CN112720443A - Inspection robot and control device and inspection method thereof - Google Patents
Inspection robot and control device and inspection method thereof Download PDFInfo
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- CN112720443A CN112720443A CN202011539735.3A CN202011539735A CN112720443A CN 112720443 A CN112720443 A CN 112720443A CN 202011539735 A CN202011539735 A CN 202011539735A CN 112720443 A CN112720443 A CN 112720443A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to an inspection robot which is configured to inspect an area, wherein a plurality of inspected objects are distributed in the area, the inspection robot comprises a walking device for driving the inspection robot to move in the area, a detection device for acquiring the state information of the inspected objects, and a control device, the control device comprises a fault determination unit, a communication condition detection unit and a fault position calibration unit, when the inspection robot is in a low communication state, if the inspected objects have faults, the positions of the inspected objects move along one direction, and the moving distance and the moving path are recorded until a characteristic point is reached. The invention also provides a control device and an inspection method associated with the inspection robot. The invention can conveniently mark the fault position under the condition of low communication and improve the inspection efficiency.
Description
Technical Field
The invention relates to the field of robots, in particular to an inspection robot, a control device for the inspection robot and an inspection method.
Background
Compared with manual inspection, the inspection robot has the obvious advantages of high inspection efficiency, adaptability to high-risk and complex environments and the like, and is widely applied to various fields of electric power, transportation, chemical industry, security and the like, such as transformer substations, electric power lines, railway lines, underground pipe networks and the like. According to different inspection environments and inspection requirements, the inspection robots are very different, one type of inspection robot is configured to inspect a region, and a plurality of inspected objects are distributed in the inspection region.
The positioning capability of the inspection robot is a basic requirement for smoothly completing inspection tasks. When the inspection robot finds a fault, the fault position needs to be positioned and reported. Typically such positioning is not difficult. The inspection robot is generally provided with sensing and measuring devices such as vision, laser and the like, and is matched with a communication network to realize positioning generally without difficulty. In outdoor environment, positioning can be conveniently realized by satellite positioning systems such as GPS, Beidou and the like in cooperation with a mobile communication network and the like. In an indoor environment, the inspection robot itself or an inspection target with a fault can be positioned by using a method of calculating the relative position between the inspection robot and a base station or an access point through signal intensity change by using WI-FI, a mobile communication network or the like.
The invention patent application CN110850723A discloses a fault diagnosis and positioning method based on a substation inspection robot system. This patent application has proposed a transformer substation patrols and examines robot system, including server end, communication module, host system, data acquisition module, navigation module and motion control module, wherein main control unit is arrived with the information that gathers to data acquisition module and navigation module, and main control unit passes through communication module and conveys information to the server end, also receives the instruction that comes from the server end simultaneously, and main control unit receives the information that comes from motion control unit and also can send the instruction for motion control unit.
However, in view of the complexity of the work environment and the work condition of the inspection robot, the function of the inspection robot for positioning using the communication network sometimes does not work. Therefore, improvements in the positioning function of the inspection robot are required.
Disclosure of Invention
The invention aims to provide an inspection robot, a control device and an inspection method, so that the inspection robot can effectively position a detected target with a fault under a low communication condition.
In view of the above object, the present invention provides an inspection robot configured to inspect an area in which a plurality of objects to be inspected are distributed; this robot patrols and examines includes:
the traveling device is used for driving the inspection robot to move in the area;
the detection device is used for acquiring the state information of the detected object;
a control device, comprising:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault location calibration unit configured to, when the inspection robot is in a low communication condition, perform the following steps:
and controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until a characteristic point is reached.
Optionally, the fault location calibration unit is further configured to:
and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
Based on the purpose of the invention, the invention also provides an inspection robot which is configured to inspect an area, wherein a plurality of inspected objects are distributed in the area; this robot patrols and examines includes:
the traveling device is used for driving and supporting the inspection robot to move in the area;
the detection device is used for acquiring the state information of the detected object;
a control device, comprising:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault location calibration unit configured to control the inspection robot to move in n directions from the detected object location and record the moving distance in each direction when the inspection robot is in a low communication condition, control the inspection robot to return to the detected object location and move in a different direction if the moving distance reaches a predetermined threshold until m feature points are reached,
wherein n and m are natural numbers, and n is not less than m and not more than a predetermined constant.
Optionally, wherein m is set to 3.
Optionally, the fault location calibration unit is configured to record a moving path of the inspection robot.
In accordance with the foregoing object, the present invention also proposes a control apparatus for an inspection robot configured to control the inspection robot to inspect an area in which a plurality of inspected objects are distributed; the inspection robot comprises a detection device and a walking device, wherein the detection device is used for acquiring the state information of an object to be detected, and the walking device is used for driving and supporting the inspection robot to move in the area; the control device includes:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault location calibration unit configured to, when the inspection robot is in a low communication condition, perform the following steps:
and controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until a characteristic point is reached.
And if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
In accordance with the foregoing objects, the present invention also provides a patrol method using a patrol robot, the patrol robot being configured to patrol an area in which a plurality of objects to be patrolled are distributed; the inspection method comprises the following steps:
driving the inspection robot to move along a preset inspection path in the area;
acquiring state information of a detected object;
judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
if the detected object is in a fault state, further judging whether the inspection robot is in a low communication condition;
if the inspection robot is in a low communication condition, controlling the robot to execute the following steps:
controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until reaching a characteristic point;
and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
In accordance with the foregoing objects, the present invention also provides a patrol method using a patrol robot which is configured to patrol a region in which a plurality of objects to be patrolled are distributed; the inspection method comprises the following steps:
driving the robot to move along a predetermined inspection path in the area;
acquiring state information of a detected object;
judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
if the detected object is in a fault state, further judging whether the inspection robot is in a low communication condition;
if the robot is in a low communication condition, controlling the inspection robot to execute the following steps:
and controlling the inspection robot to move from the position of the detected object along a plurality of directions, recording the moving distance in each direction, and if the moving distance reaches a preset threshold value or reaches one of the characteristic points, controlling the inspection robot to return to the position of the detected object and move along a different direction until reaching three characteristic points.
Optionally, at least one of the feature points has known location information.
Optionally, the position information of at least one feature point is unknown and belongs to a predetermined sequence stored by the inspection robot.
With the progress of information communication technology, more and more inspection robots are equipped with various advanced detection and positioning equipment. But these devices are heavily dependent on external communication conditions such as satellite communication, mobile communication or indoor communication networks, etc. Once the inspection robot is in a low communication condition, the inspection robot usually loses the positioning capability, so that inspection cannot be normally carried out; and the occurrence of the low communication condition has a realistic possibility in view of the complexity of the work environment of the inspection robot. According to the technical scheme provided by the invention, under the condition that the positioning can not be realized by utilizing a communication network, the inspection robot can still find the characteristic points with known or knowable positions by moving, so that the positions of the detected targets with faults are calculated and recorded, the repeated inspection is avoided, and the inspection efficiency is improved.
Drawings
Fig. 1 is a schematic view of the working principle of a patrol robot according to an embodiment of the present invention;
fig. 2 is a schematic view of the working principle of a patrol robot according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a functional module of a patrol robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a functional module of a control device for an inspection robot according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a method for locating a position of a detected object having a fault by an inspection machine according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a method for locating a position of a detected object having a fault by an inspection machine according to another embodiment of the present invention.
The figures are for illustrative purposes only and are not intended to be drawn to scale. In the drawings, like reference numerals are used to indicate like elements. For purposes of clarity, not every component may be labeled in every drawing.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The invention will be described below with reference to several examples. It is to be understood that these embodiments are described in order to enable others skilled in the art to better understand and implement the present invention, and are not intended to represent or imply any limitation on the scope of the present invention.
Fig. 1 is a schematic view of the working principle of a patrol robot according to an embodiment of the present invention. As shown in the drawing, the inspection robot 101 inspects a region, in which a plurality of objects to be inspected are distributed, along a predetermined inspection path. The inspection robot 101 itself has the functions of detection and walking. At a fault location 102 as shown in the figure, the inspection robot 101 detects that the detected object has a fault. Thus, the inspection robot 101 detects the communication network. If the communication network is normal, the inspection robot can locate and report the fault position through the communication network by using the conventional technology, and the invention is not discussed in detail. If the inspection robot 101 cannot perform positioning using the communication network, i.e., is in a low communication condition, it may be necessary to determine the fault location in the manner proposed by the present invention. Thus, the inspection robot 101 can move in one moving direction 103 and record the distance and path of movement until reaching the first feature point 104. In this way, even when the inspection robot cannot determine the fault location through the communication network and the positioning system depending on the communication network at once, the coordinates of the fault location 104 can be finally determined by its distance and moving path with respect to the first feature point 104.
The feature points may not be found by moving and detecting in a specific moving direction. As shown, if the inspection robot moves in another moving direction 105, any feature point cannot be found. In response to this situation, the present invention proposes to set a predetermined threshold value, and if the moving distance of the inspection robot in a certain direction reaches the threshold value, the inspection robot 101 may return to the fault location 104 and select a new moving direction for searching.
The feature point may be a detected object or other object, and has a known or measurable position coordinate, so that it is suitable as a reference point for position determination. Although the first moving direction and the first feature point are described first and then the case where the other moving direction has no feature point is described in the foregoing, the sequential order of the search is not meant. For example, it is entirely possible for the inspection robot to start in the direction 105 in a first search without finding a feature point, and then find the first feature point 104 by returning to the fault location 104 and then moving in the direction 103. In addition, no distinction is made herein between the location of the fault and the location of the detected object in which the fault occurred.
Fig. 2 is a schematic view of the working principle of the inspection robot according to another embodiment of the present invention. As an example, the case of including more moving directions and more feature points is shown in this figure. It is possible to determine the location of the fault by finding one feature point, but finding more feature points, such as two, three, or more feature points, makes the determination of the location of the fault easier. As shown in the figure, the inspection robot 201 finds a fault at a fault position 202, and under a low communication condition that the positioning cannot be realized by using a communication network, firstly, the inspection robot moves along a moving direction 203 to find a first feature point 204. To further facilitate accurate positioning, the inspection robot 201 returns to the fault location 202, moves along the path 209, but does not find a feature point, but returns to the fault location 202 and moves along a new path 210 if the movement distance reaches a predetermined threshold. Also, the inspection robot 201 does not find the feature point on the path 210. After that, the inspection robot 201 returns to the fault position 202, and moves in the direction 205, thereby finding the second feature point 206. Thereafter, the inspection robot 201 returns to the fault location 202 again, moves in the direction 207, and then finds the third feature point 208. Obviously, the above sequence of movements is not necessary and it is entirely possible to replace them one after the other. In the case where the coordinate positions of the feature points need to be searched, one more feasible method is to sequentially adjust the angles α between the moving directions. For example, the angle between two moving directions adjusted in sequence is 30 degrees. Such an angle is not limited theoretically, and may be set according to a topographic condition of the inspection area, such as road setting or traffic conditions, or may be selected based on the possibility of the existence of the feature point by scanning and detecting the environment by the inspection robot.
A more general embodiment can also be derived from fig. 1 and 2. And when the inspection robot is in a low communication condition, controlling the inspection robot to move from the detected object position along n directions, recording the moving distance in each direction, and if the moving distance reaches a preset threshold value, controlling the inspection robot to return to the detected object position and move along a different direction until m characteristic points are reached, wherein n and m are natural numbers, and n is not less than m and not more than a preset constant. Here, n is not less than m because the movement is performed in one direction, and if the movement distance reaches a predetermined threshold value, the inspection robot returns to the detected object position where the failure has occurred even if a feature point has not been found. Since not every moving direction will find a feature point, the number of n should be greater than or equal to m. In addition, the number of n should also have a limit, otherwise the inspection robot can continuously look for the next round, consume excessive energy and even fall into a dead cycle.
According to one embodiment, the value of m is set to 3. Although even only one feature point may provide information about the location of the fault, it is contemplated that in a relatively flat area, if there is relative distance information of three feature points, a single fault location may be uniquely determined. More than three feature points may provide redundant or backup functionality.
According to one embodiment, the fault location calibration unit is configured to record a movement path of the inspection robot. That is, the fault location calibration unit may record not only the distance that the inspection robot moves from the fault location to each feature point, but also the path of movement. Here, the path, which may be called a track, includes information on directivity. The distance information of the path information is added, so that the fault position can be found more conveniently according to the characteristic points. Meanwhile, according to the present invention, the provision and recording of the path information is not necessary but optional. Path information is valuable on the one hand, while on the other hand, the provision of this information may require increased complexity of the device or more resource requirements. Some path information providing modes of some inspection robots may need the support of a communication network, and a mode of only recording distance information is more advantageous; however, the providing and recording of the path information do not necessarily depend on the communication network, and the establishment of the local path can be realized through the sensing equipment carried by the inspection robot and the self calculation and analysis function.
Fig. 3 is a schematic diagram of a patrol robot function module according to an embodiment of the present invention. As shown, the inspection robot 300 includes a traveling device 310, a detecting device 320, and a control device 330. Those of ordinary skill in the art will appreciate that the inspection robot 300 may also include other components that may not be described or discussed herein. The traveling device 310 includes a motor, a wheel or a transmission device, etc., and can drive the inspection robot 300 to perform inspection. The inspection device 320 may have a large difference for different types of inspection robots, and generally includes a camera device, an infrared detection device, a laser ranging device, a radar device, a sonar device, and the like, and is used for detecting a detected target to acquire state information of the detected object so as to find a fault. The control device 330 includes at least the following: a failure determination unit 331 configured to determine whether the detected object is in a failure state according to the state information of the detected object and a predetermined criterion; a communication condition detection unit 332 for further determining whether the inspection robot 300 is in a low communication condition when the detected object is in a fault state; a fault location calibration unit 333, configured to control the inspection robot 300 to move in one direction from the detected object location when the inspection robot 300 is in a low communication condition, and record the moving distance and path until a feature point is reached. In one embodiment, if the moving distance exceeds a predetermined threshold, for example, 10 m or 50 m, the inspection robot 300 is controlled to return to the position of the inspected object and move in a different direction. The predetermined threshold may not be necessary in some situations, such as where feature points are numerous and close together, but in many cases this will be an important function. As another embodiment, the fault location calibration unit 333 may further control the inspection robot 300 to move along more moving directions, and record the moving distance and path until more feature points are reached. In fact, as discussed above with reference to fig. 2, the fault location calibration unit 333 may control the inspection robot to move from the detected object location in n directions, record the moving distance in each direction, and control the inspection robot to return to the detected object location and move in a different direction if the moving distance reaches a predetermined threshold value until m feature points are reached, where n and m are natural numbers, and n is not less than m and not greater than a predetermined constant. As discussed above, recording a path or track is an alternative embodiment to recording the distance traveled.
Fig. 4 is a schematic diagram of a control device function module for an inspection robot according to the present invention. The foregoing describes an inspection robot in accordance with the present invention. It will be appreciated that the invention may be implemented not only by an inspection robot, but also by a control device which may be used with an inspection robot. Such a control device may be a chip, a piece of software, or some component that may make up the inspection robot, or some combination of software and hardware. A control device 400 shown in fig. 4 configured to control the inspection robot to perform inspection along a linear inspection path; the inspection robot comprises a walking device and a detection device, wherein the walking device is used for driving the inspection robot to move along the inspection path, and the detection device is used for acquiring the state information of an object to be detected; the control device 400 includes: a failure determination unit 401, configured to determine whether the detected object is in a failure state according to the state information of the detected object and a predetermined criterion; a communication condition detection unit 402, configured to further determine whether the inspection robot is in a low communication condition when the detected object is in a fault state; and a fault position calibration unit 403, configured to control the inspection robot to move along the first moving direction from the detected object position when the inspection robot is in the low communication condition, and record a moving distance and a moving path until the first feature point is reached. In addition, the present invention has been described in the foregoing discussion about the way in which the inspection robot can perform the fault location, and can be implemented by the control apparatus 400 for an inspection robot proposed herein. For example, an inspection robot 300 including a control device 330 is described above in the process discussed with respect to fig. 3. It is clear to those skilled in the art that the functions and steps performed by the control device 330 to control the robot 300 can be implemented by the control device 400 described in the present figure by controlling an inspection robot in the same or similar manner.
Fig. 5 is a flowchart illustrating a method for locating a faulty detected object by an inspection machine according to an embodiment of the present invention. The invention herein proposes a method of inspection by an inspection robot arranged to perform inspection along a predetermined linear path, the inspection method comprising the steps of:
step 502: driving the inspection robot to move along a preset inspection path;
step 504: acquiring state information of a detected object;
step 506: judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
step 508: if the detected object is in a fault state, further judging whether the inspection robot is in a low communication condition;
step 510: if the inspection robot is in a low communication condition, controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until reaching a characteristic point; and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
Fig. 6 is a flow chart illustrating a method for locating a position of a detected object having a fault by an inspection machine according to an embodiment of the present invention. A method of inspection by an inspection robot is proposed, the inspection robot being arranged to inspect an area in which a plurality of objects to be inspected are distributed; the inspection method comprises the following steps:
step 602: driving the robot to move along a predetermined inspection path in the area;
step 604: acquiring state information of a detected object;
step 606: judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
step 608: if the detected object is in a fault state, further judging whether the robot is in a low communication condition;
step 610: if the inspection robot is in a low communication condition, controlling the inspection robot to move from the position of the detected object along n directions, recording the moving distance in each direction, and if the moving distance reaches a preset threshold value or reaches one of the characteristic points, controlling the inspection robot to return to the position of the detected object and move along a different direction until m characteristic points are reached; wherein n and m are natural numbers, and n is not less than m and not more than a predetermined constant.
Inspection methods according to some embodiments of the invention are described above in connection with fig. 5 and 6. Those skilled in the art will appreciate that fig. 1-4 and other text herein also describe aspects of the invention that may also be described in terms of a routing inspection method.
The low communication condition generally means that the inspection robot cannot acquire the self position information through a communication network. The communication network includes a satellite positioning system, a mobile communication network, WIFI and the like. The reason for the low communication condition may be the reason for the external condition, such as the bad and variable inspection environment, or may be caused by the malfunction of the inspection robot itself.
The characteristic points discussed in the present invention may be detected objects with known positions. In the path of the inspection robot, some characteristic points can be set so as to conveniently determine the position of the inspection robot. As an alternative embodiment, the feature points may also be detected objects whose positions are unknown. Some detected objects have greater importance or necessity for knowing their position coordinates than other detected objects, or are more suitable as reference position coordinates for other detected objects. Such an inspection target may be a point whose coordinates are known when the inspection robot performs an inspection task, but may also be an inspection target whose coordinates are unknown but which has already been incorporated into a specific inspection target sequence. Such a predetermined sequence may be produced as an alternative location reference point or may be selected according to some criteria, such as a higher frequency of detection, a higher frequency of failure, etc., from which the feature points may be selected.
In the claims, the word "comprising" does not exclude other elements or steps; the word "a" or "an" does not exclude a plurality. Use of ordinal terms such as "first," "second," etc., in the claims to modify a claim element does not by itself connote any priority, order, or temporal order of execution of one claim element over another, but are used merely for distinguishing one claim element from another. Although certain features may be described in different dependent claims, this does not imply that these features cannot be used in combination. Various aspects of the present invention may be used alone, in combination, or in a variety of arrangements not specifically discussed in the embodiments described in the foregoing and is therefore not limited in its application to the details and arrangement of components set forth in the foregoing description or illustrated in the drawings. For example, aspects described in one embodiment may be combined in any manner with aspects described in other embodiments. The steps, functions or features recited in a plurality of modules or units may be performed or satisfied by one module or one unit. The steps of the methods disclosed herein are not limited to being performed in any particular order, as some or all of the steps may be performed in other orders. Any reference signs in the claims shall not be construed as limiting the scope of the claims.
While the invention has been described by way of illustration and example, such description and illustration should be considered illustrative or exemplary and not restrictive. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.
Claims (10)
1. An inspection robot is configured to inspect an area in which a plurality of inspected objects are distributed; its characterized in that, should patrol and examine the robot and include:
the traveling device is used for driving the inspection robot to move in the area;
the detection device is used for acquiring the state information of the detected object;
a control device, comprising:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault location calibration unit configured to, when the inspection robot is in a low communication condition, perform the following steps:
and controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until a characteristic point is reached.
2. The inspection robot of claim 1, wherein the fault location calibration unit is further configured to:
and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
3. An inspection robot is configured to inspect an area in which a plurality of inspected objects are distributed; its characterized in that, should patrol and examine the robot and include:
the traveling device is used for driving the inspection robot to move in the area;
the detection device is used for acquiring the state information of the detected object;
a control device, comprising:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault position calibration unit configured to control the inspection robot to move in n directions from the detected object position when the inspection robot is in a low communication condition, record the moving distance in each direction, and control the inspection robot to return to the detected object position and move in a different direction if the moving distance reaches a predetermined threshold value until m feature points are reached;
wherein n and m are natural numbers, and n is not less than m and not more than a predetermined constant.
4. The inspection robot according to claim 3, wherein m is set to 3.
5. The inspection robot according to claim 3, wherein the fault location calibration unit is configured to record a path of movement of the inspection robot.
6. A control device for an inspection robot is configured to control the inspection robot to inspect an area in which a plurality of detected objects are distributed; the inspection robot comprises a detection device and a walking device, wherein the detection device is used for acquiring the state information of an object to be detected, and the walking device is used for driving the inspection robot to move in the area; characterized in that the control device comprises:
the fault judging unit is used for judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
the communication condition detection unit is used for further judging whether the inspection robot is in a low communication condition or not when the detected object is in a fault state;
a fault location calibration unit configured to, when the inspection robot is in a low communication condition, perform the following steps:
controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until reaching a characteristic point;
and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
7. A method for polling by using a polling robot is provided, the polling robot is set to poll an area, a plurality of detected objects are distributed in the area; the inspection method is characterized by comprising the following steps:
driving the inspection robot to move along a preset inspection path in the area;
acquiring state information of the detected object;
judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
if the detected object is in a fault state, further judging whether the inspection robot is in a low communication condition;
if the inspection robot is in a low communication condition, controlling the inspection robot to execute the following steps: controlling the inspection robot to move along one direction from the position of the detected object, and recording the moving distance and path until reaching a characteristic point;
and if the moving distance exceeds a preset threshold value, controlling the inspection robot to return to the position of the detected object and move along a different direction.
8. A method of inspection using an inspection robot, the inspection robot being arranged to inspect an area in which a plurality of objects to be inspected are distributed; the inspection method is characterized by comprising the following steps:
driving the inspection robot to move along a preset inspection path in the area;
acquiring state information of the detected object;
judging whether the detected object is in a fault state or not according to the state information of the detected object and a preset standard;
if the detected object is in a fault state, further judging whether the inspection robot is in a low communication condition;
if the inspection robot is in a low communication condition, executing the following steps:
controlling the inspection robot to move along n directions from the position of the detected object, recording the moving distance in each direction, and if the moving distance reaches a preset threshold value or reaches one of the characteristic points, controlling the inspection robot to return to the position of the detected object and move along a different direction until the m characteristic points are reached;
wherein n and m are natural numbers, and n is not less than m and not more than a predetermined constant.
9. The inspection robot, control device, or inspection method according to claims 1-8, wherein at least one of the feature points has known location information.
10. The inspection robot, the control device, or the inspection method according to claims 1-8, wherein the location information of at least one of the feature points is unknown and belongs to a predetermined sequence stored by the inspection robot.
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