CN111830987A - Control method and device of inspection robot and inspection system of robot - Google Patents
Control method and device of inspection robot and inspection system of robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a control method of an inspection robot, which comprises the steps of receiving position information and patrol route information of the robot; determining a passing area according to the patrol route information; acquiring traffic environment information in the traffic area; determining control instruction information according to the robot position information, the patrol route information and the traffic environment information; and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area. According to the invention, because the information of roadblocks, pedestrians and the like in the traffic area is determined in advance, the dangerous scene that the roadblocks and the pedestrians appear in the visual field of the inspection robot and then the inspection robot judges temporarily is avoided, and sufficient processing time is given to a system for adjusting the traveling route of the inspection robot. The invention also provides a control device, equipment, a computer readable storage medium and a robot inspection system of the inspection robot, which have the beneficial effects.
Description
Technical Field
The invention relates to the field of robot automation, in particular to a method, a device and equipment for controlling an inspection robot, a computer readable storage medium and a robot inspection system.
Background
Along with the development of science and technology, the intellectualization of instruments, more and more low-complexity repeated labor is replaced by robots, so that the production efficiency is improved, and the execution cost is reduced.
The regional patrol is also one of the application fields of the robot technology, the development of the patrol robot effectively solves a series of problems caused by the fact that the field patrol is not timely when no person or few persons are in the park, but the current patrol robot generally determines obstacles on a path through a camera carried by the current patrol robot, the visual range is small, the processing time reserved for a system is short, the patrol robot is poor in the ability of avoiding roadblocks, and the control precision is low.
Therefore, how to improve the obstacle avoidance capability and the inspection efficiency of the inspection robot is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a control method, a control device, equipment, a computer readable storage medium and a robot inspection system of an inspection robot, and aims to solve the problems that the inspection robot in the prior art is poor in obstacle avoidance capability, low in control precision and low in inspection efficiency.
In order to solve the technical problem, the invention provides a control method of an inspection robot, which comprises the following steps:
receiving position information and patrol route information of the robot;
determining a passing area according to the patrol route information;
acquiring traffic environment information in the traffic area;
determining control instruction information according to the robot position information, the patrol route information and the traffic environment information;
and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area.
Optionally, in the method for controlling an inspection robot, after determining a passing area according to the patrol route information, the method further includes:
judging whether the passing area comprises a stop area;
when the stop area is included, acquiring alternate patrol route information;
determining a replacement passing area according to the replacement patrol route information;
correspondingly, the acquiring the traffic environment information in the traffic area comprises:
and acquiring the traffic environment information in the alternative traffic area.
Optionally, in the method for controlling an inspection robot, the acquiring information of the traffic environment in the traffic area includes:
and acquiring image information in the passing area.
A control device of an inspection robot, comprising:
the receiving module is used for receiving the position information and the patrol route information of the robot;
the area determining module is used for determining a passing area according to the patrol route information;
the environment acquisition module is used for acquiring the passing environment information in the passing area;
the command module is used for determining control command information according to the robot position information, the patrol route information and the traffic environment information;
and the sending module is used for sending the control instruction information to the inspection robot, so that the inspection robot can inspect in the traffic area.
Optionally, in the control device of an inspection robot, the area determination module further includes:
an availability judgment unit for judging whether the passing area comprises a stop area;
a substitute acquisition unit configured to acquire substitute patrol route information when the deactivation area is included;
the alternate-supplement determining unit is used for determining an alternate-supplement passing area according to the alternate-supplement patrol route information;
accordingly, the environment acquisition module comprises:
and the alternate environment acquisition unit is used for acquiring the traffic environment information in the alternate traffic area.
Optionally, in the control device of an inspection robot, the environment acquisition module includes:
and the image acquisition unit is used for acquiring the image information in the passing area.
A control apparatus of an inspection robot, comprising:
a memory for storing a computer program;
and a processor for implementing the steps of the inspection robot control method according to any one of the above aspects when executing the computer program.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling an inspection robot as recited in any one of the above.
A robot inspection system comprises a roadside controller and an inspection robot;
the roadside controller is used for executing the steps of the control method of the inspection robot;
the roadside controller comprises an environmental information collector for collecting the traffic environmental information;
the inspection robot is used for inspecting in the traffic area.
Optionally, in the robot inspection system, the inspection robot is a two-wheeled inspection robot.
The control method of the inspection robot provided by the invention comprises the steps of receiving position information and patrol route information of the robot; determining a passing area according to the patrol route information; acquiring traffic environment information in the traffic area; determining control instruction information according to the robot position information, the patrol route information and the traffic environment information; and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area. The invention pre-determines the traffic environment information in the traffic area corresponding to the patrol route information after acquiring the patrol route information of the patrol robot, controls the patrol robot to finish patrol according to the traffic environment information as guidance, avoids the dangerous scene that the roadblock and the pedestrian appear in the visual field of the patrol robot and then temporarily judges the patrol robot due to the fact that the information of the roadblock, the pedestrian and the like in the traffic area is pre-determined, gives sufficient processing time for the system to adjust the travel route of the patrol robot, and in addition, the acquisition of the traffic environment information usually needs an environment information collector with a position different from the patrol robot and the pedestrian roadblock, can acquire more accurate position relation between the patrol robot and the pedestrian roadblock, and further greatly improves the ability of the patrol robot to avoid the pedestrian roadblock, and the inspection efficiency is improved. The invention also provides a control device, equipment, a computer readable storage medium and a robot inspection system of the inspection robot, which have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a specific embodiment of a control method of an inspection robot according to the present invention;
fig. 2 is a schematic flow chart of another specific embodiment of the inspection robot control method provided by the invention;
fig. 3 is a schematic flow chart of a control method of an inspection robot according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of the inspection robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a specific embodiment of the robot inspection system provided by the invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a control method of an inspection robot, the flow diagram of one specific embodiment of which is shown in fig. 1, which is called as a first specific embodiment, and comprises the following steps:
s101: and receiving the position information and the patrol route information of the robot.
S102: and determining a passing area according to the patrol route information.
S103: and acquiring the passing environment information in the passing area.
The traffic environment information can be information including positions of roadblocks, pedestrians or pits and can be acquired through a visible light camera or an infrared camera.
When the traffic environment information comprises pedestrian information, the pedestrian position can be mastered in real time by adopting higher updating frequency, and the collision of the pedestrian and the inspection robot is avoided.
S104: and determining control instruction information according to the robot position information, the patrol route information and the traffic environment information.
S105: and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area.
The control method of the inspection robot provided by the invention comprises the steps of receiving position information and patrol route information of the robot; determining a passing area according to the patrol route information; acquiring traffic environment information in the traffic area; determining control instruction information according to the robot position information, the patrol route information and the traffic environment information; and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area. The invention pre-determines the traffic environment information in the traffic area corresponding to the patrol route information after acquiring the patrol route information of the patrol robot, controls the patrol robot to finish patrol according to the traffic environment information as guidance, avoids the dangerous scene that the roadblock and the pedestrian appear in the visual field of the patrol robot and then temporarily judges the patrol robot due to the fact that the information of the roadblock, the pedestrian and the like in the traffic area is pre-determined, gives sufficient processing time for the system to adjust the travel route of the patrol robot, and in addition, the acquisition of the traffic environment information usually needs an environment information collector with a position different from the patrol robot and the pedestrian roadblock, can acquire more accurate position relation between the patrol robot and the pedestrian roadblock, and further greatly improves the ability of the patrol robot to avoid the pedestrian roadblock, and the inspection efficiency is improved.
On the basis of the first specific embodiment, the step of determining the passing area is further limited to obtain a second specific embodiment, a flow diagram of which is shown in fig. 2, and includes:
s201: and receiving the position information and the patrol route information of the robot.
S202: and determining a passing area according to the patrol route information.
S203: and judging whether the passing area comprises a stop area.
S204: and when the stop area is included, acquiring alternate patrol route information.
S205: and determining a replacement passing area according to the replacement patrol route information.
S206: and acquiring the traffic environment information in the alternative traffic area.
S207: and determining control instruction information according to the robot position information, the alternate patrol route information and the traffic environment information.
S208: and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the alternative traffic area.
The difference between this embodiment and the above embodiment is that a step of determining whether the passing area includes a deactivation area is added in this embodiment, and the rest of the steps are the same as those in the above embodiment, and are not described herein again.
In a specific patrol scene, the condition that the patrol robot cannot pass through temporarily due to reasons such as meeting, road overhaul and the like often occurs, in the specific implementation mode, the temporarily unable passing areas are used as the stopping areas, and when the patrol route is detected to pass through the stopping areas, the patrol route is automatically switched to a replacement patrol route, so that the trouble of manual operation is greatly saved, and the economic loss and the personal safety hidden trouble caused by the fact that the patrol robot is driven into a overhaul road section due to misoperation in the process of manually adjusting the patrol route are also avoided.
On the basis of the second specific embodiment, the traffic environment information is further limited to obtain a third specific embodiment, a flow diagram of which is shown in fig. 3, and includes:
s301: and receiving the position information and the patrol route information of the robot.
S302: and determining a passing area according to the patrol route information.
S303: and judging whether the passing area comprises a stop area.
S304: and when the stop area is included, acquiring alternate patrol route information.
S305: and determining a replacement passing area according to the replacement patrol route information.
S306: and acquiring image information in the alternate passing area.
S307: and determining control instruction information according to the robot position information, the alternate patrol route information and the image information.
S308: and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the alternative traffic area.
The difference between the present embodiment and the foregoing embodiment is that the present embodiment defines the traffic environment information as image information, and the remaining steps are the same as those in the foregoing embodiment, and are not repeated herein.
In the specific embodiment, the traffic environment information is limited to be image information, and the book searching traffic environment information is mainly used for clearly showing obstacles on a patrol route, so that the optimal obstacle identification and position marking can be achieved by directly adopting the visible light image information and combining an image identification technology, and furthermore, under the condition of insufficient light, an infrared camera can be used for collecting an infrared image for image identification.
The following describes a control device of an inspection robot according to an embodiment of the present invention, and the control device of the inspection robot described below and the control method of the inspection robot described above may be referred to in correspondence with each other.
Fig. 4 is a block diagram of a control device of an inspection robot according to an embodiment of the present invention, which is referred to as a fourth embodiment, where the control device of the inspection robot according to fig. 4 may include:
a receiving module 100, configured to receive robot position information and patrol route information;
the area determining module 200 is configured to determine a passing area according to the patrol route information;
an environment obtaining module 300, configured to obtain traffic environment information in the traffic area;
the instruction module 400 is configured to determine control instruction information according to the robot position information, the patrol route information, and the traffic environment information;
and the sending module 500 is used for sending the control instruction information to the inspection robot, so that the inspection robot can inspect in the traffic area.
As a preferred embodiment, the region determining module 200 further includes:
an availability judgment unit for judging whether the passing area comprises a stop area;
a substitute acquisition unit configured to acquire substitute patrol route information when the deactivation area is included;
the alternate-supplement determining unit is used for determining an alternate-supplement passing area according to the alternate-supplement patrol route information;
accordingly, the environment acquisition module 300 includes:
and the alternate environment acquisition unit is used for acquiring the traffic environment information in the alternate traffic area.
As a preferred embodiment, the environment acquisition module includes:
and the image acquisition unit is used for acquiring the image information in the passing area.
The control device of the inspection robot provided by the invention is used for receiving the position information and the patrol route information of the robot through the receiving module 100; the area determining module 200 is configured to determine a passing area according to the patrol route information; an environment obtaining module 300, configured to obtain traffic environment information in the traffic area; the instruction module 400 is configured to determine control instruction information according to the robot position information, the patrol route information, and the traffic environment information; and the sending module 500 is used for sending the control instruction information to the inspection robot, so that the inspection robot can inspect in the traffic area. The invention pre-determines the traffic environment information in the traffic area corresponding to the patrol route information after acquiring the patrol route information of the patrol robot, controls the patrol robot to finish patrol according to the traffic environment information as guidance, avoids the dangerous scene that the roadblock and the pedestrian appear in the visual field of the patrol robot and then temporarily judges the patrol robot due to the fact that the information of the roadblock, the pedestrian and the like in the traffic area is pre-determined, gives sufficient processing time for the system to adjust the travel route of the patrol robot, and in addition, the acquisition of the traffic environment information usually needs an environment information collector with a position different from the patrol robot and the pedestrian roadblock, can acquire more accurate position relation between the patrol robot and the pedestrian roadblock, and further greatly improves the ability of the patrol robot to avoid the pedestrian roadblock, and the inspection efficiency is improved.
The control device of the inspection robot of the present embodiment is configured to implement the foregoing control method of the inspection robot, and therefore specific embodiments of the control device of the inspection robot may be found in the foregoing embodiment parts of the control method of the inspection robot, for example, the receiving module 100, the area determining module 200, the environment obtaining module 300, the instruction module 400 and the sending module 500, which are respectively configured to implement steps S101, S102, S103, S104 and S105 in the control method of the inspection robot, so that specific embodiments thereof may refer to descriptions of corresponding respective part embodiments, and are not described herein again.
The invention also provides a control device of the inspection robot, which comprises:
a memory for storing a computer program;
and a processor for implementing the steps of the inspection robot control method according to any one of the above aspects when executing the computer program. The control method of the inspection robot provided by the invention comprises the steps of receiving position information and patrol route information of the robot; determining a passing area according to the patrol route information; acquiring traffic environment information in the traffic area; determining control instruction information according to the robot position information, the patrol route information and the traffic environment information; and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area. The invention pre-determines the traffic environment information in the traffic area corresponding to the patrol route information after acquiring the patrol route information of the patrol robot, controls the patrol robot to finish patrol according to the traffic environment information as guidance, avoids the dangerous scene that the roadblock and the pedestrian appear in the visual field of the patrol robot and then temporarily judges the patrol robot due to the fact that the information of the roadblock, the pedestrian and the like in the traffic area is pre-determined, gives sufficient processing time for the system to adjust the travel route of the patrol robot, and in addition, the acquisition of the traffic environment information usually needs an environment information collector with a position different from the patrol robot and the pedestrian roadblock, can acquire more accurate position relation between the patrol robot and the pedestrian roadblock, and further greatly improves the ability of the patrol robot to avoid the pedestrian roadblock, and the inspection efficiency is improved.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling an inspection robot as set forth in any one of the above. The control method of the inspection robot provided by the invention comprises the steps of receiving position information and patrol route information of the robot; determining a passing area according to the patrol route information; acquiring traffic environment information in the traffic area; determining control instruction information according to the robot position information, the patrol route information and the traffic environment information; and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area. The invention pre-determines the traffic environment information in the traffic area corresponding to the patrol route information after acquiring the patrol route information of the patrol robot, controls the patrol robot to finish patrol according to the traffic environment information as guidance, avoids the dangerous scene that the roadblock and the pedestrian appear in the visual field of the patrol robot and then temporarily judges the patrol robot due to the fact that the information of the roadblock, the pedestrian and the like in the traffic area is pre-determined, gives sufficient processing time for the system to adjust the travel route of the patrol robot, and in addition, the acquisition of the traffic environment information usually needs an environment information collector with a position different from the patrol robot and the pedestrian roadblock, can acquire more accurate position relation between the patrol robot and the pedestrian roadblock, and further greatly improves the ability of the patrol robot to avoid the pedestrian roadblock, and the inspection efficiency is improved.
The invention also provides a robot inspection system, a structural schematic diagram of one specific embodiment of which is shown in fig. 5, and is called as a fifth specific embodiment, and the robot inspection system comprises a roadside controller and an inspection robot;
the roadside controller 20 is configured to perform the steps of the inspection robot 10 control method according to any one of the above;
the roadside controller 20 comprises an environmental information collector for collecting the traffic environmental information;
the inspection robot 10 is used for inspection in the passage area.
It should be noted that the inspection robot 10 is a two-wheeled inspection robot 10. At present, the inspection robot 10 is mainly a single intelligent robot, the robot is high in cost and large in limitation, the type of the inspection robot 10 is mostly four-wheel inspection robot 10 and crawler-type inspection robot 10, the four-wheel inspection robot 10 generally adopts a driving mode of four-wheel differential, the phenomenon of 'drifting' inevitably generated in the inspection process is avoided, and the robot is not beneficial to control. The crawler-type robot has the advantages that the contact area between the crawler and the ground is large, large energy consumption can be generated in the inspection process, and the limited inspection time of the robot is reduced.
With the popularization and development of intelligent parks, more and more parks are provided with terminals meeting the hardware requirement of the roadside controller 20 in future, so that the inspection robot 10 is only required to be provided, and compared with the existing inspection robot, the inspection robot provided by the invention has the advantages of simpler structure and lower cost.
Preferably, wheels and a driving motor are symmetrically arranged on two sides of a chassis of the two-wheel balance vehicle body, and the driving mode adopts two-wheel differential driving; a power supply module is arranged above the chassis and comprises a rechargeable battery and a power supply management module, and the power supply module is used for supplying power to other modules of the inspection robot 10; an equipment bracket is arranged above the power module and is used for additionally installing other module equipment; the built-in system of the control module is a Linux system and an ROS system, and is responsible for controlling and acquiring data of different sensors, receiving cloud tasks and reasoning results of the roadside controller 20 and controlling the motion of the robot; the communication module adopts 5G CPE or 5G communication module for patrol and examine robot 10 and roadside controller 20 and high in the clouds control cabinet communication.
Preferably, the environment information collector comprises a camera module and a temperature and humidity acquisition module, the camera module is arranged in front of the equipment support and used for image acquisition and visual SALM mapping, in order to prevent the camera from losing frames due to instability of the robot, the camera is fixed in a self-balancing micro cloud platform mode, and the stability is ensured by automatically adjusting the angle of the camera; the temperature and humidity acquisition module is installed behind the equipment support and used for acquiring the environment temperature and humidity in the inspection process.
Preferably, the positioning module supports Beidou, GPS and GLONASS satellite systems, and provides outdoor high-precision positioning for the robot. The voice module comprises a sound module and a sound pick-up, collects peripheral sounds of the robot and sends the peripheral sounds to the edge server for abnormal condition analysis, and meanwhile, the voice module can be used for broadcasting broadcast information and providing remote help.
Preferably, the protective shell of the inspection robot 10 conforms to the IP53 grade, the amount of dust entering the robot does not affect the normal operation of equipment and the safety, and each vertical plane of the robot has no harmful effect when being rained within the range of 60 degrees.
The roadside controller 20 can be arranged on the side of a road, preferably, the environmental information collector of the roadside controller 20 of a straight road is only provided with a camera, and the environmental information collector of the roadside controller 20 of a garden intersection and a complex road is provided with a laser radar and a camera.
Preferably, each two roadside controllers 20 use an edge server, which is used for processing video data and lidar data acquired by the roadside controllers 20 to provide accurate road condition information and positioning service for the robot, and is used for processing audio and video information sent by the robot end in real time to enhance the image detection, image recognition and voice recognition capabilities of the robot. And the edge server sends the inference calculation result to the robot end through 5G to help the robot to complete the inspection task.
As a preferred embodiment, a cloud console can be used for controlling the robot inspection system, and the robot inspection system comprises a robot management platform, a task management platform, a data management platform and a remote control platform;
the robot management platform is used for counting the robot state information such as the working state, the real-time position, the fault information and the like of the robot;
a manager can select a polling point on the task management platform, make a polling path and set an abnormal alarm threshold;
the data management platform can be used for counting and analyzing data at the inspection robot 10 and storing a garden high-precision map, and the garden map can be continuously updated by means of the data acquired by the inspection robot 10;
when the inspection robot 10 has an abnormal fault, a manager can remotely take over the robot through the remote control platform and control the robot to return to a starting point for detection and maintenance.
The manager can construct a map of a patrol area (such as an industrial park) through the patrol robot 10, and issue tasks through the cloud console.
The following provides a concrete scenario for a manager to use the robot inspection system:
the invention relates to a two-wheel inspection robot system and a method based on vehicle-road cooperation, wherein the method comprises the following working procedures:
s1, controlling the inspection robot by the manager to construct a park map;
s2, the manager issues the inspection task through the console;
and S3, the inspection robot executes the inspection task.
The process S1 includes the following steps:
s11, binding the inspection robot information on the management interface of the console robot by the manager;
s12, after the inspection robot is started, a manager controls the robot by using a remote controller, and visual SLAM drawing is carried out in the garden through a robot camera;
and S13, according to the drawing effect, the manager selects whether to store the drawing in the cloud console.
The process S2 includes the following steps:
s21, selecting a garden map on a console task management platform by a manager;
s22, setting a patrol starting point, a patrol stopping point, a charge point and a route point on the park map by the manager, and setting a route point sequence;
s23, the manager sets abnormal alarm information in the inspection task, wherein the abnormal alarm information comprises a temperature alarm threshold, a humidity alarm threshold, a personnel dangerous behavior alarm, a stranger vehicle alarm and the like;
s24, clicking to send the inspection task after the administrator finishes the setting;
s25, the cloud console plans an optimal routing inspection path according to the routing inspection task issued by the manager;
and S26, the cloud console issues the inspection task and the inspection path to the inspection robot end.
The process S3 includes the following steps:
s31, the inspection robot receives an inspection task of the cloud console;
s32, continuously adjusting a robot motor control signal according to the pose of the robot in the inspection process of the inspection robot to keep the robot balanced;
s33, when the inspection robot runs, the camera keeps stable by using the self-balancing micro-holder device, and is used for identifying the surrounding environment and determining the position of the robot by fusing the position information of the positioning module;
s34, the inspection robot uploads the data, the acquired environment data and the audio and video data to an edge server and a cloud console;
s35, the inspection robot receives the road condition information and the audio and video reasoning result issued by the roadside unit edge server in real time, the control module continuously adjusts the motion path of the robot according to the received information, and meanwhile, abnormal information is uploaded to the cloud control console.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The detailed description of the inspection robot control method, the inspection robot control device, the inspection robot control equipment, the computer readable storage medium and the inspection robot inspection system provided by the invention are provided above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control method of an inspection robot is characterized by comprising the following steps:
receiving position information and patrol route information of the robot;
determining a passing area according to the patrol route information;
acquiring traffic environment information in the traffic area;
determining control instruction information according to the robot position information, the patrol route information and the traffic environment information;
and sending the control instruction information to an inspection robot, so that the inspection robot can inspect in the traffic area.
2. The inspection robot control method according to claim 1, further comprising, after the determining a passing area based on the patrol route information:
judging whether the passing area comprises a stop area;
when the stop area is included, acquiring alternate patrol route information;
determining a replacement passing area according to the replacement patrol route information;
correspondingly, the acquiring the traffic environment information in the traffic area comprises:
and acquiring the traffic environment information in the alternative traffic area.
3. The inspection robot control method according to claim 1, wherein the acquiring traffic environment information within the traffic area includes:
and acquiring image information in the passing area.
4. The utility model provides a control device who patrols and examines robot which characterized in that includes:
the receiving module is used for receiving the position information and the patrol route information of the robot;
the area determining module is used for determining a passing area according to the patrol route information;
the environment acquisition module is used for acquiring the passing environment information in the passing area;
the command module is used for determining control command information according to the robot position information, the patrol route information and the traffic environment information;
and the sending module is used for sending the control instruction information to the inspection robot, so that the inspection robot can inspect in the traffic area.
5. The inspection robot control device according to claim 1, wherein the zone determination module further includes:
an availability judgment unit for judging whether the passing area comprises a stop area;
a substitute acquisition unit configured to acquire substitute patrol route information when the deactivation area is included;
the alternate-supplement determining unit is used for determining an alternate-supplement passing area according to the alternate-supplement patrol route information;
accordingly, the environment acquisition module comprises:
and the alternate environment acquisition unit is used for acquiring the traffic environment information in the alternate traffic area.
6. The inspection robot control device according to claim 1, wherein the environment acquisition module includes:
and the image acquisition unit is used for acquiring the image information in the passing area.
7. The utility model provides a controlgear who patrols and examines robot which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the inspection robot control method according to any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, having stored thereon, a computer program which, when executed by a processor, implements the steps of the method of controlling an inspection robot according to any one of claims 1 to 3.
9. A robot inspection system is characterized by comprising a roadside controller and an inspection robot;
the roadside controller for performing the steps of the inspection robot control method according to any one of claims 1 to 3;
the roadside controller comprises an environmental information collector for collecting the traffic environmental information;
the inspection robot is used for inspecting in the traffic area.
10. The robot inspection system according to claim 9, wherein the inspection robot is a two-wheeled inspection robot.
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Application publication date: 20201027 |