Object inspection system and method using mobile robot

Abstract

A system and method for object inspection using a mobile robot are introduced. The system includes: a mobile robot that moves in multiple work areas; and a controller that moves the mobile robot to a first work area among the multiple work areas based on an inspection plan for the multiple work areas to perform an inspection on the first work area, determines the state of the second work area before the mobile robot reaches the second work area corresponding to the next work area of ​​the first work area according to the inspection plan, and adjusts the inspection plan if the determined state of the second work area does not meet preset conditions, and resets the movement route of the mobile robot based on the adjusted inspection plan.

Description

Technical Field

[0001] This disclosure relates to an object inspection system and method using a mobile robot for inspecting an object after a work process has been performed on it. Background Technology

[0002] Typically, global automakers produce millions to tens of millions of vehicles annually, while simultaneously developing vehicles with various specifications to meet customer demands. Furthermore, manufacturers are continuously developing production technologies to maximize production efficiency and quality.

[0003] To produce finished vehicles, numerous parts need to be assembled. Although equipment has been automated for this purpose, manual assembly remains the primary method, with workers manually assembling most parts. Therefore, the assembly quality of workers can have a significant impact on the overall quality of the vehicle production, and improving vehicle production quality may require improving the assembly quality of workers.

[0004] To improve assembly quality, inspection procedures may be necessary after workers complete their assembly tasks. However, when performing assembly quality inspections after vehicle production is finished, it's impossible to inspect every single part and detect defects. Therefore, assembly quality inspections should be performed in real-time. However, due to the nature of manual assembly processes, issues such as ensuring worker safety or securing space for inspection equipment may make real-time assembly quality inspections difficult.

[0005] Therefore, there is a need to develop a method that can check the assembly quality of workers while ensuring their safety.

[0006] The foregoing is intended only to help understand the background of this disclosure and is not intended to imply that this disclosure falls within the scope of prior art known to those skilled in the art. Summary of the Invention

[0007] Technical issues

[0008] This disclosure is made to address these problems, and the object of the present invention is to provide an object inspection system and method using a mobile robot, which is capable of inspecting the object to which the operation has been performed by using a mobile and controllable mobile robot after an operation has been performed on the object.

[0009] The technical problems to be solved in this disclosure are not limited to those described above, and those skilled in the art to which this disclosure pertains will clearly understand from the following description other technical problems not mentioned.

[0010] Technical solution

[0011] According to this disclosure for achieving this purpose, an object inspection system using a mobile robot is provided, the system comprising: a mobile robot configured to move through multiple work areas; and a controller configured to move the mobile robot to a first work area among the multiple work areas according to an inspection plan based on the multiple work areas, to perform an inspection on the first work area, to determine the state of a second work area before the mobile robot reaches a second work area corresponding to the next work area of ​​the first work area according to the inspection plan, and when the determined state of the second work area does not meet preset conditions, to adjust the inspection plan, and to reset the movement route of the mobile robot based on the adjusted inspection plan.

[0012] For example, the controller can generate an inspection plan based on the work plans of multiple work areas, and perform an inspection on the first work area based on the generated inspection plan.

[0013] For example, the controller can generate an inspection plan by further considering at least one of the layout of multiple work areas and the movement path of the mobile robot.

[0014] For example, a mobile robot can move to a first work area to capture an image of a workpiece located in the first work area, and a controller can perform an inspection based on the image of the workpiece captured by the mobile robot.

[0015] For example, the controller can determine the status of the second work area based on at least one of the following: whether there are workers in the second work area and whether the work in the second work area has been completed.

[0016] For example, if there are workers in the second work area or the work in the second work area has not been completed, the controller can determine that the state of the second work area does not meet the preset conditions.

[0017] For example, when the state of the second work area does not meet the preset conditions, the controller can adjust the inspection plan based on the remaining work areas among the multiple work areas other than the first work area, so that the next work area of ​​the first work area becomes a work area other than the second work area.

[0018] For example, the controller can derive multiple new inspection plans based on the remaining work area, where the second work area does not correspond to the next work area of ​​the first work area. For each of the multiple new inspection plans derived, the controller determines the distance the mobile robot needs to move and adjusts the inspection plan to a new inspection plan with the determined shortest moving distance.

[0019] Furthermore, according to this disclosure for achieving this purpose, an object inspection method using a mobile robot is provided, the method comprising: moving a mobile robot to a first work area among a plurality of work areas by means of an inspection plan based on a plurality of work areas, and performing an inspection on the first work area; determining the state of the second work area before the mobile robot reaches a second work area corresponding to the next work area of ​​the first work area according to the inspection plan; adjusting the inspection plan when the determined state of the second work area does not meet preset conditions; and resetting the movement route of the mobile robot based on the adjusted inspection plan.

[0020] For example, performing an inspection may include: generating an inspection plan based on the work plans of multiple work areas, and performing an inspection on a first work area based on the generated inspection plan.

[0021] For example, generating an inspection plan may include generating the inspection plan by further considering at least one of the layout of multiple work areas and the movement route of a mobile robot.

[0022] For example, performing an inspection may include: capturing an image of a workpiece located in the first work area by a mobile robot that has moved to the first work area; and performing an inspection based on the image of the workpiece captured by the mobile robot.

[0023] For example, determining the status may include: determining the status of the second work area based on at least one of the following: whether there are workers in the second work area and whether the work in the second work area has been completed.

[0024] For example, determining the status may include: when there are workers in the second work area or the work in the second work area has not been completed, determining that the status of the second work area does not meet the preset conditions.

[0025] For example, adjusting the inspection plan may include: when the status of the second work area does not meet the preset conditions, adjusting the inspection plan based on the remaining work areas among the multiple work areas other than the first work area, so that the next work area of ​​the first work area becomes a work area other than the second work area.

[0026] For example, adjusting the inspection plan may include: deriving multiple new inspection plans based on the remaining work area, where the second work area does not correspond to the next work area of ​​the first work area; determining the movement distance the mobile robot should move for each of the multiple new inspection plans; and adjusting the inspection plan to a new inspection plan with a determined minimum movement distance.

[0027] Beneficial effects

[0028] Based on the above description, the object inspection system and method using a mobile robot in this disclosure can perform inspections without being restricted to a fixed space by using a mobile robot to inspect objects performing operations on them in real time.

[0029] In addition, real-time inspections can be performed using mobile robots, and the condition of the work area being inspected can be determined before the mobile robot moves, thereby ensuring the safety of workers. Attached Figure Description

[0030] Figure 1 This is a block diagram illustrating the configuration of an object inspection system using a mobile robot according to an exemplary embodiment of the present disclosure.

[0031] Figure 2 This is a diagram illustrating an object inspection process using a mobile robot according to an exemplary embodiment of the present disclosure.

[0032] Figure 3 and Figure 4 These are diagrams illustrating a work plan and an inspection plan according to an exemplary embodiment of the present disclosure.

[0033] Figure 5 This is a flowchart illustrating an object inspection method using a mobile robot according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0034] In describing the exemplary embodiments disclosed in this specification, detailed descriptions of relevant prior art will be omitted where it is determined that such detailed descriptions may obscure the subject matter of the exemplary embodiments disclosed in this specification. Furthermore, the accompanying drawings are provided only for easy understanding of the exemplary embodiments disclosed in this specification. The technical concepts disclosed in this specification are not limited to the drawings, and it should be understood that the drawings include all variations, equivalents, or alternatives that fall within the spirit and scope of this disclosure.

[0035] Ordinal terms such as first, second, etc., can be used to describe various components, but these components are not limited by these terms. These terms are used only for the purpose of distinguishing one component from another.

[0036] When a component is described as “connected,” “coupled,” or “linked” to another component, that component can be directly connected, coupled, or linked to that other component. However, it should be understood that there may be another component in between. Conversely, when a component is described as “directly connected,” “directly coupled,” or “directly linked” to another component, it should be understood that there is no intermediate component between them.

[0037] As used herein, unless the context explicitly indicates otherwise, the singular form is intended to include the plural form as well.

[0038] It will be further understood that when the terms “comprise,” “include,” “have,” etc., are used in this specification, they specify the presence of the stated features, numbers, steps, operations, elements, components, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and / or combinations thereof.

[0039] In addition, each controller may include: a communication device for communicating with other controllers or sensors to control the functions it is responsible for; a memory for storing the operating system, logic instructions, and input / output information; and one or more processors for performing the determination, calculation, and decision-making required to control the functions it is responsible for.

[0040] In the following description, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings. However, regardless of the reference numerals, the same or similar components will be given the same reference numerals and repeated descriptions thereof will be omitted.

[0041] First, refer to Figure 1 and Figure 2 The configuration of an object inspection system using a mobile robot according to an exemplary embodiment of the present disclosure is described.

[0042] Figure 1 This is a block diagram illustrating the configuration of an object inspection system using a mobile robot according to an exemplary embodiment of the present disclosure. Figure 2 This is a diagram illustrating an object inspection process using a mobile robot according to an exemplary embodiment of the present disclosure.

[0043] First, refer to Figure 1 An object inspection system using a mobile robot according to embodiments of the present disclosure may include a mobile robot 110 and a controller 120 for controlling the mobile robot 110. However, Figure 1 The system shown primarily illustrates the components relevant to exemplary embodiments of this disclosure, and naturally, the actual system can be implemented by including more or fewer components.

[0044] Each component is described below.

[0045] The mobile robot 110 can move around the workpiece 10 and capture images of the workpiece 10. At this time, according to an exemplary embodiment of this disclosure, multiple work areas A to D can be set around the workpiece 10. The multiple work areas A to D can refer to work areas arbitrarily divided by an operator performing work based on a workpiece 10. However, this is an example and not necessarily limited to this. For example, the multiple work areas can be divided into various shapes according to the size of the workpiece 10 or the work process.

[0046] Specifically, the operator can perform tasks according to a predetermined work schedule to produce the workpiece 10 into its finished form, and the mobile robot 110 can move around the workpiece 10 and capture images of the work results (e.g., assembly quality) of the workpiece 10 that the operator has performed tasks on according to the work schedule.

[0047] Therefore, according to an exemplary embodiment of this disclosure, the mobile robot 110 may be provided with a moving part (not shown) for movement and an imaging device (not shown) for photographing the workpiece 10. For example, the mobile robot 110 may be a quadrupedal walking robot equipped with a multi-joint arm and a high-resolution camera, but this is an example and is not necessarily limited to this.

[0048] Meanwhile, to facilitate the use of the mobile robot 110 to photograph the workpiece 10, a position guidance device can be provided on the workpiece 10 to notify the mobile robot 110 of the photographing position. For example, the position guidance device can refer to, but is not limited to, optically identifiable markings (i.e., spots, two-dimensional (2D) codes, etc.), tags identifiable at close range in a non-contact manner (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc. At least one or more position guidance devices provided on the workpiece 10 can be provided in each of the aforementioned multiple work areas A to D, and the mobile robot 110 can identify the position guidance devices provided on the workpiece 10 in each of the multiple work areas A to D and capture an image of the work result at the corresponding position on the workpiece 10.

[0049] The controller 120 can control the mobile robot 110 to perform inspections on the workpiece 10. Specifically, the controller 120 can generate an inspection schedule for the workpiece 10 based on the work plans of multiple work areas A to D. In this case, the inspection schedule can refer to the inspection plans for multiple work areas A to D. This will refer to... Figure 3 and Figure 4 Describe it.

[0050] Figure 3 and Figure 4These are diagrams illustrating a work plan and an inspection plan according to an exemplary embodiment of the present disclosure.

[0051] Figure 3 This can refer to a work plan from multiple work areas A to D provided by a work management system 200 according to an exemplary embodiment of this disclosure. For example, the work plan can be a work plan generated by an algorithm set in the work management system 200, and naturally, various work plans can be generated based on workpiece 10 or multiple work areas A to D.

[0052] Meanwhile, according to an exemplary embodiment of this disclosure, in order to perform inspection on workpiece 10 via controller 120, mobile robot 110 must move around multiple work areas A to D and capture the work results of workpiece 10. However, a work plan can be generated by an algorithm that takes into account the movement path of the operator performing the work and the component supply status of workpiece 10, and when mobile robot 110 moves according to such a work plan to perform inspection, mobile robot 110 may move inefficiently, resulting in increased inspection time.

[0053] Therefore, controller 120 can generate a new inspection plan based on the work plan for performing inspections using mobile robot 110. That is, in order for the effective movement of mobile robot 110, controller 120 can generate an inspection plan suitable for mobile robot 110.

[0054] To this end, controller 120 can receive job plans from multiple job areas A to D from job management system 200, and can generate a schedule from the received job schedules using a check plan organization algorithm provided in controller 120. Figure 4 The inspection plan is shown. In this case, the inspection plan organization algorithm can be an algorithm that takes the work plan as input and, after further considering at least one of the input value, the layout of multiple work areas A to D, and the movement path of the mobile robot 110, outputs the inspection plan.

[0055] like Figure 4 As shown, the inspection plan is generated by considering the layout of multiple work areas A to D and the movement route of the mobile robot 110, and can be generated regardless of the order of each task in the work plan. However, naturally, the above... Figure 3 and Figure 4 The described work plans and inspection plans are exemplary and not limited to them.

[0056] Return to reference Figure 1 and Figure 2When an inspection plan is generated, the controller 120 can perform an inspection on the workpiece 10 using the mobile robot 110 based on the generated inspection plan. For example, suppose the inspection plan generated based on the job plan is for multiple job areas A to D, generated in the order of job area A -> job area B -> job area C -> job area D.

[0057] The controller 120 can move the mobile robot 110 to the first work area (e.g., work area A) among multiple work areas that should be inspected first, based on the generated inspection plan, and can perform the inspection on the first work area. At this time, the controller 120 can determine the current position of the mobile robot 110 and the position of the first work area. Furthermore, the controller 120 can set a movement route connecting the start and end points using the current position of the mobile robot 110 as the starting point and the position of the first work area as the ending point. The controller 120 can control the mobile robot 110 to move to the first work area by sending the set movement route to the mobile robot 110.

[0058] When the mobile robot 110 arrives at the first work area, it can identify the position guidance device set up in the first work area and capture an image of the workpiece 10. Specifically, the mobile robot 110 can capture an image of the workpiece 10 located in the first work area. Based on the received image captured by the mobile robot 110, the controller 120 can perform a check on the result of the performed task. For example, the controller 120 can store reference images of each workpiece 10 corresponding to multiple work areas, and the controller 120 can correct errors in the captured images by using the previously stored reference images and the images captured by the mobile robot 110. Furthermore, the controller 120 can extract an image of the part to be checked from the error-corrected image and perform a deep learning check based on the extracted image to make a pass / fail determination on the result of the task performed on the corresponding part. However, the checking process of the controller 120 described above is exemplary and not necessarily limited to this.

[0059] Furthermore, the controller 120 can determine the state of the second work area before the mobile robot 110 arrives at the second work area (e.g., work area B) corresponding to the next work area after the first work area according to the inspection plan. In this case, the point in time before the mobile robot 110 arrives at the second work area can refer to the point in time when the mobile robot 110 is capturing an image of the workpiece 10 in the first work area, or it can refer to the point in time when the mobile robot 110 moves to the second work area after completing the capture in the first work area.

[0060] Furthermore, the controller 120 can determine the status of the second work area based on at least one of the following: whether a worker is present in the second work area and whether the current work in the second work area is completed. For example, while performing a task, a worker can send their current work location or whether the current work is completed to the work management system 200 using a wireless communication terminal carried by themselves. The work management system 200 can provide the controller 120 with information about the worker's location tracking or information about whether the work is completed, and the controller 120 can determine whether a worker is present in the second work area or whether the work in the second work area is completed based on the information provided by the work management system 200. However, this is an example and is not limited to this. For example, the presence of a worker in the second work area can also be determined by receiving information from a detection sensor (not shown) installed near the second work area to detect workers.

[0061] Next, the controller 120 can determine whether the state of the determined second work area meets preset conditions. For example, the controller 120 can set the condition that there are no workers in the second work area or that the work has been completed as a preset condition. Therefore, based on the determined state of the second work area, the controller 120 can determine that the preset conditions are not met when there are workers in the second work area or when the work in the second work area has not been completed.

[0062] If the state of the second work area does not meet the preset conditions, the controller 120 can adjust the inspection plan. Specifically, the controller 120 can adjust the inspection plan based on the remaining work areas B to D among multiple work areas A to D, excluding the first work area (i.e., work area A), so that the next work area of ​​the first work area becomes a work area other than the second work area.

[0063] For example, refer to Figure 2 When the inspection of the first work area (e.g., work area A) is completed according to the generated initial inspection plan, the mobile robot 110 can move to the next work area, which is the second work area (e.g., work area B), and perform photography. However, when the mobile robot 110 moves to the second work area according to the existing inspection plan even when the operator is still in the second work area or the work has not been completed, it is difficult to ensure the safety of the operator's working environment due to the mobile robot 110, and it may lead to concerns that the reliability of the inspection may be reduced by even performing inspections on incomplete work. Therefore, the controller 120 can determine the status of the second work area, and then adjust the inspection plan when the status of the second work area does not meet the preset conditions.

[0064] The adjustment of the inspection plan can be performed using the inspection plan reorganization algorithm provided in controller 120, and in this case, the inspection plan reorganization algorithm can be a different algorithm from the inspection plan organization algorithm described above. However, this is an example and is not necessarily limited to this. For example, the inspection plan reorganization algorithm can be the same algorithm as the inspection plan organization algorithm, and the factors considered can be changed to derive only different output values.

[0065] Simultaneously, when the controller 120 adjusts the existing inspection plan, the next work area after the first work area (e.g., work area A) can be work area C or work area D. That is, based on the remaining work areas (e.g., work areas B to D), the controller 120 can derive multiple new inspection plans, in which a second work area (e.g., work area B) that does not meet the preset conditions does not correspond to the next work area after the first work area (e.g., work area A). For example, the multiple new inspection plans can be derived as multiple new inspection plans including the following: a first new inspection plan in the order of work area C -> work area D -> work area B; a second new inspection plan in the order of work area C -> work area B -> work area D; a third new inspection plan in the order of work area D -> work area C -> work area B; and a fourth new inspection plan in the order of work area D -> work area B -> work area C.

[0066] When multiple new inspection plans are derived, controller 120 can determine the travel distance to be traveled by mobile robot 110 for each of the derived new inspection plans. Because the purpose of this disclosure is to perform inspections on workpiece 10 by efficiently utilizing mobile robot 110, it may be necessary to allow mobile robot 110 to move along an optimal path. Therefore, controller 120 can determine the travel distance to be traveled by mobile robot 110 for each of the multiple new inspection plans, and then select a new inspection plan with the shortest travel distance from the determined travel distances.

[0067] Furthermore, the controller 120 can adjust the existing inspection plan according to the selected new inspection plan, and can reset the movement route of the mobile robot 110 based on the adjusted inspection plan. When performing inspections based on the existing inspection plan, the controller 120 can set movement routes to multiple work areas according to the existing inspection plan. Additionally, the controller 120 can send the set movement routes to the mobile robot 110 so that the mobile robot 110 moves along the set movement routes. That is, when the inspection plan changes, the movement route also changes; therefore, the changed movement route should be sent to the mobile robot 110 so that the mobile robot 110 can be controlled according to the change in the inspection plan.

[0068] Therefore, the controller 120 can send the reset movement route back to the mobile robot 110, enabling the mobile robot 110 to photograph each workpiece 10 while moving along the reset movement route. Furthermore, the controller 120 repeatedly performs the aforementioned process of resetting the movement route of the mobile robot 110.

[0069] In contrast, when the state of the second work area meets preset conditions, the controller 120 can move the mobile robot 110 along a movement route according to the existing inspection plan to the second work area, allowing inspection to be performed according to the existing inspection plan. At this time, when moving from the first work area to the second work area, the mobile robot 110 can determine whether an obstacle is approaching it using sensors (not shown) equipped on it. Specifically, by using the sensors, the mobile robot 110 can measure the duration of the sensed obstacle, and when this duration exceeds a preset reference time, it can be determined that movement to the second work area is impossible due to the obstacle. At this time, the controller 120 can adjust the existing inspection plan so that the mobile robot 110 turns to a different work area. In this case, the process of adjusting the inspection plan and resetting the movement route as described above can be performed.

[0070] However, when the duration measured by the sensors of the mobile robot 110 is less than a preset reference time, the mobile robot 110 can determine the presence of a temporary obstacle and can move to the second work area according to the existing inspection plan while performing its own avoidance maneuvers. In this case, the inspection using the mobile robot 110 can be performed upon arrival at the second work area.

[0071] Furthermore, according to one exemplary embodiment of this disclosure, the controller 120 may be a server equipped with an inspection plan organization algorithm or an inspection plan reorganization algorithm to generate an inspection plan and perform inspections using the mobile robot 110 according to the inspection plan. However, this is an example and is not necessarily limited to this. For example, the functions of the controller 120 described above may be executed on a single server, but the functions may also be executed separately on multiple servers.

[0072] In the following text, based on the above references Figure 1 and Figure 2 The described object inspection system using a mobile robot will refer to Figure 5 This invention describes an object inspection method using a mobile robot according to an exemplary embodiment of the present disclosure. Meanwhile, due to... Figures 1 to 4 The document describes each step in detail, so such descriptions will be omitted in the following text.

[0073] Figure 5This is a flowchart illustrating an object inspection method using a mobile robot according to an exemplary embodiment of the present disclosure.

[0074] refer to Figure 5 In step S510, the controller 120 can generate an inspection plan based on the work plans of multiple work areas.

[0075] Then, in step S520, the controller 120 can control the mobile robot 110 to move to a first work area among multiple work areas based on the generated inspection plan. When the mobile robot 110 moves to the first work area, in step S530, the mobile robot 110 can capture an image of the workpiece 10 located in the first work area, and the controller 120 can perform an inspection based on the image captured by the mobile robot 110.

[0076] After inspecting the workpiece 10 located in the first work area, in step S540, the controller may determine the state of the second work area, which is the next work area after the first work area. In this case, step S540 of determining the state of the second work area is described as being performed after the inspection, but this is only exemplary, and naturally, step S540 may also be performed simultaneously with step S530.

[0077] In step S550, the controller 120 can determine whether the state of the second work area meets the preset conditions. If the state of the second work area does not meet the preset conditions (in step S550, it is "no"), in step S560, the controller 120 can adjust the previously generated inspection plan. Furthermore, in step S570, the controller 120 can reset the movement route of the mobile robot 110 based on the adjusted inspection plan. Once the movement route is reset, the process following step S520 can be executed iteratively.

[0078] When the state of the second work area meets the preset conditions (yes in S550), in step S580, the controller 120 can control the mobile robot 110 to move along the preset movement route according to the previously generated inspection plan. When the mobile robot 110 moves according to the previously generated inspection plan and arrives at the next work area, the process after step S530 can be executed iteratively.

[0079] Based on the above description, the object inspection system and method using a mobile robot in this disclosure can perform inspections without being restricted to a fixed space by using a mobile robot to inspect objects performing operations on them in real time.

[0080] In addition, real-time inspections can be performed using mobile robots, and the condition of the work area being inspected can be determined before the mobile robot moves, thereby ensuring the safety of workers.

[0081] Although preferred exemplary embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will recognize that various modifications, additions, and substitutions are possible without departing from the technical scope and spirit of the present disclosure as disclosed in the appended claims.

[0082] The above disclosure can be implemented as computer-readable code recorded on a medium. Computer-readable media include all types of recording devices that store data readable by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc. Therefore, the detailed description above should not be construed as limiting in all respects, but rather as exemplary. The scope of this disclosure should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of this disclosure are included within the scope of this disclosure.

[0083] [Explanation of reference numerals in the attached diagram]

[0084] 10: Workpiece

[0085] 110: Mobile Robot

[0086] 120: Controller

[0087] 200: Job Management System.

Claims

1. An object inspection system using a mobile robot, the system comprising: The mobile robot is configured to move through multiple work areas; as well as The controller is configured to: move the mobile robot to a first work area among the plurality of work areas based on an inspection plan for the plurality of work areas, and perform an inspection on the first work area; and determine the state of the second work area before the mobile robot reaches the second work area corresponding to the next work area of ​​the first work area according to the inspection plan. When the state of the determined second work area does not meet the preset conditions, the inspection plan is adjusted; and the movement route of the mobile robot is reset based on the adjusted inspection plan.

2. The system according to claim 1, wherein, The controller generates the inspection plan based on the work plans of the multiple work areas, and performs an inspection on the first work area based on the generated inspection plan.

3. The system according to claim 2, wherein, The controller generates the inspection plan by further considering at least one of the layout of the plurality of work areas and the movement route of the mobile robot.

4. The system according to claim 1, wherein, The mobile robot moves to the first work area to capture an image of the workpiece located in the first work area, and The controller performs the inspection based on the image of the workpiece captured by the mobile robot.

5. The system according to claim 1, wherein, The controller determines the status of the second work area based on at least one of the following: whether there are workers in the second work area and whether the work in the second work area has been completed.

6. The system according to claim 5, wherein, When there are workers in the second work area or the work in the second work area has not yet been completed, the controller determines that the state of the second work area does not meet the preset conditions.

7. The system according to claim 1, wherein, When the state of the second work area does not meet the preset conditions, the controller adjusts the inspection plan based on the remaining work areas among the plurality of work areas other than the first work area, so that the next work area of ​​the first work area becomes a work area other than the second work area.

8. The system according to claim 7, wherein, The controller derives multiple new inspection plans based on the remaining work area, where the second work area does not correspond to the next work area of ​​the first work area. For each of the multiple new inspection plans, the controller determines the movement distance that the mobile robot needs to move and adjusts the inspection plan to a new inspection plan with a determined shortest movement distance.

9. A method for inspecting objects using a mobile robot, the method comprising: By using an inspection plan based on multiple work areas, the mobile robot is moved to the first work area among the multiple work areas to perform an inspection on the first work area; Before the mobile robot arrives at the second work area corresponding to the next work area of ​​the first work area according to the inspection plan, the state of the second work area is determined; When the determined state of the second work area does not meet the preset conditions, the inspection plan is adjusted; as well as Based on the adjusted inspection plan, the movement route of the mobile robot is reset.

10. The method according to claim 9, wherein, Performing the inspection includes: The inspection plan is generated based on the work plans of the multiple work areas, and The first work area is inspected based on the generated inspection plan.

11. The method according to claim 10, wherein, Generating the inspection plan includes: The inspection plan is generated by further considering at least one of the layout of the multiple work areas and the movement route of the mobile robot.

12. The method according to claim 9, wherein, Performing the inspection includes: The mobile robot, which has moved to the first work area, captures images of the workpiece located in the first work area; and The inspection is performed based on the image of the workpiece captured by the mobile robot.

13. The method according to claim 9, wherein, Determining the state includes: The state of the second work area is determined based on at least one of the following: whether there are workers in the second work area and whether the work in the second work area has been completed.

14. The method according to claim 13, wherein, Determining the state includes: When there are workers in the second work area or the work in the second work area has not been completed, it is determined that the state of the second work area does not meet the preset condition.

15. The method according to claim 9, wherein, Adjusting the inspection plan includes: When the state of the second work area does not meet the preset conditions, the inspection plan is adjusted based on the remaining work areas among the plurality of work areas other than the first work area, so that the next work area of ​​the first work area becomes a work area other than the second work area.

16. The method according to claim 15, wherein, Adjusting the inspection plan includes: Based on the remaining work area, derive multiple new inspection plans for the second work area that do not correspond to the next work area of ​​the first work area; For each of the derived new inspection plans, determine the distance the mobile robot should travel; and The inspection plan is adjusted to a new inspection plan with a defined shortest travel distance.

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