connected to the rails on different floors by changing rails.
[0081] like Figure 3 As shown, Figure 3 This application provides an application scenario diagram of a cross-floor inspection robot system, which is provided in an embodiment of this application.
[0082] Position sensors are installed at the interfaces between the tracks and elevators on each floor. When the inspection robot travels to the position, the positioning sensor is triggered, and the backend dispatches a vertical elevator to reach the floor where the inspection robot is located.
[0083] A track docking device is installed inside the elevator, enabling the inspection robot to transfer from the floor track to the elevator's internal track. The program is set so that after the robot arrives at the elevator entrance and opens the elevator door, the track docking device pulls the internal elevator track outwards, completing the docking between the inner and outer tracks. After docking, the inspection robot can drive into the elevator's internal track. Position sensors are installed on the internal elevator track; once the robot has completed its transfer, the track docking device separates from the track. The docking and separation states of the elevator's internal docking device are shown in [link to documentation]. Figure 3 As shown.
[0084] In a specific embodiment, the elevator car docking subsystem includes an internal docking track, a tie rod mechanism, a drive motor, and a positioning sensor;
[0085] The elevator car docking subsystem is also used to detect the position of the inspection robot through the positioning sensor, drive the internal docking track through the lever mechanism, and control the internal docking track to dock with the preset track docking channel;
[0086] The internal docking track is driven by the pull rod mechanism to control the separation of the internal docking track from the preset track docking channel.
[0087] The elevator car docking subsystem mainly consists of docking rails, a tie rod mechanism, a drive motor, and positioning sensors. Driven by the tie rod mechanism, the docking rails connect and disconnect with the internal elevator rails and the rails on each floor. The positioning sensors transmit positioning signals to ensure the correct execution of the docking and disconnection actions. Guide grooves are installed at the docking points to ensure reliable docking.
[0088] In a specific embodiment, the floor docking subsystem includes positioning sensors and hoisting rails;
[0089] The positioning sensor is used to detect the position of the inspection robot;
[0090] The hoisting track is used to carry the inspection robot to perform the current inspection task on each of the preset floors.
[0091] Specifically, such as Figure 4 and Figure 5 As shown, Figure 4 This is a schematic diagram of an inspection robot before it moves between floors, as provided in an embodiment of this application. Figure 5 This embodiment of the application provides a schematic diagram of an inspection robot's cross-floor inspection system after it has moved across floors. Once the inspection robot successfully enters the elevator's internal track and completes the separation of the inner and outer tracks, the elevator carries the robot across floors. Upon reaching the next floor, the above actions are repeated to dock with the external track, allowing the robot to leave the elevator normally and begin its inspection work on the next floor.
[0092] It should be noted that the cross-floor inspection robot system also includes: a core control system, a hardware module system, a communication system, and a power supply system. The core control system is responsible for processing the data collected by the positioning sensors, robot scheduling system, elevator control system, and track docking system, as well as the task logic processing. The hardware module system consists of basic hardware components, including the hoisting tracks for each floor, pre-set elevators, the inspection robot body, and the track docking device.
[0093] See also Figure 6 , Figure 6This application provides a schematic block diagram of an inspection robot cross-floor inspection device, which is used to perform the aforementioned inspection robot cross-floor inspection method. The inspection robot cross-floor inspection device can be configured on a server.
[0094] like Figure 6 As shown, the inspection robot cross-floor inspection device 400 includes:
[0095] The target floor and inspection point determination module 410 is used to determine the target floor and target inspection point of the inspection robot according to the current inspection task instruction.
[0096] The inspection robot moving module 420 is used to control the inspection robot to move to the target floor via a preset elevator and a preset track docking channel when the current floor where the inspection robot is located is different from the target floor.
[0097] The inspection robot inspection module 430 is used to control the inspection robot to perform the current inspection task and travel to the target inspection point through the preset track docking channel when the inspection robot is detected to have arrived at the target floor.
[0098] Furthermore, the inspection robot mobile module 420 includes:
[0099] An elevator call instruction generation unit is used to generate an elevator call instruction in response to the current inspection task instruction.
[0100] An elevator moving unit is used to control the preset elevator to move to the current floor according to the elevator call command;
[0101] The inspection robot moving unit is used to control the inspection robot to move to the target floor via the preset elevator and the preset track docking channel.
[0102] Furthermore, the inspection robot mobile unit includes:
[0103] The elevator track connection moving subunit is used to control the inspection robot to move to the elevator track connection of the current floor through the preset track docking channel, wherein the elevator track connection is the connection between the preset elevator and the preset track docking channel;
[0104] An elevator interior movement subunit is used to control the inspection robot to move into the interior of the preset elevator when the preset elevator is detected to have arrived at the current floor.
[0105] The inspection robot mobile subunit is used to transport the inspection robot to the target floor via the preset elevator and the current inspection task command.
[0106] Furthermore, the cross-floor inspection device 400 for the inspection robot includes:
[0107] The track position coordinate acquisition module is used to acquire the track position coordinates of the elevator car in the preset elevator and the track position coordinates of each preset floor in advance.
[0108] The preset track docking channel determination module is used to determine the preset track docking channel corresponding to each preset floor based on the elevator car track position coordinates and the track position coordinates of each preset floor.
[0109] Furthermore, the cross-floor inspection device 400 for the inspection robot includes:
[0110] The current inspection task execution module is used to control the inspection robot to execute the current inspection task when the inspection robot is detected to be located on the target floor.
[0111] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and modules can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0112] The aforementioned device can be implemented as a computer program, which can be used in, for example... Figure 7 It runs on the computer device shown.
[0113] See also Figure 7 , Figure 7 This is a schematic block diagram illustrating the structure of a computer device according to an embodiment of this application. The computer device may be a server.
[0114] See Figure 7 The computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.
[0115] The non-volatile storage medium can store the operating system and computer program. The computer program includes program instructions that, when executed, cause the processor to perform any method of cross-floor inspection by the inspection robot.
[0116] The processor provides computing and control capabilities, supporting the operation of the entire computer device.
[0117] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any method of cross-floor inspection by the inspection robot.
[0118] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.
[0119] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.
[0120] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:
[0121] Based on the current inspection task instructions, determine the target floor and target inspection point for the inspection robot;
[0122] If the current floor where the inspection robot is located is different from the target floor, control the inspection robot to move to the target floor through a preset elevator and a preset track docking channel;
[0123] Upon detecting that the inspection robot has arrived at the target floor, the robot is controlled to perform the current inspection task and travel to the target inspection point via the preset track docking channel.
[0124] In one embodiment, if the current floor of the inspection robot is different from the target floor, the inspection robot is controlled to move to the target floor via a preset elevator and a preset track docking channel, in order to achieve:
[0125] In response to the current inspection task instruction, an elevator call instruction is generated;
[0126] According to the elevator call command, control the preset elevator to move to the current floor;
[0127] The inspection robot is controlled to move to the target floor via the preset elevator and the preset track docking channel.
[0128] In one embodiment, the inspection robot is controlled to move to the target floor via the preset elevator and the preset track docking channel, in order to achieve:
[0129] The inspection robot is controlled to move to the elevator track connection point of the current floor through the preset track docking channel, wherein the elevator track connection point is the connection point between the preset elevator and the preset track docking channel;
[0130] Upon detecting that the preset elevator has arrived at the current floor, the inspection robot is controlled to move into the interior of the preset elevator;
[0131] The inspection robot is transported to the target floor via the preset elevator and the current inspection task instruction.
[0132] In one embodiment, when the current floor of the inspection robot is different from the target floor, before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel, the following is achieved:
[0133] The coordinates of the elevator car track position in the preset elevator and the coordinates of the preset floor track position of each preset floor are obtained in advance.
[0134] Based on the elevator car track position coordinates and the track position coordinates of each preset floor, the preset track docking channel corresponding to each preset floor is determined.
[0135] In one embodiment, when the current floor of the inspection robot is different from the target floor, before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel, the following is achieved:
[0136] If the inspection robot is detected to be located on the target floor, the inspection robot is controlled to perform the current inspection task.
[0137] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the cross-floor inspection methods for inspection robots provided in the embodiments of this application.
[0138] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.
[0139] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for cross-floor inspection by an inspection robot, characterized in that, include: Based on the current inspection task instructions, determine the target floor and target inspection point for the inspection robot; If the current floor where the inspection robot is located is different from the target floor, control the inspection robot to move to the target floor through a preset elevator and a preset track docking channel; Upon detecting that the inspection robot has arrived at the target floor, the robot is controlled to perform the current inspection task and travel to the target inspection point via the preset track docking channel.
2. The method for cross-floor inspection by an inspection robot according to claim 1, characterized in that, When the current floor of the inspection robot is different from the target floor, controlling the inspection robot to move to the target floor via a preset elevator and a preset track docking channel includes: In response to the current inspection task instruction, an elevator call instruction is generated; According to the elevator call command, control the preset elevator to move to the current floor; The inspection robot is controlled to move to the target floor via the preset elevator and the preset track docking channel.
3. The method for cross-floor inspection by an inspection robot according to claim 2, characterized in that, The step of controlling the inspection robot to move to the target floor via the preset elevator and the preset track docking channel includes: The inspection robot is controlled to move to the elevator track connection point of the current floor through the preset track docking channel, wherein the elevator track connection point is the connection point between the preset elevator and the preset track docking channel; Upon detecting that the preset elevator has arrived at the current floor, the inspection robot is controlled to move into the interior of the preset elevator; The inspection robot is transported to the target floor via the preset elevator and the current inspection task instruction.
4. The method for cross-floor inspection by an inspection robot according to claim 3, characterized in that, Before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel when the current floor of the inspection robot is different from the target floor, the following steps are taken: The coordinates of the elevator car track position in the preset elevator and the coordinates of the preset floor track position of each preset floor are obtained in advance. Based on the elevator car track position coordinates and the track position coordinates of each preset floor, the preset track docking channel corresponding to each preset floor is determined.
5. The method for cross-floor inspection by an inspection robot according to claim 1, characterized in that, Before controlling the inspection robot to move to the target floor via a preset elevator and preset track docking channel when the current floor of the inspection robot is different from the target floor, the following steps are taken: If the inspection robot is detected to be located on the target floor, the inspection robot is controlled to perform the current inspection task.
6. A cross-floor inspection robot system, characterized in that, The inspection robot's cross-floor inspection device includes an elevator car docking subsystem and a floor docking subsystem: The elevator car docking subsystem is installed inside a preset elevator and is used to carry the inspection robot from a preset track docking channel and transport the inspection robot to the target floor. The floor docking subsystem is set on each preset floor and is used to carry the inspection robot from the preset track docking channel to perform the current inspection task or to carry the inspection robot to the preset track docking channel.
7. The cross-floor inspection robot system according to claim 6, characterized in that, The elevator car docking subsystem includes an internal docking track, a tie rod mechanism, a drive motor, and a positioning sensor; The elevator car docking subsystem is also used to detect the position of the inspection robot through the positioning sensor, drive the internal docking track through the lever mechanism, and control the internal docking track to dock with the preset track docking channel; The internal docking track is driven by the pull rod mechanism to control the separation of the internal docking track from the preset track docking channel.
8. The cross-floor inspection robot system according to claim 6, characterized in that, The floor docking subsystem includes positioning sensors and hoisting rails; The positioning sensor is used to detect the position of the inspection robot; The hoisting track is used to carry the inspection robot to perform the current inspection task on each of the preset floors.
9. A computer device, characterized in that, The computer device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the cross-floor inspection method of the inspection robot as described in any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the cross-floor inspection method of the inspection robot as described in any one of claims 1 to 5.