Inspection control method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an inspection control method, electronic equipment and a storage medium, and relates to the technical field of robots. The inspection control method comprises the steps of determining a target event type of an abnormal event happened by an inspection robot in response to the abnormal event happened by the inspection robot, analyzing the inspection robot based on route information of an advancing route of the inspection robot to obtain target position information, and controlling the inspection robot based on the target event type and the target position information. Alarm information is constructed, the alarm information is sent to a client side, and the alarm information is used for triggering the client side to push a message notification used for representing the alarm information. According to the scheme, the timeliness of information perception of the inspection robot by the user can be improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to inspection control methods, electronic devices, and storage media. Background Technology

[0002] Inspection robots can be applied to inspections in any scenario and perform various tasks during the inspection process. In related technologies, if users need to understand the operational information of an inspection robot in automatic mode, they can access the robot's client application to view the information displayed there, thus gaining insight into the robot's operational status.

[0003] In the event of an anomaly occurring with the inspection robot, users can only access the details of the anomaly through the client application. However, if users do not have the means to access the client application promptly, they cannot respond quickly to the anomaly. This demonstrates that users' awareness of information regarding the inspection robot is not timely. Summary of the Invention

[0004] The purpose of this invention is to provide an inspection control method, electronic device, and storage medium to improve the timeliness of user information perception of the inspection robot. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of the present invention provide an inspection control method applied to an inspection robot, the method comprising:

[0006] In response to an abnormal event occurring in the inspection robot, the target event type of the abnormal event occurring in the inspection robot is determined;

[0007] Based on the route information of the inspection robot, the position of the inspection robot is analyzed to obtain the target position information;

[0008] Based on the target event type and target location information, alarm information is constructed, and

[0009] The alarm information is sent to the client, and the alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0010] Secondly, embodiments of the present invention provide an inspection control method applied to a client-side application of an inspection robot, the method comprising:

[0011] The system receives alarm information sent by the inspection robot. The alarm information is constructed by the inspection robot based on the target event type and target location information. The target event type is determined based on the abnormal event that occurred, and the target location information is obtained by performing position analysis on the inspection robot based on the route information of the route the inspection robot travels.

[0012] A message notification is pushed to represent the alarm information.

[0013] Thirdly, embodiments of the present invention provide an inspection control device for use in an inspection robot, the device comprising:

[0014] The first determining module is used to determine the target event type of the abnormal event that occurred in the inspection robot in response to the abnormal event occurring in the inspection robot.

[0015] The analysis module is used to perform position analysis on the inspection robot based on the route information of the route traveled by the inspection robot, and obtain the target position information;

[0016] The construction module is used to construct alarm information based on the target event type and target location information, and

[0017] The alarm information is sent to the client, and the alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0018] Fourthly, embodiments of the present invention provide an inspection control device applied to a client of an inspection robot, the device comprising:

[0019] The receiving module is used to receive alarm information sent by the inspection robot. The alarm information is constructed by the inspection robot based on the target event type and target location information. The target event type is determined based on the abnormal event that has occurred, and the target location information is obtained by performing position analysis on the inspection robot based on the route information of the route the inspection robot is traveling.

[0020] The push module is used to push message notifications that represent the alarm information.

[0021] Fifthly, embodiments of the present invention provide an inspection control system, including: an inspection robot and a client for the inspection robot;

[0022] The inspection robot is configured to respond to an abnormal event that occurs, determine the target event type of the abnormal event, perform position analysis on the inspection robot based on the route information of the route the inspection robot travels, obtain target position information, construct alarm information based on the target event type and target position information, and send the alarm information to the client. The alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0023] The client is used to receive alarm information sent by the inspection robot and push message notifications to represent the alarm information.

[0024] Sixthly, embodiments of the present invention provide an inspection robot, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0025] Memory, used to store computer programs;

[0026] When the processor executes the program stored in the memory, it implements the inspection control method in the first aspect described above.

[0027] In a seventh aspect, embodiments of the present invention provide a client, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0028] Memory, used to store computer programs;

[0029] When the processor executes the program stored in the memory, it implements the inspection control method in the second aspect described above.

[0030] Eighthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described inspection control methods.

[0031] Beneficial effects of the embodiments of the present invention:

[0032] The technical solution provided by this invention allows the inspection robot to generate alarm information and send it to the client when an abnormal event occurs. This triggers the client to push a message notification representing the alarm information, enabling users to view the alarm information promptly and improving the timeliness of user awareness of the inspection robot's information. This allows users to respond to abnormal events occurring with the inspection robot in a timely manner, improving the efficiency of handling such events. Since the alarm information includes the target event type and target location information, users can understand the details of the abnormal event, such as the location of the inspection robot where the abnormal event occurred and the target event type. This facilitates users' timely arrival at the location of the inspection robot and handling of the abnormal event, helping users to complete the handling of abnormal events more accurately and efficiently.

[0033] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0035] Figure 1 This is a schematic diagram of the structure of an inspection robot in the form of a robot dog, provided in an embodiment of the present invention.

[0036] Figure 2 A flowchart illustrating an inspection control method provided in an embodiment of the present invention;

[0037] Figure 3(a) is a schematic diagram of the interface for displaying the running information of a robot dog on a tablet-shaped handheld device for running a client, according to an embodiment of the present invention.

[0038] Figure 3(b) is a schematic diagram of the interface for displaying message notifications representing alarm information on a tablet-shaped handheld device for running a client, provided by an embodiment of the present invention.

[0039] Figure 3(c) is a schematic diagram of an interface for displaying message notifications representing alarm information on a mobile device according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram illustrating the interaction between an inspection robot and a client, provided as an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the structure of a target handle provided in an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram illustrating the interaction between a target handle and an inspection robot, provided as an embodiment of the present invention.

[0043] Figure 7 A flowchart illustrating another inspection control method provided in an embodiment of the present invention;

[0044] Figure 8 A flowchart illustrating another inspection control method provided in an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram of the structure of an inspection control system provided in an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the structure of an inspection control device provided in an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of another inspection control device provided in an embodiment of the present invention;

[0048] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on the present invention are within the scope of protection of the present invention.

[0050] To better understand this solution, the relevant technologies are introduced below:

[0051] In related technologies, inspection robots come in various types, including quadrupedal robots and vehicle-type inspection robots. Quadrupedal robots, also known as four-legged robots, can perform basic movements (walking, standing, lying down, etc.). Different inspection robots also have different control modes. For example, inspection robot A can only be in automatic mode, inspection robot B can only be in manual mode, and inspection robot C can be in either automatic or manual mode. For inspection robots that can only be in manual mode, they can only be controlled via a handle and cannot perform automatic inspections or switch modes. Therefore, such robots are difficult to handle various scenarios (e.g., scenarios requiring automatic inspection at night or in parks). Furthermore, users need to access the robot's client application to access its operational information. If an abnormal event occurs, users may not be able to access the client application in a timely manner to learn about the abnormal event, resulting in poor timeliness of user information regarding the inspection robot.

[0052] Based on the problems described above, embodiments of the present invention provide an inspection control method, an electronic device, and a storage medium.

[0053] Furthermore, the inspection control method provided in the embodiments of the present invention will be introduced.

[0054] The inspection control method provided in this embodiment of the invention can be applied to an inspection robot, which can be a quadruped robot (e.g., a robot dog) or a robot vehicle used for inspection; this embodiment of the invention does not specifically limit its application. For example, in one implementation, the execution entity of this embodiment can also be the main control module / control module of the inspection robot; this embodiment of the invention does not specifically limit its application. Furthermore, the inspection robot in this embodiment of the invention is equipped with various sensors, such as radar sensors, image sensors, and IMU (Inertial Measurement Unit) sensors; the inspection robot uses these various sensors to perform inspections in any scenario; this embodiment of the invention does not specifically limit its application. In addition, the inspection robot can be equipped with a handle; specifically, when the inspection robot is in manual mode, the user can send commands to the inspection robot through the handle to control it. Furthermore, the inspection robot also has a compatible client; specifically, the client refers to an electronic device in hardware form, such as a terminal, for example, a handheld device; or, the client refers to a software product deployed on an electronic device to achieve corresponding functions. For example, electronic devices can be smartphones, tablets, laptops, desktop computers, etc.; this embodiment of the invention does not specifically limit them. For ease of description, this embodiment of the invention uses "client" to refer to a hardware-based electronic device as an example. This solution is also applicable to software-based clients, in which case the execution entity of the solution will be the electronic device carrying the software-based client.

[0055] To better understand the inspection robot in the embodiments of the present invention, the inspection robot in the form of a robot dog is described below with reference to the accompanying drawings, such as... Figure 1 As shown:

[0056] Figure 1 The inspection robot in the picture is in the form of a robot dog. This inspection robot can also be directly called a robot dog. This robot dog can perform the task of picking up garbage. The robot dog's four mechanical legs 110-140 enable the robot dog to move. The mechanical legs 110-140 are located on both sides of the robot dog's main body 170 and are connected by joints to form a four-legged structure. The robot dog's mechanical arm 150 can pick up garbage and place the picked-up garbage into a transport box 160. The transport box 160 is set on the robot dog's back and is rigidly connected to the main body 170.

[0057] Furthermore, the inspection control method provided in this embodiment of the invention can be applied to scenarios where inspection robots are performing inspections in automatic mode. Any scenario where inspection robots are performing inspections in automatic mode is applicable to this embodiment of the invention, and this embodiment of the invention does not impose specific limitations on it. For example, the inspection control method can be applied to scenarios where robot dogs automatically inspect in parks to pick up litter, or to scenarios where robot vehicles automatically inspect in warehouses to transport workpieces.

[0058] One inspection control method, applied to an inspection robot, includes:

[0059] In response to an abnormal event occurring in the inspection robot, the target event type of the abnormal event occurring in the inspection robot is determined;

[0060] Based on the route information of the inspection robot, the position of the inspection robot is analyzed to obtain the target position information;

[0061] Based on the target event type and target location information, alarm information is constructed, and

[0062] The alarm information is sent to the client, and the alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0063] The technical solution provided by this invention allows the inspection robot to generate alarm information and send it to the client when an abnormal event occurs. This triggers the client to push a message notification representing the alarm information, enabling users to view the alarm information promptly and improving the timeliness of user awareness of the inspection robot's information. This allows users to respond to abnormal events occurring with the inspection robot in a timely manner, improving the efficiency of handling such events. Since the alarm information includes the target event type and target location information, users can understand the details of the abnormal event, such as the location of the inspection robot where the abnormal event occurred and the target event type. This facilitates users' timely arrival at the location of the inspection robot and handling of the abnormal event, helping users to complete the handling of abnormal events more accurately and efficiently.

[0064] The following describes an inspection control method provided by an embodiment of the present invention with reference to the accompanying drawings.

[0065] like Figure 2 As shown in the figure, an inspection control method provided by an embodiment of the present invention includes:

[0066] S201, In response to an abnormal event occurring in the inspection robot, determine the target event type of the abnormal event occurring in the inspection robot;

[0067] It is understood that various abnormal events can occur in the inspection robot. For example, the inspection robot may fall over, any of its sensors may malfunction, or the robot may be unable to identify its own location. This embodiment of the invention does not specifically limit these events. Furthermore, the occurrence of any of the above abnormal events can be considered an abnormal event in the inspection robot. In response to an abnormal event, the target event type of the abnormal event can be determined. The target event type is related to the abnormal event, and this embodiment of the invention does not specifically limit this type. For example, if inspection robot A falls over, the determined target event type of the abnormal event in inspection robot A is a fall; if robot dog B is unable to identify its own location, the determined target event type of the abnormal event in robot dog B is a location loss type. Additionally, a low battery level in the inspection robot can also be considered an abnormal event, and this embodiment of the invention does not specifically limit this type. It should be emphasized that the inspection robot in step S201 is in automatic mode. In automatic mode, the user can be located at a distance from the inspection robot and does not need to follow the inspection robot in real time.

[0068] In one implementation, the method further includes step A1, and / or step A2:

[0069] Step A1: Obtain data collected by the first predetermined sensor of the inspection robot; based on the data collected by the first predetermined sensor, detect whether an abnormal event has occurred that characterizes the abnormal behavior of the inspection robot, and obtain the detection result.

[0070] Step A2: Detect whether the second predetermined sensor of the inspection robot generates an abnormal event that characterizes sensor abnormality, and obtain the detection result;

[0071] The detection results are used to characterize whether the robot has experienced any abnormal events.

[0072] It is understood that, for step A1, the first predetermined sensor can be an image sensor, a radar sensor, or an IMU sensor, etc. Specifically, an image sensor can acquire image data of the inspection robot's forward direction, a radar sensor can acquire point cloud data of the inspection robot's forward direction, and an IMU sensor can acquire data such as the inspection robot's angular velocity. This embodiment of the invention does not specifically limit the type of sensor used for detecting abnormal events. Furthermore, based on the data acquired by the first predetermined sensor, it is possible to detect whether an abnormal event has occurred, characterizing an abnormality in the inspection robot's behavior, and obtain a detection result. It should be emphasized that different types of first predetermined sensors have different methods for detecting abnormal events, and this embodiment of the invention does not specifically limit the type of sensor used for detecting abnormal events. For example, if the first predetermined sensor is an image sensor, based on the image data collected by the image sensor, it is possible to detect whether there is an obstacle in the image data. If an obstacle is detected in the image data, it is considered that there is an obstacle in the forward direction of the inspection robot, and an abnormal event is determined to have occurred, thus obtaining a detection result. If the first predetermined sensor is an IMU sensor, based on the angular velocity data collected by the IMU sensor, it is possible to detect whether the collected data is within the normal range of angular velocity. If the collected data is detected to be outside the normal range of angular velocity, an abnormal event is determined to have occurred, thus obtaining a detection result.

[0073] It is understood that, regarding step A2, the second predetermined sensor can be a sensor used to detect whether the first predetermined sensor is abnormal. When either sensor is abnormal, the second predetermined sensor can generate an abnormal event characterizing the sensor abnormality, thus obtaining a detection result. Here, sensor abnormality can be characterized by the sensor failing to function, or by missing data collected by the sensor, etc. This embodiment of the invention does not specifically limit this. For example, if the second predetermined sensor of the inspection robot a generates an abnormal event characterizing the image sensor's failure to function, an abnormal event is determined, and a detection result is obtained. It should be emphasized that the detection result can be obtained by detecting whether an abnormal event characterizing the abnormal behavior of the inspection robot has occurred based solely on the data collected by the first predetermined sensor, or solely by detecting whether the second predetermined sensor of the inspection robot generates an abnormal event characterizing the sensor abnormality, or simultaneously based on both of these situations. This embodiment of the invention does not specifically limit this.

[0074] For example, in one implementation, the method for identifying abnormal events in the inspection robot includes method B1:

[0075] Method B1: If the obtained detection results indicate that an abnormal event has occurred, then an abnormal event has been identified in the inspection robot.

[0076] Accordingly, the target event type of the abnormal event occurring in the inspection robot is determined, including step C1:

[0077] Step C1: Based on the obtained detection results, analyze the target event type of the abnormal events that occurred in the inspection robot.

[0078] It is understandable that, for method B1, if any detection result obtained in step A1 and / or step A2 indicates an abnormal event, then it can be considered that an abnormal event has been identified in the inspection robot.

[0079] It is understandable that, for step C1, if the obtained detection results include those obtained in step A1, then the target event type of the abnormal event occurring in the inspection robot is analyzed. For example, if the obtained detection results indicate an abnormal event, and these results are based on the analysis of obstacles in image data collected by an image sensor, then the target event type of the abnormal event occurring in inspection robot a can be determined to be a navigation failure type; if the obtained detection results indicate an abnormal event, and these results are based on the detection of angular velocities exceeding the normal range collected by an IMU sensor, then the target event type of the abnormal event occurring in robot dog b can be determined to be a fall type.

[0080] Furthermore, if the obtained detection results include those obtained in step A2, then the target event type of the abnormal event occurring in the inspection robot can be determined to be a hardware failure type. For example, if the obtained detection results indicate an abnormal event has occurred, and this detection result is a detection result indicating that the image sensor is not working, then the target event type of the abnormal event occurring in inspection robot a can be determined to be a hardware failure type. It should be emphasized that when multiple detection results exist, there may also be multiple target event types. For example, detection results 1 and 2 are both detection results for inspection robot a. Detection result 1 indicates an abnormal event has occurred, and detection result 1 is a detection result obtained based on the analysis of obstacles in the image data collected by the image sensor. Detection result 2 also indicates an abnormal event has occurred, and detection result 2 is a detection result obtained by detecting that the image sensor is not working. Therefore, the target event type of the abnormal event occurring in inspection robot a can be determined to be both a navigation failure type and a hardware failure type.

[0081] As can be seen, the embodiments of the present invention can detect whether an abnormal event has occurred based on data collected by the first predetermined sensor and obtain a detection result. It can also detect whether the second predetermined sensor of the inspection robot has generated an abnormal event that characterizes the sensor abnormality and obtain a detection result. The detection result is used to characterize whether an abnormal event has occurred in the robot. Furthermore, based on the detection result, the target event type of the abnormal event that occurred in the inspection robot can also be determined, thereby providing a basis for the subsequent construction of alarm information. When users view the alarm information, they can understand the target event type of the abnormal event that occurred in the inspection robot, which can enable users to better handle the abnormal events that occurred in the inspection robot and thus improve the efficiency of handling abnormal events that occurred in the inspection robot.

[0082] For example, in another implementation, it is also possible to detect whether the target register of the inspection robot stores a field value used to characterize an abnormal event, thereby determining whether an abnormal event has occurred in the inspection robot; for the sake of clarity, this implementation will be described in other embodiments and will not be elaborated on here.

[0083] S202, Based on the route information of the inspection robot, perform position analysis on the inspection robot to obtain the target position information;

[0084] It is understood that the target location information can be the most recently recorded location information from the route information of the inspection robot, or it can be the estimated location information based on the most recently recorded location information. This embodiment of the invention does not specifically limit this. The route information of the inspection robot can include the location information of the inspection robot at various points in time, and this embodiment of the invention does not specifically limit this. Furthermore, the inspection robot can record the route information in real time, and the target location information can be determined based on the most recently recorded location information in this route information. For example, in one implementation, if there are missing values ​​in the route information of the inspection robot, a null value can be directly output for the target location information, and this embodiment of the invention does not specifically limit this.

[0085] In one implementation, based on the route information of the inspection robot, the robot's position is analyzed to obtain the target position information, including steps D1 and D2:

[0086] Step D1: If the target event type is other than the location loss type, extract the most recently recorded location information from the route information of the inspection robot to obtain the target location information.

[0087] It is understandable that step D1 is for cases where the target event type is other than the location loss type. In this case, the inspection robot can identify its own location, and the route information of the inspection robot contains the location information of the inspection robot. Therefore, the most recently recorded location information, that is, the location information of the inspection robot, is directly extracted from the route information of the inspection robot as the target location information.

[0088] Step D2: If the target event type is location loss, extract the most recently recorded location information from the route information of the inspection robot to obtain the location information to be used. Based on the location information to be used, the time difference between the recording time of the location information to be used and the current time, and the route planned by the inspection robot, estimate the location information of the inspection robot to obtain the target location information.

[0089] It is understandable that step D2 addresses the case where the target event type is location loss. In this case, the inspection robot cannot identify its own location, and the route information of the inspection robot's travel path does not contain the robot's location information. Therefore, the most recently recorded location information can be directly extracted from the route information of the inspection robot's travel path to obtain the location information to be used. Furthermore, since the inspection robot will move after recording the location information to be used, the distance the inspection robot will move after recording the location information to be used can be estimated based on the location information to be used, the time difference between the recording time of the location information to be used and the current time, and the route planned by the inspection robot, thereby estimating the inspection robot's location information. It is important to emphasize that in the case of the target event type being location loss, the estimated target location information is more accurate than the location information to be used. Therefore, it is easier for users to find the inspection robot that has experienced an abnormal event, reducing the probability of difficulty in finding the inspection robot due to inaccurate positioning, and improving the efficiency of handling abnormal events of the inspection robot. In addition, the route traveled by the inspection robot can be a route that has already been traveled within the route planned by the inspection robot, or the route traveled by the inspection robot can be considered as a part of the route planned by the inspection robot. This embodiment of the invention does not specifically limit this.

[0090] Of course, in another implementation, when the target event type is location loss, the inspection robot can stop abruptly and cease moving after it cannot identify its own location. Alternatively, it can extract the most recently recorded location information from the route information of the inspection robot's travel path and use the extracted location information as the target location information. This embodiment of the invention does not impose specific limitations on this.

[0091] As can be seen, when the target event type is any type other than location loss, the target location information is obtained by extracting the most recently recorded location information from the route information of the inspection robot's travel path. When the target event type is location loss, the target location information is obtained by estimating the location information to be utilized, the time difference between the recording time of the location information to be utilized and the current time, and the route planned by the inspection robot. This embodiment of the invention can obtain the target location information in all situations. Based on the target location information, users can more easily find the inspection robot that has experienced an abnormal event. Since the inspection robot is accurately located, the efficiency of handling abnormal events of the inspection robot is also improved.

[0092] S203, construct alarm information based on target event type and target location information;

[0093] It is understandable that alarm information can be constructed by combining the target event type and the target location information; and, in one implementation, the construction of alarm information is not only based on the target event type and the target location information, but also on other information, such as status information used to characterize the current abnormal fault state of the inspection robot; for the sake of clarity, the relevant content of constructing alarm information will be introduced in other embodiments, and will not be elaborated on here.

[0094] S204, send alarm information to the client. The alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0095] The message notification can also be called an instant message notification, to indicate that the message notification can be a message notification that the user can view immediately. This embodiment of the invention does not make a specific limitation in this regard.

[0096] It is understandable that after obtaining alarm information, an alarm message can be sent to the client. This alarm message triggers the client to push a notification indicating the alarm. It is important to emphasize that the client can push this notification to the electronic device on which it is deployed. For example, after the notification is pushed, the electronic device can vibrate to remind the user to check the alarm information promptly. Furthermore, the client can render the notification to highlight it, allowing the user to see it first and thus understand the alarm information. This embodiment of the invention does not specifically limit this. For example, the client renders the notification in red for emphasis.

[0097] To better understand the content of the push notifications used to represent alarm information, the following description is provided with reference to the accompanying figures, as shown in Figures 3(a), 3(b), and 3(c):

[0098] The electronic devices corresponding to Figures 3(a) and 3(b) are tablet-shaped handheld devices used to run the client, while the electronic device corresponding to Figure 3(c) is the user's mobile phone.

[0099] Figure 3(a) is a schematic diagram of the interface of a tablet-shaped handheld device 340 used to run the client, which displays the operating information of robot dog 1 and robot dog 2. Both robot dog 1 and robot dog 2 are robot dogs that perform the task of picking up garbage. The display interface 330 of the tablet-shaped handheld device 340 used to run the client includes interface 310 and interface 320. Interface 310 and interface 320 can be considered as the interface provided by the client. Interface 310 displays the operating information of robot dog 1, and interface 320 displays the operating information of robot dog 2. Interface 310 displays "Location successful (target location information is point 1), status information: normal inspection status, no cleaning required, battery 78%". The interface displays "Location Successful (Target Location Information is Point 1)," indicating that robot dog 1 can identify its own location and is currently at point 1. "Status Information: Normal Inspection Status" indicates that robot dog 1 is in a normal inspection status. "No Cleaning Required" indicates that there is no need to clean the trash in the transport box. "Battery 78%" indicates that the current battery level is 78%. Interface 320 displays "Location Successful (Target Location Information is Point 2), Status Information: Normal Inspection Status, No Cleaning Required, Battery 60%." Similarly, "Location Successful (Target Location Information is Point 2)," indicating that robot dog 2 can identify its own location and is currently at point 2. "Status Information: Normal Inspection Status" indicates that robot dog 2 is in a normal inspection status. "No Cleaning Required" indicates that there is no need to clean the trash in the transport box. "Battery 60%" indicates that the current battery level is 60%.

[0100] Figure 3(b) is a schematic diagram of the interface for displaying alarm information on a tablet-shaped handheld device 340 for running the client. The display interface 330 of the tablet-shaped handheld device 340 for running the client includes interface 310 and interface 320. The client can push the alarm information of robot dog 1 to interface 310 to display the alarm information of robot dog 1 in the operation information of robot dog 1. The alarm information of robot dog 1 can be located in pop-up window 350. And, the client can push the alarm information of robot dog 2 to interface 320 to display the alarm information of robot dog 2 in the operation information of robot dog 2. The alarm information of robot dog 2 can be located in pop-up window 360. Interface 310 displays "Location lost (target location information is point 1), status information: abnormal fault status - fall type and location lost type, no need to clean, battery 70%". The "Location Lost (Target Location Information is Point 1)" message indicates that robot dog 1 cannot identify its own location. Based on the most recently recorded location information, the target location of robot dog 1 is estimated, and the estimated location is Point 1. The "Status Information: Abnormal Fault State - Fall Type and Location Lost Type" message indicates that robot dog 1 is in an abnormal fault state, with the target event type being fall type and location lost type. Interface 320 displays "Location Successful (Target Location Information is Point 3), Status Information: Abnormal Fault State - Hardware Damage Type, No Cleaning Required, Battery 50%". The "Location Successful (Target Location Information is Point 3)" message indicates that robot dog 2 can identify its own location, and robot dog 2 is currently located at Point 3. The "Status Information: Abnormal Fault State - Hardware Damage Type" message indicates that robot dog 2 is in an abnormal fault state, with the target event type being hardware damage type.

[0101] Figure 3(c) is a schematic diagram of the interface of the mobile device 200 displaying message notifications to represent alarm information. The display interface 210 of the mobile device 200 can also display message notifications in the form of pop-up window 220 to remind the user to view them. The pop-up window 220 displays "Alarm information of robot dog 3: Location successful (target location information is point 1), status information: abnormal fault status - fall type".

[0102] In addition, to better understand the interaction process between the inspection robot and the client, the following description is provided with reference to the accompanying diagrams, such as... Figure 4 As shown:

[0103] S401, the inspection robot determines the target event type of the abnormal event that occurred, analyzes the target location information, and constructs alarm information based on the target event type and target location information;

[0104] S402, the inspection robot sends an alarm message to the client;

[0105] S403: Upon receiving alarm information, the client pushes a message notification that represents the alarm information.

[0106] Understandably, after the inspection robot completes the alarm information, it can send the alarm information to the client. Upon receiving the alarm information, the client can push a message notification to represent the alarm information.

[0107] The technical solution provided by this invention allows the inspection robot to generate alarm information and send it to the client when an abnormal event occurs. This triggers the client to push a message notification representing the alarm information, enabling users to view the alarm information promptly and improving the timeliness of user awareness of the inspection robot's information. This allows users to respond to abnormal events occurring with the inspection robot in a timely manner, improving the efficiency of handling such events. Since the alarm information includes the target event type and target location information, users can understand the details of the abnormal event, such as the location of the inspection robot where the abnormal event occurred and the target event type. This facilitates users' timely arrival at the location of the inspection robot and handling of the abnormal event, helping users to complete the handling of abnormal events more accurately and efficiently.

[0108] Optionally, in another embodiment, alarm information is constructed based on the target event type and target location information, including step E1:

[0109] Step E1: Using the target event type, target location information, and status information that characterizes the current abnormal fault state of the inspection robot as information content, construct alarm information that conforms to the specified information hierarchy relationship. The information hierarchy relationship is used to characterize the arrangement of various information contents.

[0110] The information relationship can also be considered as a way to represent the sorting of the inspection robot’s current abnormal fault state status information, target event type, and target location information. For example, the information hierarchy relationship can be a hierarchical relationship that represents the inspection robot’s current abnormal fault state status information, target event type, and target location information in descending order.

[0111] It is understood that, in this embodiment, based on the target event type, target location information, and status information representing the current abnormal fault state of the inspection robot, alarm information conforming to a specified information hierarchy can be constructed. It is important to emphasize that this alarm information has an information hierarchy, which reflects the primary and secondary relationships of the information within the alarm information. For example, the higher the information hierarchy, the earlier it appears in the alarm information. Correspondingly, the status information representing the current abnormal fault state of the inspection robot has the highest information hierarchy, the target event type has a medium information hierarchy, and the target location information has the lowest information hierarchy. Therefore, the status information representing the current abnormal fault state of the inspection robot can be located in the first row of the alarm information, the target event type in the second row, and the target location information in the third row. Of course, the above is merely an illustrative example; the information hierarchy can also be a sequentially increasing hierarchy of status information representing the current abnormal fault state of the inspection robot, target event type, and target location information. This embodiment of the invention does not specifically limit this. In addition, since the alarm information includes status information that indicates that the inspection robot is currently in an abnormal fault state, users can intuitively see from the alarm information that the current status of the inspection robot is an abnormal fault state.

[0112] As can be seen, the embodiments of the present invention can construct alarm information that conforms to the specified information hierarchy by using the target event type, target location information, and status information that characterizes the current abnormal fault state of the inspection robot as information content. This allows users to intuitively see that the current state of the inspection robot is abnormal fault state in the alarm information, improving the user experience. It also allows users to promptly understand the location of the inspection robot where the abnormal event occurred and the target event type of the abnormal event that occurred, thereby improving the efficiency of handling abnormal events that occur to the inspection robot.

[0113] Alternatively, in another embodiment, different types of abnormal events are assigned their own abnormality levels;

[0114] Correspondingly, the methods for determining status information include methods F1-F2:

[0115] Method F1 determines the anomaly level set for the target event type, thus obtaining the anomaly level to be utilized;

[0116] It is understandable that different types of abnormal events have their own abnormality levels. The higher the degree of abnormality of an event, the higher the set abnormality level. The degree of abnormality of an event is positively correlated with the set abnormality level. For example, navigation failure is set to abnormality level 1, fall is set to abnormality level 2, and hardware damage is set to abnormality level 3. This embodiment of the invention does not specifically limit this. Therefore, the abnormality level set for the target event type can be determined to obtain the abnormality level to be utilized. For example, if the target event type is fall / hardware damage, the abnormality level to be utilized can be determined to be abnormality level 3.

[0117] Method F2 determines the state information corresponding to the anomaly level to be used from a pre-defined correspondence between anomaly levels and state information representing anomaly fault states, and uses it as state information to represent the current abnormal fault state of the inspection robot; wherein, the fault degree indicated by the state information corresponding to each anomaly level matches the anomaly degree represented by that anomaly level.

[0118] It is understood that different anomaly levels correspond to different state information representing the abnormal fault state. For example, anomaly level 1 corresponds to a minor fault state, anomaly level 2 corresponds to a moderate fault state, and anomaly level 3 corresponds to a severe fault state. This embodiment of the invention does not specifically limit this. Furthermore, based on a pre-defined correspondence between anomaly levels and state information representing abnormal fault states, the state information corresponding to the anomaly level to be utilized can be determined as the state information used to represent the current abnormal fault state of the inspection robot. For example, if the anomaly level to be utilized is anomaly level 3, then the state information representing a severe fault state can be determined as the state information used to represent the current abnormal fault state of the inspection robot. In addition, the determined state information used to represent the current abnormal fault state of the inspection robot can also be used as part of the alarm information, allowing users to intuitively understand the current abnormal fault state of the inspection robot and the degree of its fault from the alarm information.

[0119] As can be seen, the embodiments of the present invention can determine the anomaly level set by the target event type, obtain the anomaly level to be utilized, and determine the status information corresponding to the anomaly level to be utilized, which serves as the status information used to characterize the current abnormal fault state of the inspection robot. The determined status information can be used as part of the alarm information. Subsequently, users can intuitively understand the current abnormal fault state of the inspection robot from the alarm information and understand the degree of fault of the inspection robot.

[0120] Alternatively, in another embodiment, the identification method for abnormal events occurring in the inspection robot includes methods G1-G2:

[0121] Method G1 detects whether the target register stores a field value used to characterize an abnormal event; wherein, the target register is a register used to store the field value of a predetermined field; the predetermined field is a field used to characterize whether an abnormal event has occurred in the inspection robot and the type of event when the abnormal event occurs, and the target register is configured by a predetermined abnormal event analysis module;

[0122] If method G2 is used, then an abnormal event has been detected in the inspection robot;

[0123] Accordingly, the target event type of the abnormal event occurring in the inspection robot is determined, including step H1:

[0124] Step H1: Determine the event type corresponding to the field value currently existing in the target register from the pre-established correspondence between the values ​​of each field of the predetermined field and the event type, and obtain the target event type.

[0125] It is understood that, for method G1, the inspection robot can be pre-configured with a target register. This target register stores the values ​​of predetermined fields. These predetermined fields are used to characterize whether an abnormal event has occurred in the inspection robot and the type of event when the abnormal event occurs. The predetermined fields are configured by the target register through a predetermined abnormal event analysis module. This module can analyze whether an abnormal event has occurred in the inspection robot. This embodiment of the invention does not specifically limit this. Furthermore, the predetermined fields are different in different situations. Specifically, when no abnormal event has occurred in the inspection robot, the predetermined fields characterize the absence of an abnormal event; when an abnormal event has occurred, the predetermined fields characterize the occurrence of the abnormal event and the type of event when the abnormal event occurs. For example, a field value of 00 indicates no abnormal event has occurred, and a field value of 01 indicates an abnormal event has occurred and the event type is a fall.

[0126] It is understandable that, for method G2, if a field value representing an abnormal event is detected stored in the target register, an abnormal event is identified in the inspection robot; for example, if a field value of 01 is detected stored in the target register, it can be determined that an abnormal event has occurred in inspection robot a.

[0127] Understandably, in step H1, when an abnormal event occurs in the inspection robot, a predetermined field represents the abnormal event and the event type at the time of the abnormal event. From the pre-established correspondence between the specified field values ​​of the predetermined field and the event types, the event type corresponding to the field value currently stored in the target register can be determined, thus obtaining the target event type. For example, field value 01 represents an abnormal event and the event type at the time of the abnormal event as a fall, field value 11 represents an abnormal event and the event type at the time of the abnormal event as a navigation failure, and field value 10 represents an abnormal event and the event type at the time of the abnormal event as a hardware damage. The field value of the predetermined field currently stored in the target register is 01, which determines that the target event type is a fall.

[0128] As can be seen, the embodiments of the present invention can detect whether the target register stores field values ​​used to characterize abnormal events. If so, an abnormal event has occurred in the inspection robot. From the pre-established correspondence between the values ​​of each predetermined field and the event type, the event type corresponding to the field value currently existing in the target register is determined, and the target event type is obtained. This provides a basis for the subsequent construction of alarm information. When the user views the alarm information, they can understand the target event type of the abnormal event that occurred in the inspection robot, which enables the user to better handle the abnormal events that occurred in the inspection robot, thereby improving the efficiency of handling abnormal events that occurred in the inspection robot.

[0129] Optionally, in another embodiment, the method further includes step J1:

[0130] Step J1: When the inspection robot is in automatic mode, in response to the mode switching command sent by the target handle, the inspection robot is processed to switch modes.

[0131] The mode switching command is sent when both the target button on the target handle, which is used to issue a command to instruct the inspection robot to stop moving, and the designated button are pressed.

[0132] The mode switching process includes changing the inspection robot's mode from automatic mode to manual mode and setting the inspection robot's current state to no-task state.

[0133] It is understood that the inspection robot provided in this embodiment of the invention is a robot capable of mode switching, which can switch from automatic mode to manual mode, and of course, it can also switch from manual mode to automatic mode. This embodiment of the invention does not specifically limit this. When the user wants to switch the inspection robot from automatic mode to manual mode, a mode switching command can be sent to the inspection robot through the target handle. The inspection robot responds to the mode switching command sent by the target handle and performs the mode switching process. Furthermore, the mode switching command is sent when both the target button on the target handle, which is used to issue the command to instruct the inspection robot to stop moving, and the designated button are pressed. If the target button, which is used to issue the command to instruct the inspection robot to stop moving, is not pressed, the target handle will not send the mode switching command even if the designated buttons are pressed simultaneously. The designated button can be a single button or a combination of multiple buttons; this embodiment of the invention does not specifically limit this. It should be emphasized that when there are multiple designated buttons, their positions are relatively close, which can easily lead to accidental presses. Therefore, to reduce the probability of accidental presses, the mode switching command can only be sent when both the target button on the target handle, which is used to issue the command to instruct the inspection robot to stop moving, and the designated button are pressed. The target button is the button used to issue the command to instruct the inspection robot to stop moving. When both the target button and the designated button are pressed, the target handle can send the mode switching command. The target button can be considered a safety lock, and the command to instruct the inspection robot to stop moving can be used as the condition for sending the mode switching command. The command to instruct the inspection robot to stop moving and the mode switching command can also be considered a layered command; this embodiment of the invention does not specifically limit this. Furthermore, the target button can be a single button or a combination of multiple buttons; this embodiment of the invention does not impose specific limitations on this. Also, the mode switching process for the inspection robot can include: switching the inspection robot's mode from automatic mode to manual mode, and setting the inspection robot's current state to a no-task state. It should be emphasized that in manual mode, the user needs to be near the inspection robot to control its movement; and in manual mode, the inspection robot's current state is a no-task state, while in automatic mode, the inspection robot's current state is a normal inspection state; this embodiment of the invention does not impose specific limitations on this.

[0134] In addition, the target button can also be a button that indicates other commands, and this embodiment of the invention does not specifically limit this.

[0135] To better understand the above content regarding mode switching instructions, the following explanation is provided in conjunction with the accompanying diagram, such as... Figure 5 As shown:

[0136] The main buttons used for mode switching are L1, L2, R1, and R2, located on the top of the target handle. L1 and L2 are on the top left of the target handle, while R1 and R2 are on the top right. The mode switching command is sent when R1 is double-clicked on the target handle, and L1, L2, R1, and R2 are pressed simultaneously. Double-clicking R1 instructs the inspection robot to stop moving; this command can also be called an emergency stop command. Since L1, L2, R1, and R2 are all located on the top of the target handle and are close together, accidental presses are possible. After switching the inspection robot from automatic to manual mode, its movement can be controlled using the directional keys on the target handle.

[0137] As can be seen, the target handle can send mode switching commands to the inspection robot when both the target button and the designated button are pressed, reducing the probability of sending mode switching commands to the inspection robot due to accidental touches, thereby improving the safety of controlling the inspection robot through the target handle.

[0138] In one implementation, after the mode switching process for the inspection robot, step J2 is also included:

[0139] Step J2: Send a predetermined vibration command to the target handle. The predetermined vibration command is used to trigger the target handle to control its built-in vibration engine to vibrate.

[0140] Understandably, after the inspection robot undergoes mode switching, it can send a predetermined vibration command to the target handle. This command triggers the target handle to control its built-in vibration engine, thus alerting the user that the robot is now in manual mode. Of course, after responding to other commands, the inspection robot can also send a predetermined vibration command to the target handle to remind the user that the robot has responded to the command; this embodiment of the invention does not specifically limit this approach.

[0141] The following description, with reference to the accompanying diagram, illustrates the interaction process between the target handle and the inspection robot. Figure 6 As shown:

[0142] S601, the target handle sends a mode switching command to the inspection robot;

[0143] S602, the inspection robot responds to the mode switching command, switches its own mode, and sets its current state to no task state;

[0144] S603, the inspection robot sends a predetermined vibration command to the target handle;

[0145] S604: After receiving a predetermined vibration command, the target handle controls the built-in vibration engine to vibrate.

[0146] As can be seen, after the inspection robot performs the mode switching process, a predetermined vibration command can be sent to the target handle. The predetermined vibration command is used to trigger the target handle to control its built-in vibration engine to vibrate, so as to remind the user in a timely manner in a way that the user can perceive, informing the user that the inspection robot has switched to manual mode, so that the user can understand the current mode type of the inspection robot and facilitate subsequent operation.

[0147] Alternatively, in another embodiment, such as Figure 7 As shown in the figure, this embodiment of the invention also provides another inspection control method, the method further comprising:

[0148] S701, in response to the inspection robot meeting the charging conditions, identifies the target charging station;

[0149] The target charging station is the charging station that the inspection robot can reach while its current battery is not depleted.

[0150] It is understood that charging conditions may include multiple conditions. For example, in one implementation, charging conditions include two conditions; satisfying either condition constitutes satisfying the charging condition. The first condition is that the current battery level of the inspection robot is below a battery threshold. The second condition is that the current battery level of the inspection robot is insufficient to support the robot's continued task execution. In the case of the second condition, the current battery level of the inspection robot may be above the battery threshold, but if the current battery level is insufficient to support the robot's continued task execution, it can still be considered that the charging condition is satisfied. This embodiment of the invention does not specifically limit this. Furthermore, the inspection robot can detect its current battery level in real time. In response to the inspection robot satisfying the charging condition, it can determine a target charging station, which is a charging station that the inspection robot can reach while its current battery level is not depleted. The empirical value of the battery threshold may be 20% of the inspection robot's total battery level; this embodiment of the invention does not specifically limit this. For example, if the power threshold is 20%, and the current power of the inspection robot a is detected to be 19%, it can be considered that the charging conditions are met. At this time, the charging station that the inspection robot a can reach without depleting its 19% power is determined to be charging station 1. The target charging station is determined to be charging station 1.

[0151] S702 plans a target route based on the target charging station and moves to the target charging station location according to the target route to charge.

[0152] Understandably, after identifying the target charging station, the inspection robot can plan a route from its current location to the target charging station, obtain the target route, and then move to the location of the target charging station to start charging. For example, after identifying the target charging station as charging station 1, inspection robot a can plan a route from its current location to charging station 1, obtain the target route, and then move to the location of charging station 1 to start charging.

[0153] As can be seen, when the current battery level of the inspection robot is lower than the battery threshold, the target charging station can be identified and the target route can be planned. The robot can then move to the location of the target charging station to charge, thereby reducing the probability that the inspection robot will be unable to complete the corresponding task smoothly due to running out of power or low battery level, and making the operation process of the inspection robot more intelligent.

[0154] In one implementation, before moving to the location of the target charging station according to the target route for charging, the method further includes steps K1-K2:

[0155] Step K1: In response to detecting that the task level currently being performed by the inspection robot is higher than a predetermined level, the location information of the inspection robot's current position is retrieved from the route information of the inspection robot to obtain the location information to be utilized. Based on the location information to be utilized, a first prompt message is constructed and sent to the client. The first prompt message is used to trigger the client to push a message notification that represents the first prompt message. The first prompt message represents that the inspection robot has triggered autonomous charging and requests other inspection robots to be dispatched to the location of the location information to take over the task. After the first prompt message is sent, the step of moving to the location of the target charging pile according to the target route to charge is executed.

[0156] Understandably, step K1 occurs when the level of the task currently being performed by the inspection robot is higher than a predetermined level. The robot's current location can be retrieved from its route information to obtain the location information to be utilized. Based on this location information, a first notification is constructed, which may contain the location information to be utilized. The inspection robot can send this first notification to the client, triggering the client to push a message notification representing the first notification. This allows the client to push such a notification to the electronic device. After viewing the first notification, the user understands that the inspection robot has initiated autonomous charging and can dispatch other inspection robots to the location of the location to be utilized for task relay via the client. Furthermore, after sending the first notification, the inspection robot can move along the target route to the target charging station for charging. For example, if the predetermined task level is task level 3, and the task currently being performed by inspection robot a is task level 4, then inspection robot a can find its current location as point 1 from the route information. Based on point 1, it constructs a first prompt message and sends it to the client. After the user sees the message notification representing the first prompt message on the client, they understand that inspection robot a has triggered autonomous charging, and that the user can dispatch robot dog b to point 1 to take over the task. It is understood that in step K1, the current battery level of the inspection robot may be below or above the battery threshold. If the current battery level is above the battery threshold, it is considered that the current battery level of the inspection robot is insufficient to support the robot to continue performing the currently executed task. This embodiment of the invention does not specifically limit this.

[0157] It is important to emphasize that before step K1, it is possible to detect whether the level of the task currently being performed by the inspection robot is greater than a predetermined level. The task currently being performed is one of a variety of tasks that the inspection robot can perform. Each task has a set task level, and the set task level is used to characterize the urgency of the task. The task level is positively correlated with the urgency.

[0158] It is understood that each task performed by the inspection robot is assigned a task level. The task level for each task represents its urgency; a higher task level indicates a higher urgency. Task level and urgency are positively correlated. For example, a task of picking up trash is assigned a task level of 1, while a task of delivering packages is assigned a task level of 4. The urgency of delivering packages is higher than that of picking up trash. This embodiment of the invention does not specifically limit this. Furthermore, before moving to the target charging station according to the target route, the robot can detect whether the level of the task it is currently performing is higher than a predetermined level. The predetermined level determines whether the task requires task relay. If the level of the task is higher than the predetermined level, it indicates a higher urgency and requires task relay; conversely, if the level is lower, it indicates a lower urgency and does not require task relay.

[0159] Step K2, in response to detecting that the task level currently being performed by the inspection robot is not higher than a predetermined level, the robot moves to the location of the target charging station according to the target route for charging, and sends a second prompt message to the client. The second prompt message is used to trigger the client to push a message notification that represents the second prompt message. The second prompt message represents that the inspection robot has triggered autonomous charging.

[0160] It is understood that step K2 occurs when the level of the task currently being performed by the inspection robot is no higher than the predetermined level. In this case, the robot can directly move along the target route to the target charging station for charging, and send a second prompt message to the client. This second prompt message triggers the client to push a message notification representing the second prompt message. Upon receiving the second prompt message, the client can push a message notification representing the second prompt message to the electronic device. After viewing the second prompt message, the user understands that the inspection robot has triggered autonomous charging. Furthermore, the timing of the inspection robot sending the second prompt message can be either during the robot's movement to the target charging station or after it has reached the target charging station; this embodiment of the invention does not specifically limit this. For example, if the predetermined level is task level 3 and the level of the task currently being performed by robot dog b is task level 1, then robot dog b can move along the target route to the target charging station for charging, and can send the second prompt message to the client during the movement. It is understood that in step K2, the current battery level of the inspection robot may be lower than or higher than the battery threshold. If the current battery level is higher than the battery threshold, it is considered that the current battery level of the inspection robot is insufficient to support the inspection robot to continue to perform the currently performed task. This embodiment of the invention does not make specific limitations in this regard.

[0161] As can be seen, in response to the detection that the task level currently being performed by the inspection robot is higher than the predetermined level, the system retrieves the location information of the inspection robot from its route information to obtain the location information to be utilized. Based on this location information, a first prompt message is constructed and sent to the client. This first prompt message triggers the client to push a message notification that represents the first prompt message. After viewing the first prompt message, the user understands that the inspection robot has triggered autonomous charging and, through the client, dispatches other inspection robots to the location of the location information to take over the task. This reduces the probability of tasks being shelved due to insufficient battery power, especially for urgent tasks, effectively reducing the possibility of task interruption or failure and improving the smoothness of the inspection robot's operation.

[0162] Optionally, in another embodiment, the method further includes steps L1-L3:

[0163] Step L1: When the inspection robot is performing the task of picking up garbage, if the current weight of the inspection robot's transport box is not less than the weight threshold, the target garbage bin location is determined; the transport box is used to carry the garbage picked up by the inspection robot.

[0164] It is understood that steps L1-L3 pertain to the scenario where the inspection robot performs the task of picking up trash. The inspection robot can monitor the current weight of its transport container in real time. When the current weight of the transport container is not less than a weight threshold, the target trash can location can be determined. This target trash can location is where the inspection robot performs trash cleaning, and the transport container is used to carry the trash picked up by the inspection robot. The weight threshold can be an empirical value of 5 kg, and this embodiment of the invention does not specifically limit it. For example, if the weight threshold is 5 kg and the current weight of the transport container of inspection robot a is detected to be 5.5 kg, then the target trash can location can be determined.

[0165] Step L2: Based on the target trash can location, plan a specified route and move according to the specified route;

[0166] Understandably, after determining the location of the target trash can, the inspection robot can be planned to travel from its current location to the target trash can, thus obtaining a designated route and moving along that route.

[0167] Step L3: Based on the location information of the target trash can, construct a third prompt message and send the third prompt message to the client. The third prompt message is used to trigger the client to push a message notification that represents the third prompt message. The third prompt message represents that support for trash cleaning at the target trash can location is required.

[0168] It is understandable that, based on the location information of the target trash can, a third prompt message can be constructed. This third prompt message carries the location information of the target trash can and can be sent to the client. The third prompt message is used to trigger the client to push a message notification representing the third prompt message, so that the client responds to the third prompt message by pushing a message notification representing the third prompt message to the electronic device. After viewing the third prompt message, the user understands that the inspection robot needs to provide support for trash cleaning at the target trash can location. Therefore, the trash can be cleaned manually from the inspection robot's transport box, or it can be assisted by other robots. This embodiment of the invention does not specifically limit this.

[0169] As can be seen, when the inspection robot is performing the task of picking up trash, if the current weight of the inspection robot's transport box is detected to be not less than the weight threshold, the target trash can location is determined, a specified route is planned, and the robot moves according to the specified route. Based on the location information of the target trash can location, a third prompt message is constructed and sent to the client, thereby reducing the probability that the inspection robot will not be able to clean up the trash at the target trash can location and improving the efficiency of performing the task of picking up trash.

[0170] Optionally, in another embodiment, the method further includes steps M1-M2:

[0171] Step M1: In the case of the target event type being location loss, initialization processing is performed in response to the initialization command sent by the target handle. The initialization processing is used to enable the inspection robot to restart and, when it is detected that the inspection robot can recognize its own location, to update the current state of the inspection robot to the normal inspection state, thus obtaining the current state of the inspection robot.

[0172] Understandably, when the target event type is location loss, the inspection robot cannot identify its own location. In response to the initialization command sent by the target handle, the inspection robot can perform initialization and restart. Consequently, all the robot's sensors also restart. After restarting, if the robot can identify its own location, it indicates that it has achieved self-healing and can continue inspection, updating its current state to normal. It is important to emphasize that in one implementation, when the target event type is location loss, the inspection robot can send a fourth prompt message to the client. Upon receiving this fourth prompt message, the client can push a notification message representing the fourth prompt message to the electronic device. After viewing the fourth prompt message, the user can send an initialization command to the inspection robot via the target handle. The fourth prompt message indicates that the user needs to send an initialization command to the inspection robot using the target handle; however, this embodiment of the invention does not specifically limit this.

[0173] Step M2: Report the current status of the inspection robot to the client.

[0174] Understandably, after the inspection robot's current status is updated to normal inspection status, the current status of the inspection robot can be reported to the client so that the client can record the current status of the inspection robot.

[0175] As can be seen, when the target event type is location loss, the robot responds to the initialization command sent by the target handle, performs initialization processing, and updates its current state to normal inspection state when it detects that the inspection robot can identify its own location. This current state is then reported to the client. Conversely, when the inspection robot cannot identify its own location, an initialization command can be sent to it to achieve self-healing, allowing it to continue inspection and task execution. This reduces the failure rate during operation and demonstrates the robot's intelligence.

[0176] Optionally, embodiments of the present invention also provide another inspection control method, applied to the client side of the inspection robot, such as... Figure 8 As shown, the method includes:

[0177] S801 receives alarm information sent by the inspection robot;

[0178] The alarm information is constructed by the inspection robot based on the target event type and target location information. The target event type is determined based on the abnormal event that occurred, and the target location information is obtained by performing position analysis on the inspection robot based on the route information of the inspection robot's travel path. It can be understood that the execution subject of this inspection control method is the client of the inspection robot. The client can receive the alarm information sent by the inspection robot. For the generation method of the alarm information, please refer to the description of steps S201-S203. The embodiments of the present invention will not be elaborated on in detail here.

[0179] S802 pushes a message notification to represent alarm information.

[0180] It is understood that step S802 is similar to step S204, and the specific details can be found in the description of step S204. The embodiments of the present invention will not be elaborated on here.

[0181] The technical solution provided by this invention allows the inspection robot to generate alarm information and send it to the client when an abnormal event occurs. The client can then push a message notification representing the alarm information, enabling the user to view the alarm information promptly and improving the timeliness of the user's information perception regarding the inspection robot. This allows users to respond to abnormal events occurring with the inspection robot in a timely manner, improving the efficiency of handling such events. Since the alarm information includes the target event type and target location information, users can understand the details of the abnormal event, such as the location of the inspection robot where the abnormal event occurred and the target event type. This facilitates the user's timely arrival at the location of the inspection robot and the handling of the abnormal event, helping the user to complete the handling of abnormal events more accurately and efficiently.

[0182] Based on the above method embodiments, this invention also provides an inspection and control system, such as... Figure 9 As shown, it includes: inspection robot 910 and inspection robot client 920;

[0183] Inspection robot 910 is used to respond to abnormal events that occur in the inspection robot, determine the target event type of the abnormal event, perform position analysis on the inspection robot based on the route information of the inspection robot's travel route, obtain target position information, construct alarm information based on the target event type and target position information, and send alarm information to client 920. The alarm information is used to trigger the client to push message notifications that represent the alarm information.

[0184] Client 920 is used to receive alarm information sent by the inspection robot and push message notifications to represent the alarm information.

[0185] It is understood that the functions of the above-mentioned inspection control system can be found in the descriptions of steps S201-S204 above, and will not be elaborated further here.

[0186] As can be seen, the inspection control system provided in this embodiment of the invention can generate alarm information when an abnormal event occurs in the inspection robot, and send the alarm information to the client. The alarm information is used to trigger the client to push an instant message notification that represents the alarm information, so that the user can see the alarm information in time, improve the timeliness of the user's information perception of the inspection robot, and thus respond to the abnormal events that occur in the inspection robot in a timely manner, thereby improving the efficiency of handling abnormal events that occur in the inspection robot.

[0187] Based on the above method embodiments, this invention also provides an inspection control device for use with inspection robots, such as... Figure 10 As shown, the device includes:

[0188] The first determining module 1010 is used to determine the target event type of the abnormal event that occurred in the inspection robot in response to the abnormal event occurring in the inspection robot.

[0189] The analysis module 1020 is used to perform position analysis on the inspection robot based on the route information of the route traveled by the inspection robot, and obtain the target position information.

[0190] The construction module 1030 is used to construct alarm information based on the target event type and target location information;

[0191] The first sending module 1040 is used to send the alarm information to the client, and the alarm information is used to trigger the client to push a message notification that represents the alarm information.

[0192] Optionally, the building module is specifically used for:

[0193] Using the target event type, target location information, and status information representing the current abnormal fault state of the inspection robot as information content, alarm information conforming to a specified information hierarchy is constructed, wherein the information hierarchy is used to represent the arrangement of each piece of information content;

[0194] Optionally, different types of abnormal events can be assigned their own exception levels;

[0195] The methods for determining the status information include:

[0196] Determine the anomaly level set for the target event type to obtain the anomaly level to be utilized;

[0197] From a pre-defined correspondence between anomaly levels and state information representing abnormal fault states, the state information corresponding to the anomaly level to be utilized is determined as the state information used to represent the current abnormal fault state of the inspection robot; wherein, the degree of fault indicated by the state information corresponding to each anomaly level matches the degree of anomaly represented by that anomaly level.

[0198] Optionally, the analysis module is specifically used for:

[0199] If the target event type is other than the location loss type, the most recently recorded location information is extracted from the route information of the inspection robot to obtain the target location information;

[0200] When the target event type is location loss, the most recently recorded location information is extracted from the route information of the inspection robot to obtain the location information to be used. Based on the location information to be used, the time difference between the recording time of the location information to be used and the current time, and the route planned by the inspection robot, the location information of the current position of the inspection robot is estimated to obtain the target location information.

[0201] Optionally, the device further includes:

[0202] The acquisition module is used to acquire data collected by the first predetermined sensor of the inspection robot, and based on the data collected by the first predetermined sensor, detect whether an abnormal event has occurred that characterizes the abnormal behavior of the inspection robot, and obtain the detection result.

[0203] And / or,

[0204] The first detection module is used to detect whether the second predetermined sensor of the inspection robot generates an abnormal event that indicates sensor abnormality, and obtain the detection result;

[0205] The detection results are used to characterize whether the robot has experienced an abnormal event.

[0206] Optionally, the method for identifying abnormal events by the inspection robot includes:

[0207] The system detects whether the target register stores a field value used to characterize an abnormal event. The target register is a register used to store the field value of a predetermined field. The predetermined field is a field used to characterize whether the inspection robot has experienced an abnormal event and the type of event when the abnormal event occurs. The target register is configured through a predetermined abnormal event analysis module.

[0208] If so, an abnormal event has been detected in the inspection robot;

[0209] The first determining module is specifically used for:

[0210] From the pre-established correspondence between the values ​​of each field of a predetermined field and the event type, determine the event type corresponding to the field value currently existing in the target register, and obtain the target event type.

[0211] Optionally, the device further includes:

[0212] The mode switching processing module is used to perform mode switching processing on the inspection robot in response to a mode switching command sent by the target handle when the inspection robot is in automatic mode.

[0213] The mode switching command is sent when both the target button on the target handle, which is used to issue a command to instruct the inspection robot to stop moving, and the designated button are pressed.

[0214] The mode switching process includes: changing the mode of the inspection robot from the automatic mode to the manual mode, and setting the current state of the inspection robot to a no-task state.

[0215] Optionally, the device further includes:

[0216] The second sending module is used to send a predetermined vibration command to the target handle after performing mode switching processing on the inspection robot. The predetermined vibration command is used to trigger the target handle to control its built-in vibration engine to vibrate.

[0217] Optionally, the device further includes:

[0218] The second determining module is used to determine a target charging station in response to the current battery level of the inspection robot being lower than a battery threshold; wherein the target charging station is a charging station that the inspection robot can reach if the current battery level is not depleted.

[0219] The first planning module is used to plan a target route based on the target charging pile, and then move to the location of the target charging pile according to the target route to start charging.

[0220] Optionally, the device further includes:

[0221] The search module is configured to, in response to detecting that the task level currently being performed by the inspection robot is higher than a predetermined level, search for the location information of the inspection robot's current position from the route information traveled by the inspection robot, obtain the location information to be utilized, and construct a first prompt message based on the location information to be utilized, and send the first prompt message to the client. The first prompt message is used to trigger the client to push a message notification that represents the first prompt message, which indicates that the inspection robot has triggered autonomous charging and requests other inspection robots to be dispatched to the location of the location information to take over the task. After the first prompt message is sent, the step of moving to the location of the target charging pile according to the target route for charging is executed.

[0222] An execution module is configured to, in response to detecting that the task level currently being performed by the inspection robot is not higher than the predetermined level, execute the step of moving to the location of the target charging pile according to the target route for charging, and send a second prompt message to the client, wherein the second prompt message is used to trigger the client to push a message notification that represents the second prompt message, and the second prompt message represents that the inspection robot has triggered autonomous charging;

[0223] The currently executed task is one of a variety of tasks that the inspection robot can perform. Each task has a task level, and the task level is used to characterize the urgency of the task. The task level is positively correlated with the urgency.

[0224] Optionally, the device further includes:

[0225] The second detection module is used to determine the target trash can location if the current weight of the inspection robot's transport box is not less than a weight threshold when the inspection robot is performing the task of picking up trash; the transport box is used to carry the trash picked up by the inspection robot.

[0226] The second planning module is used to plan a specified route based on the target trash can location and move according to the specified route;

[0227] The third sending module is used to construct a third prompt message based on the location information of the target trash can location and send the third prompt message to the client. The third prompt message is used to trigger the client to push a message notification that represents the third prompt message. The third prompt message represents that support for trash cleaning at the target trash can location is required.

[0228] Optionally, the device further includes:

[0229] An initialization processing module is used to perform initialization processing in response to an initialization command sent by the target handle when the target event type is a location loss type; wherein, the initialization processing is used to enable the inspection robot to restart, and when it is detected that the inspection robot can recognize its own location, the current state of the inspection robot is updated to a normal inspection state, thus obtaining the current state of the inspection robot.

[0230] The reporting module is used to report the current status of the inspection robot to the client.

[0231] Based on the above method embodiments, this invention also provides an inspection control device, applied to the client side of an inspection robot, such as... Figure 11 As shown, the device includes:

[0232] The receiving module 1110 is used to receive alarm information sent by the inspection robot. The alarm information is constructed by the inspection robot based on the target event type and target location information. The target event type is determined based on the abnormal event that occurred, and the target location information is obtained by performing position analysis on the inspection robot based on the route information of the route the inspection robot travels.

[0233] The push module 1120 is used to push message notifications that represent the alarm information.

[0234] This invention also provides an electronic device, such as... Figure 12 As shown, it includes a processor 1201, a communication interface 1202, a memory 1203, and a communication bus 1204, wherein the processor 1201, the communication interface 1202, and the memory 1203 communicate with each other through the communication bus 1204.

[0235] Memory 1203 is used to store computer programs;

[0236] The processor 1201 is used to execute the program stored in the memory 1203 to implement any of the above-mentioned inspection control methods.

[0237] Specifically, the electronic device could be an inspection robot, or a client application.

[0238] When the electronic device is an inspection robot, the inspection robot's processor can implement the above-mentioned inspection control method with the inspection robot as the execution subject when executing the program stored in the memory.

[0239] When the electronic device is the client, the client's processor can implement the above-mentioned inspection control method with the client as the execution subject when executing the program stored in the memory.

[0240] The communication bus mentioned in the inspection robot above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0241] The communication interface is used for communication between the aforementioned inspection robot and other devices.

[0242] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0243] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.

[0244] Furthermore, embodiments of the present invention also provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0245] Memory, used to store computer programs;

[0246] The processor is used to execute programs stored in memory to implement inspection control methods.

[0247] In another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements any of the above-described inspection control methods.

[0248] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the inspection control methods described above.

[0249] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0250] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0251] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0252] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A patrol inspection control method, characterized in that, The method, applied to inspection robots, includes: In response to an abnormal event occurring in the inspection robot, the target event type of the abnormal event occurring in the inspection robot is determined; Based on the route information of the inspection robot, the position of the inspection robot is analyzed to obtain the target position information; Based on the target event type and target location information, an alarm message is constructed and sent to the client. The alarm message is used to trigger the client to push a message notification that represents the alarm message.

2. The method according to claim 1, characterized in that, The alarm information is constructed based on the target event type and target location information, including: Using the target event type, target location information, and status information representing the current abnormal fault state of the inspection robot as information content, alarm information conforming to a specified information hierarchy is constructed. The information hierarchy is used to represent the arrangement of various information contents.

3. The method according to claim 2, characterized in that, Different types of abnormal events have their own abnormality levels; The methods for determining the status information include: Determine the anomaly level set for the target event type to obtain the anomaly level to be utilized; From a pre-defined correspondence between anomaly levels and state information representing abnormal fault states, the state information corresponding to the anomaly level to be utilized is determined as the state information used to represent the current abnormal fault state of the inspection robot; wherein, the degree of fault indicated by the state information corresponding to each anomaly level matches the degree of anomaly represented by that anomaly level.

4. The method according to any one of claims 1 to 3, characterized in that, Based on the route information of the inspection robot, the position of the inspection robot is analyzed to obtain the target position information, including at least one of the following: If the target event type is other than the location loss type, the most recently recorded location information is extracted from the route information of the inspection robot to obtain the target location information; When the target event type is location loss, the most recently recorded location information is extracted from the route information of the inspection robot to obtain the location information to be used. Based on the location information to be used, the time difference between the recording time of the location information to be used and the current time, and the route planned by the inspection robot, the location information of the inspection robot is estimated to obtain the target location information.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The system acquires data collected by the first predetermined sensor of the inspection robot, and based on the data collected by the first predetermined sensor, detects whether an abnormal event has occurred that characterizes the abnormal behavior of the inspection robot, and obtains the detection result. And / or, The inspection robot detects whether its second predetermined sensor generates an abnormal event that indicates sensor abnormality, and obtains the detection result. The detection results are used to characterize whether the robot has experienced an abnormal event; And / or, The methods for identifying abnormal events by the inspection robot include: The system detects whether the target register stores a field value used to characterize an abnormal event. The target register is a register used to store the field value of a predetermined field. The predetermined field is a field used to characterize whether the inspection robot has experienced an abnormal event and the type of event when the abnormal event occurs. The target register is configured through a predetermined abnormal event analysis module. If so, an abnormal event has been detected in the inspection robot; The target event type for determining the abnormal events occurring in the inspection robot includes: From the pre-established correspondence between the values ​​of each field of a predetermined field and the event type, determine the event type corresponding to the field value currently existing in the target register, and obtain the target event type; And / or, The method further includes: When the inspection robot is in automatic mode, it performs mode switching processing in response to the mode switching command sent by the target handle. The mode switching command is sent when both the target button on the target handle, which is used to issue a command to instruct the inspection robot to stop moving, and the designated button are pressed. The mode switching process includes: changing the mode of the inspection robot from the automatic mode to the manual mode, and setting the current state of the inspection robot to a no-task state. And / or, After performing mode switching on the inspection robot, the method further includes: A predetermined vibration command is sent to the target handle, the predetermined vibration command being used to trigger the target handle to control its built-in vibration engine to vibrate.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: In response to the inspection robot meeting the charging conditions, a target charging station is determined; wherein, the target charging station is: a charging station that the inspection robot can reach if the current battery power is not exhausted; Based on the target charging station, plan a target route and move to the location of the target charging station according to the target route to charge; And / or, Before moving to the target charging station location along the target route for charging, the method further includes: In response to the detection that the task level currently being performed by the inspection robot is higher than a predetermined level, the location information of the inspection robot is retrieved from the route information of the inspection robot to obtain the location information to be utilized. Based on the location information to be utilized, a first prompt message is constructed and sent to the client. The first prompt message is used to trigger the client to push a message notification that represents the first prompt message. The first prompt message represents that the inspection robot has triggered autonomous charging and requests other inspection robots to be dispatched to the location of the location information to take over the task. After the first prompt message is sent, the step of moving to the location of the target charging pile according to the target route for charging is executed. In response to detecting that the task level currently being performed by the inspection robot is not higher than the predetermined level, the robot performs the step of moving to the location of the target charging pile according to the target route for charging, and sends a second prompt message to the client. The second prompt message is used to trigger the client to push a message notification that represents the second prompt message. The second prompt message represents that the inspection robot has triggered autonomous charging. The currently executed task is one of a variety of tasks that the inspection robot can perform. Each task has a task level, and the task level is used to characterize the urgency of the task. The task level is positively correlated with the urgency.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: When the inspection robot is performing the task of picking up trash, if the current weight of the inspection robot's transport container is detected to be not less than a weight threshold, then the target trash can location is determined; the transport container is used to carry the trash picked up by the inspection robot. Based on the target trash can location, a designated route is planned, and the movement proceeds along the designated route. Furthermore, based on the location information of the target trash can location, a third prompt message is constructed and sent to the client. The third prompt message is used to trigger the client to push a message notification that represents the third prompt message. The third prompt message represents that: support for trash cleaning at the target trash can location is required. And / or, The method further includes: When the target event type is a location loss type, an initialization process is performed in response to the initialization command sent by the target handle; wherein, the initialization process is used to enable the inspection robot to restart, and when it is detected that the inspection robot can recognize its own location, the current state of the inspection robot is updated to the normal inspection state, thus obtaining the current state of the inspection robot. The current status of the inspection robot is reported to the client.

8. A patrol inspection control method, characterized in that, The method, applied to a client-side application of an inspection robot, includes: The system receives alarm information sent by the inspection robot. The alarm information is constructed by the inspection robot based on the target event type and target location information. The target event type is determined based on the abnormal event that occurred, and the target location information is obtained by performing position analysis on the inspection robot based on the route information of the route the inspection robot travels. A message notification is pushed to represent the alarm information.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.

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