CN112318484A - Task scheduling method for track inspection robot - Google Patents

Task scheduling method for track inspection robot Download PDF

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Publication number
CN112318484A
CN112318484A CN202011473329.1A CN202011473329A CN112318484A CN 112318484 A CN112318484 A CN 112318484A CN 202011473329 A CN202011473329 A CN 202011473329A CN 112318484 A CN112318484 A CN 112318484A
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China
Prior art keywords
task
inspection
execution
inspection robot
priority
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CN202011473329.1A
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Chinese (zh)
Inventor
方尔庆
宋章超
张艺翔
王宏飞
张树龙
姜明武
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Suzhou Guangge Equipment Co ltd
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Suzhou Guangge Equipment Co ltd
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Priority to CN202011473329.1A priority Critical patent/CN112318484A/en
Publication of CN112318484A publication Critical patent/CN112318484A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/06Resources, workflows, human or project management, e.g. organising, planning, scheduling or allocating time, human or machine resources; Enterprise planning; Organisational models
    • G06Q10/063Operations research or analysis
    • G06Q10/0631Resource planning, allocation or scheduling for a business operation
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/06Resources, workflows, human or project management, e.g. organising, planning, scheduling or allocating time, human or machine resources; Enterprise planning; Organisational models
    • G06Q10/063Operations research or analysis
    • G06Q10/0631Resource planning, allocation or scheduling for a business operation
    • G06Q10/06316Sequencing of tasks or work

Abstract

The invention discloses a task scheduling method for a track inspection robot, which utilizes the inspection robot to generate an execution task queue and endow various task priorities, and carries out limited dynamic adjustment on charging tasks, so that various tasks of the inspection robot can be efficiently switched according to the task priorities, wherein different types of tasks have different task priorities, and 3-digit numbers are used for representing the priorities, so that the comparison of multi-level priorities can be realized, and the expansion of service application is facilitated; the charging task can automatically adjust the priority according to the residual electric quantity of the inspection robot, and whether the charging task can be interrupted or not and whether the charging task needs to be automatically recovered after being interrupted or not are added into the task description, so that the task interruption and recovery functions can be flexibly configured; and periodically checking the execution task queue to ensure the priority of task execution.

Description

Task scheduling method for track inspection robot
Technical Field
The invention belongs to the field of inspection robots of power systems, relates to an automatic robot control technology, and particularly relates to a task scheduling method for a track inspection robot.
Background
The rail-mounted inspection robot is widely applied to industrial fields such as tunnels, pipe galleries, transformer substations and the like and is used for acquiring field environment data. The track inspection robot can execute different types of tasks according to the requirements:
and timing inspection task: regularly going to a designated patrol point to collect environment data;
and (3) manual inspection task: receiving a manual control instruction of an operation and maintenance worker, and executing a specified inspection action;
and (3) charging task: when the electric quantity of the inspection robot is insufficient or a manual control charging instruction is received, the inspection robot goes to a charging pile for charging;
and (3) calibration task: before the inspection robot formally executes an inspection task, the track needs to be calibrated so as to determine the track related information such as the type, the length, the gradient and the like of all the tracks.
In order to improve the service efficiency of the inspection robot, the inspection robot needs to be capable of efficiently switching among various types of tasks without affecting the correctness and integrity of the execution result of the normal inspection task, and therefore, a reasonable and efficient task scheduling algorithm needs to be adopted by the inspection robot.
Disclosure of Invention
In view of the above, there is a need to overcome at least one of the above-mentioned deficiencies in the prior art. The invention provides a task scheduling method for a track inspection robot, which comprises the following steps:
including patrolling and examining the robot, be used for with patrol and examine the interactive server of robot, with the interactive customer end of server, the installation patrol and examine the robot and bear patrol and examine the track of patrolling and examining of robot motion, the server with patrol and examine the robot and link through wired or wireless mode:
the client or the server generates various tasks, when the client generates various tasks, the tasks are transmitted to the server for storage, the task execution requests are transmitted to the corresponding inspection robots through the server, and when the server generates various tasks, the task execution requests are transmitted to the corresponding inspection robots after the server stores the tasks;
the inspection robot receives the task execution request and downloads the corresponding tasks, the tasks are stored in an execution queue of an inspection robot control unit, various tasks in the execution queue comprise priorities, and the inspection robot comprehensively judges and operates according to the task priorities and the state properties of the current execution tasks;
the control unit periodically checks the execution queue, finds the highest priority task in the execution list, and executes the highest priority task after the current execution task is executed when the current execution task exists and the current execution task cannot be interrupted; when the current execution task can be interrupted and the priority of the highest priority task is higher than the priority of the current execution task, interrupting the current execution task and executing the highest priority task; and when the inspection robot is in an idle task state, the control unit periodically checks the execution task queue and performs a task execution process according to the priority level.
The tasks comprise a timing inspection task, a manual inspection task, a charging task, a calibration task and an idle task, and the priority order is as follows: the method comprises the steps of calibrating tasks, manually inspecting tasks, charging tasks, regularly inspecting tasks and idle tasks, wherein the priority of the charging tasks is adjusted according to the electric quantity of the inspection robot.
The technical scheme provides a new design idea, the inspection robot is utilized to generate an execution task queue and endow various task priorities, and limited dynamic adjustment is carried out on charging tasks, so that various tasks of the inspection robot can be efficiently switched according to the task priorities, wherein different types of tasks have different task priorities, and 3-digit numbers are used for representing the priorities, so that the comparison of the multi-level priorities can be realized, and the expansion of service application is facilitated; the charging task can automatically adjust the priority according to the residual electric quantity of the inspection robot, and whether the charging task can be interrupted or not and whether the charging task needs to be automatically recovered after being interrupted or not are added into the task description, so that the task interruption and recovery functions can be flexibly configured; and periodically checking the execution task queue to ensure the priority of task execution.
In addition, the task scheduling method for the track inspection robot disclosed by the invention also has the following additional technical characteristics:
further, the following table is defined for each type of task according to the attributes of priority, whether interruption is allowed, whether automatic recovery is required after interruption, whether multiple identical instances are allowed, and the like:
the priority of each task is identified by adopting multi-bit numbers, the comparison of multi-level priorities can be realized, the expansion of service application is facilitated, whether the task is added to be interrupted or not and whether the attribute needs to be automatically recovered or not after the interruption or not are described, and the interruption and recovery functions of the task can be flexibly configured; the idle task does not execute any action, and all other types of tasks execute the idle task after execution is completed. The larger the task priority value, the lower its priority.
Further, after the timing inspection task is generated by the server or the client, a description file of the timing inspection task is sent to the inspection robot through the server, the inspection robot stores the description file of the timing inspection task and periodically checks whether the timing inspection task is due and needs to be executed, if yes, a timing inspection task is generated and added to the execution task queue, wherein the timing inspection task is used for periodically sending to a specified inspection point to acquire environment data, if the timing inspection task exists in the task queue at the moment, all existing timing inspection tasks are traversed, and the priority of the newly generated timing inspection task is equal to the maximum value +1 of the existing timing inspection tasks in the queue.
Further, the manual task of patrolling and examining by the server or after the customer end produced, through the server sends down the description file of manual task of patrolling and examining give the robot of patrolling and examining, when the robot of patrolling and examining received the server and sent the manual task of patrolling and examining execution request that patrols and examines, produce a manual task of patrolling and examining and add the execution task queue, wherein the manual task of patrolling and examining is for accepting the operation and maintenance personnel manual control instruction, carries out appointed action of patrolling and examining.
Furthermore, after the calibration task is generated by the server or the client, the server issues a description file of the calibration task to the inspection robot, and when the inspection robot receives the calibration task execution request issued by the server, a calibration task is generated and added to the execution task queue, where the calibration task is to calibrate the track before the inspection robot formally executes the inspection task, so as to determine the track-related information such as the type, the length, the gradient, and the like of all the tracks.
Further, the priority of the charging task is dynamically adjusted according to the electric quantity of the inspection robot:
(1) if the execution task queue and the current task do not have the charging task, the adjusting process is finished;
(2) if the residual electric quantity of the inspection robot is lower than the lowest safe electric quantity, adjusting the priority of the charging task to be the priority of the calibration task of-1;
(3) if the residual electric quantity of the inspection robot is higher than the normal safe electric quantity, the priority of the charging task is adjusted to be-1 of the priority of the idle task;
(4) if the task with the highest priority in the execution task queue is the timing inspection task and the current residual electric quantity can meet the electric quantity requirement of the timing inspection task, adjusting the priority of the charging task to be +1 of the priority of the timing inspection task;
wherein: the minimum safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of basic equipment of the inspection robot, and the normal safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of all equipment of the inspection robot to any point of the track in a normal opening state and returning to the nearest charging pile.
Further, the execution task queue is checked regularly, and the task with the highest priority in the execution task queue is executed, the process is as follows:
(1) if the execution task queue is empty, the inspection is finished;
(2) taking out the task with the highest priority from the execution task queue;
(3) if the current execution task can not be interrupted, the current inspection is finished;
(4) if the priority of the currently executed task is higher than the priority of the task with the highest priority, the examination is finished;
(5) interrupting the currently executed task;
(6) if the current execution task needs to be recovered after interruption, adding the current execution task into the execution task queue;
(7) deleting the highest priority task from the execution task queue;
(8) and executing the task with the highest priority in the execution task queue.
Further, the inspection robot enters the idle task mode after executing any task, and enters other task execution modes from the idle task mode.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating dynamic priority adjustment of charging tasks according to an embodiment of the invention;
FIG. 3 is a diagram illustrating a task queue for timing check according to an embodiment of the present invention.
The client A, the server B and the inspection robot C are connected with the inspection robot.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "lateral", "vertical", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplification of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specifically stated or limited, the terms "coupled," "communicating," "connected," "coupled," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, integrally coupled, or detachably coupled; may be communication within two elements; can be directly connected or indirectly connected through an intermediate medium; "mating" may be a surface-to-surface mating, a point-to-surface or line-to-surface mating, and also includes a hole axis mating, and it is obvious to those skilled in the art that the above terms have specific meanings in the present invention.
According to the embodiment of the invention, the system comprises an inspection robot, a server and a client, wherein the server is used for interacting with the inspection robot, the client interacts with the server, an inspection track is arranged on the inspection robot and bears the motion of the inspection robot, and the server is connected with the inspection robot in a wired or wireless mode:
the client or the server generates various tasks, when the client generates various tasks, the tasks are transmitted to the server for storage, the task execution requests are transmitted to the corresponding inspection robots through the server, and when the server generates various tasks, the task execution requests are transmitted to the corresponding inspection robots after the server stores the tasks;
the inspection robot receives the task execution request and downloads the corresponding tasks, the tasks are stored in an execution queue of an inspection robot control unit, various tasks in the execution queue comprise priorities, and the inspection robot comprehensively judges and operates according to the task priorities and the state properties of the current execution tasks;
the control unit periodically checks the execution queue, finds the highest priority task in the execution list, and executes the highest priority task after the current execution task is executed when the current execution task exists and the current execution task cannot be interrupted; when the current execution task can be interrupted and the priority of the highest priority task is higher than the priority of the current execution task, interrupting the current execution task and executing the highest priority task; and when the inspection robot is in an idle task state, the control unit periodically checks the execution task queue and performs a task execution process according to the priority level.
The tasks comprise a timing inspection task, a manual inspection task, a charging task, a calibration task and an idle task, and the priority order is as follows: the method comprises the steps of calibrating tasks, manually inspecting tasks, charging tasks, regularly inspecting tasks and idle tasks, wherein the priority of the charging tasks is adjusted according to the electric quantity of the inspection robot.
In addition, the task scheduling method for the track inspection robot disclosed by the invention also has the following additional technical characteristics:
according to the embodiment of the invention, the following table is defined for various types of tasks according to the attributes of priority, whether interruption is allowed, whether automatic recovery is required after interruption, whether a plurality of identical instances are allowed, and the like:
the priority of each task is identified by adopting multi-bit numbers, the comparison of multi-level priorities can be realized, the expansion of service application is facilitated, whether the task is added to be interrupted or not and whether the attribute needs to be automatically recovered or not after the interruption or not are described, and the interruption and recovery functions of the task can be flexibly configured; the idle task does not execute any action, and all other types of tasks execute the idle task after execution is completed. The larger the task priority value, the lower its priority.
The following description is provided for an example of whether the execution task queue red allows a plurality of the same types, where this part is mainly used in the timing inspection task, for example, if 9:00 has a timing task to be executed, 9:05 has another timing task to be executed, but the 9:00 task is not yet executed, the 9:05 task is also added to the task queue, and at this time, 2 timing inspection tasks exist in the queue, and only one task is allowed to exist in the queue for other types of tasks.
According to the embodiment of the invention, after the timing inspection task is generated by the server or the client, the server sends the description file of the timing inspection task to the inspection robot, the inspection robot stores the description file of the timing inspection task and periodically checks whether the timing inspection task is due and needs to be executed, if so, the inspection robot generates a timing inspection task and adds the timing inspection task into the execution task queue, wherein the timing inspection task is used for regularly going to a specified inspection point to acquire environmental data.
According to the embodiment of the invention, after the manual inspection task is generated by the server or the client, the server issues the description file of the manual inspection task to the inspection robot, and when the inspection robot receives the manual inspection task execution request issued by the server, the inspection robot generates a manual inspection task and adds the manual inspection task to the execution task queue, wherein the manual inspection task is used for receiving a manual control instruction of an operation and maintenance person and executing a specified inspection action.
According to some embodiments of the invention, after the calibration task is generated by the server or the client, the server issues a description file of the calibration task to the inspection robot, and when the inspection robot receives the calibration task execution request issued by the server, a calibration task is generated and added to the execution task queue, where the calibration task is to calibrate the track before the inspection robot formally executes the inspection task, so as to determine the track-related information such as the type, length, gradient, and the like of all the tracks.
According to some embodiments of the invention, the priority of the charging task is dynamically adjusted according to the electric quantity of the inspection robot:
(1) if the execution task queue and the current task do not have the charging task, the adjusting process is finished;
(2) if the residual electric quantity of the inspection robot is lower than the lowest safe electric quantity, adjusting the priority of the charging task to be the priority of the calibration task of-1;
(3) if the residual electric quantity of the inspection robot is higher than the normal safe electric quantity, the priority of the charging task is adjusted to be-1 of the priority of the idle task;
(4) if the task with the highest priority in the execution task queue is the timing inspection task and the current residual electric quantity can meet the electric quantity requirement of the timing inspection task, adjusting the priority of the charging task to be +1 of the priority of the timing inspection task;
wherein: the minimum safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of basic equipment of the inspection robot, and the normal safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of all equipment of the inspection robot to any point of the track in a normal opening state and returning to the nearest charging pile.
According to some embodiments of the present invention, the execution task queue is checked periodically, and the task with the highest priority in the execution task queue is executed, the process is as follows:
(1) if the execution task queue is empty, the inspection is finished;
(2) taking out the task with the highest priority from the execution task queue;
(3) if the current execution task can not be interrupted, the current inspection is finished;
(4) if the priority of the currently executed task is higher than the priority of the task with the highest priority, the examination is finished;
(5) interrupting the currently executed task;
(6) if the current execution task needs to be recovered after interruption, adding the current execution task into the execution task queue;
(7) deleting the highest priority task from the execution task queue;
(8) and executing the task with the highest priority in the execution task queue.
According to some embodiments of the invention, the inspection robot enters the idle task mode after executing any task, and enters other task execution modes from the idle task mode.
Any reference to "one embodiment," "an embodiment," "example embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. This schematic representation in various places throughout this specification does not necessarily refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the purview of one skilled in the art to effect such feature, structure, or characteristic in connection with other ones of the embodiments.
While specific embodiments of the invention have been described in detail with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. In particular, reasonable variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the foregoing disclosure, the drawings and the appended claims without departing from the spirit of the invention. Except variations and modifications in the component parts and/or arrangements, the scope of which is defined by the appended claims and equivalents thereof.

Claims (8)

1. The utility model provides a task scheduling method for track inspection robot, which characterized in that, including inspection robot, be used for with the interactive server of inspection robot, with the interactive client of server, install inspection robot just bears the weight of the track of patrolling and examining of inspection robot motion, the server with inspection robot passes through wired or wireless mode connection:
the client or the server generates various tasks, when the client generates various tasks, the tasks are transmitted to the server for storage, the task execution requests are transmitted to the corresponding inspection robots through the server, and when the server generates various tasks, the task execution requests are transmitted to the corresponding inspection robots after the server stores the tasks;
the inspection robot receives the task execution request and downloads the corresponding tasks, the tasks are stored in an execution queue of an inspection robot control unit, various tasks in the execution queue comprise priorities, and the inspection robot comprehensively judges and operates according to the task priorities and the state properties of the current execution tasks;
the control unit periodically checks the execution queue, finds the highest priority task in the execution list, and executes the highest priority task after the current execution task is executed when the current execution task exists and the current execution task cannot be interrupted; when the current execution task can be interrupted and the priority of the highest priority task is higher than the priority of the current execution task, interrupting the current execution task and executing the highest priority task; when the inspection robot is in an idle task state, the control unit periodically checks the execution task queue and performs a task execution process according to the priority level;
the tasks comprise a timing inspection task, a manual inspection task, a charging task, a calibration task and an idle task, and the priority order is as follows: the method comprises the steps of calibrating tasks, manually inspecting tasks, charging tasks, regularly inspecting tasks and idle tasks, wherein the priority of the charging tasks is adjusted according to the electric quantity of the inspection robot.
2. The task scheduling method for the track inspection robot according to claim 1, wherein the server sends the description file of the timed inspection task to the inspection robot after the timed inspection task is generated by the server or the client, the inspection robot saves the description file of the timed inspection task and periodically checks whether the timed inspection task is due and needs to be executed, if yes, a timed inspection task is generated and added into the execution task queue, and the timed inspection task is periodically sent to a specified inspection point to acquire environmental data.
3. The task scheduling method for the track inspection robot according to claim 1, wherein the manual inspection task is generated by the server or the client, the server issues a description file of the manual inspection task to the inspection robot, and when the inspection robot receives an execution request of the manual inspection task issued by the server, the inspection robot generates a manual inspection task and adds the manual inspection task to the execution task queue, wherein the manual inspection task is used for receiving a manual control instruction of an operation and maintenance worker and executing a specified inspection action.
4. The task scheduling method for the track inspection robot according to claim 1, wherein the calibration task is generated by the server or the client, the server issues a description file of the calibration task to the inspection robot, when the inspection robot receives the calibration task execution request issued by the server, a calibration task is generated and added to the execution task queue, wherein the calibration task is that the track needs to be calibrated before the inspection robot formally executes the inspection task, so as to determine the track-related information such as the type, the length, the gradient and the like of all the tracks.
5. The task scheduling method for the track inspection robot according to claim 1, wherein the charging task is generated by the server or the client, the server issues a description file of the charging task to the inspection robot, when the inspection robot receives a charging task execution request issued by the server, a charging task is generated and added to the execution task queue, and the charging task is formed by charging a charging pile when the inspection robot has insufficient self-power or receives a manual control charging instruction.
6. The task scheduling method for the track inspection robot according to claim 1, wherein the priority of the charging task is dynamically adjusted according to the electric quantity of the inspection robot:
(1) if the execution task queue and the current task do not have the charging task, the adjusting process is finished;
(2) if the residual electric quantity of the inspection robot is lower than the lowest safe electric quantity, adjusting the priority of the charging task to be the priority of the calibration task of-1;
(3) if the residual electric quantity of the inspection robot is higher than the normal safe electric quantity, the priority of the charging task is adjusted to be-1 of the priority of the idle task;
(4) if the task with the highest priority in the execution task queue is the timing inspection task and the current residual electric quantity can meet the electric quantity requirement of the timing inspection task, adjusting the priority of the charging task to be +1 of the priority of the timing inspection task;
wherein: the minimum safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of basic equipment of the inspection robot, and the normal safe electric quantity refers to the minimum electric quantity required by the position of the nearest charging pile and capable of maintaining the operation of all equipment of the inspection robot to any point of the track in a normal opening state and returning to the nearest charging pile.
7. The task scheduling method for the track inspection robot according to claim 1, wherein the execution task queue is checked at regular time, and the task with the highest priority in the execution task queue is executed, and the process is as follows:
(1) if the execution task queue is empty, the inspection is finished;
(2) taking out the task with the highest priority from the execution task queue;
(3) if the current execution task can not be interrupted, the current inspection is finished;
(4) if the priority of the currently executed task is higher than the priority of the task with the highest priority, the examination is finished;
(5) interrupting the currently executed task;
(6) if the current execution task needs to be recovered after interruption, adding the current execution task into the execution task queue;
(7) deleting the highest priority task from the execution task queue;
(8) and executing the task with the highest priority in the execution task queue.
8. The task scheduling method for the track inspection robot according to claim 1, wherein the inspection robot enters the idle task mode after executing any task, and enters other task execution modes from the idle task mode.
CN202011473329.1A 2020-12-15 2020-12-15 Task scheduling method for track inspection robot Pending CN112318484A (en)

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CN112509169B (en) * 2021-02-08 2021-05-14 北京蒙帕信创科技有限公司 Scheduling and inspection method and system for artificial intelligent robot

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