CN113034719B - Method, device and system for determining sequence of inspection points of inspection robot - Google Patents
Method, device and system for determining sequence of inspection points of inspection robot Download PDFInfo
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- CN113034719B CN113034719B CN202110279164.2A CN202110279164A CN113034719B CN 113034719 B CN113034719 B CN 113034719B CN 202110279164 A CN202110279164 A CN 202110279164A CN 113034719 B CN113034719 B CN 113034719B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
Abstract
The document provides a method, a device and a system for determining the sequence of inspection points of an inspection robot, wherein the method comprises the following steps: traversing all the points to be inspected according to the current position of the inspection robot detection device, and determining the point position sequence of the points to be inspected; controlling the inspection robot to inspect the point to be inspected according to the point location sequence; and when the opposite equipment of the current point to be patrolled has the point to be patrolled, controlling the patrolling robot to turn to the opposite equipment for patrolling after the current point to be patrolled is patrolled. This paper can be solved and patrols and examines the position order and need be influenced by the manual work by artifical mark in earlier stage and mark the point great, and the artifical optimization is patrolled and examined the problem that the position order is wasted time and energy, can realize to any all automatically performed optimumly of waiting to patrol and examine the position order, can shorten the period of patrolling and examining simultaneously, improves and patrols and examines efficiency, does benefit to the battery maintenance of patrolling and examining the robot.
Description
Technical Field
The present disclosure relates to the field of optimization, and in particular, to a method, an apparatus, and a system for determining inspection point sequence of an inspection robot.
Background
Data center power machine room patrols and examines and need carry out twice daily and patrol and examine, and the human cost is higher. The operation and maintenance work is influenced by the psychological quality, physiological state, external environment, responsibility and work experience of personnel, so that various hidden dangers such as missed patrol, wrong patrol and the like occur in the polling process of the machine room, and the polling efficiency is reduced. In order to reduce cost and improve efficiency, people begin to try to use a robot to replace manual inspection, for example, a rail-type inspection robot is used for inspecting the power distribution equipment of a data center, all inspection points of one power distribution equipment are sequentially inspected in sequence when the inspection robot is used for inspecting in the prior art, and the next power distribution equipment is inspected after all inspection points are completed.
At present, the inspection sequence of an inspection robot to inspection points of inspection equipment is determined according to the sequence of pre-punctuation, the inspection cannot be performed according to the sequence of shortest inspection time in the self-defined inspection process of a few inspection equipment, and the optimal inspection sequence cannot be determined according to specific tasks. And when two sides of two rows of power distribution cabinets are placed face to face and need to be patrolled and examined, the patrol and examine period is longer, and the patrol and examine efficiency is lower.
Disclosure of Invention
The method is used for solving the defects that the inspection sequence of the inspection robot in the prior art is fixed, the optimal inspection sequence cannot be determined according to a user-defined task, and the inspection period is long and the inspection efficiency is low.
In order to solve the above problem, a first aspect of the present disclosure provides a method for determining an inspection point sequence of an inspection robot, which is applicable to a machine room, and includes:
traversing all the points to be inspected according to the current position of the inspection robot detection device, and determining the point position sequence of the points to be inspected;
controlling the inspection robot to inspect the inspection points according to the point position sequence;
and when the opposite equipment of the current point to be patrolled has the point to be patrolled, controlling the patrolling robot to turn to the opposite equipment for patrolling after the current point to be patrolled is patrolled.
In a further embodiment of the document, the point to be patrolled is generated in a self-defining way from all the patrolling points according to the patrolling task.
In a further embodiment of this document, traversing all the points to be inspected according to the current position of the inspection robot detection device, determining the point location sequence of the points to be inspected includes:
taking one of the adjacent points to be patrolled in the current position of the patrolling robot detection device as an initial point and an end point, traversing from all the points to be patrolled by using depth-first search, if the points to be patrolled are not traversed, taking the next adjacent point to be patrolled in the current position of the patrolling robot detection device as the initial point and the end point, and repeatedly utilizing the depth-first search to traverse from all the points to be patrolled until all the points to be patrolled are traversed;
and taking the finally obtained traversal sequence of the points to be inspected as the point location sequence of the points to be inspected.
In a further embodiment of this document, determining whether there is a point to be inspected in the opposite device to the current point to be inspected includes:
determining opposite equipment information of the current point to be inspected according to the equipment where the current point to be inspected is located and the distribution information of the equipment in the machine room;
determining a patrol point of opposite equipment of the current point to be patrolled according to opposite equipment information of the current point to be patrolled;
and comparing all the points to be inspected and the inspection points of opposite equipment of the current points to be inspected, and if the inspection points of the opposite equipment of the current points to be inspected exist in all the points to be inspected, determining that the opposite equipment of the current points to be inspected has the points to be inspected.
In a further embodiment of this document, the method for determining the sequence of inspection points of the inspection robot further includes:
if the opposite equipment of the current point to be patrolled does not have the point of waiting to patrol and examine, then judge whether the current point of waiting to patrol and examine below the equipment exists the point of waiting to patrol and examine, if the current point of waiting to patrol and examine below the equipment exists the point of waiting to patrol and examine, then the current point of waiting to patrol and examine is patrolled and examined the point of waiting to patrol and examine and is controlled the robot patrols and examines to waiting to patrol and examine below the equipment of the current point of waiting to patrol and examine.
In a further embodiment of this document, determining whether there is a point to be patrolled below the device where the current point to be patrolled is located includes:
determining the information of the equipment where the current point to be inspected is located according to the equipment where the current point to be inspected is located and the distribution information of the equipment in the machine room;
determining a patrol point below the equipment at the current point to be patrolled according to the information of the equipment at which the current point to be patrolled is located;
and comparing all the points to be inspected with the inspection points below the equipment where the current point to be inspected is located, and if the inspection points below the equipment where the current point to be inspected is located exist in the points to be inspected, determining that the points to be inspected exist below the equipment where the current point to be inspected is located.
In a further embodiment of the present disclosure, the method for determining the sequence of inspection points of the inspection robot further includes:
if the opposite equipment of the current point to be inspected does not have the point to be inspected, judging whether the adjacent equipment of the current point to be inspected has the point to be inspected, if the adjacent equipment of the current point to be inspected has the point to be inspected, controlling the inspection robot to turn to the adjacent equipment of the current point to be inspected to inspect after the inspection of the current point to be inspected is finished.
In a further embodiment of the present disclosure, the method for determining the sequence of inspection points of the inspection robot further includes: after every execution waits to patrol and examine the point, still include:
and updating the points to be patrolled, returning to re-execute the steps of traversing all the updated points to be patrolled according to the current position of the patrolling robot detection device, and determining the point position sequence of the updated points to be patrolled and the subsequent steps.
A second aspect of the present document provides an inspection robot inspection point order determination device including:
the optimizing module is used for traversing all the points to be inspected according to the current position of the inspection robot detection device and determining the point position sequence of the points to be inspected;
and the control module is used for controlling the inspection robot to inspect the inspection points according to the point position sequence, judging whether opposite equipment of the current inspection points exists the inspection points or not by executing inspection of the inspection points once, and controlling the inspection robot to turn to the opposite equipment for inspection after the inspection points are inspected currently if the opposite equipment of the current inspection points exists the inspection points.
A third aspect herein provides a tour inspection system comprising: the system comprises a server and a patrol robot;
the server is used for traversing all the points to be patrolled according to the current position of the inspection robot detection device, determining the point position sequence of the points to be patrolled and sending the point position sequence of the points to be patrolled to the inspection robot;
the inspection robot is used for treating the inspection point according to the point location sequence and inspecting the inspection point, the inspection robot judges whether opposite equipment of the current inspection point exists the inspection point or not once the inspection of the inspection point is required, if the opposite equipment of the current inspection point exists the inspection point, the current inspection point turns to the opposite equipment to inspect after the inspection is finished, and the inspection point to be inspected in the opposite equipment is deleted in the point location sequence.
According to the method, the device and the system for determining the sequence of the inspection points of the inspection robot, all the points to be inspected are traversed according to the current position of the inspection robot detection device, and the point position sequence of the points to be inspected is determined; controlling the inspection robot to inspect the inspection points according to the point position sequence; the point of patrolling and examining is waited to patrol and examine once every execution, judges whether the opposite equipment of waiting to patrol and examine the point exists at present and waits to patrol and examine the point, if the opposite equipment of waiting to patrol and examine the point exists and waits to patrol and examine the point at present, then wait to patrol and examine the point and patrol and examine the back control patrol and examine the robot turns to and patrols and examines to opposite equipment, can solve to patrol and examine the point order and need by artifical mark in earlier stage and mark the point and receive artifical influence great, the artifical problem that the point order of patrolling and examining wastes time and energy of optimizing can realize waiting to any and patrolling and examining the equal automatic execution of point and examining the optimal point order, can shorten the cycle of patrolling and examining simultaneously, improve the efficiency of patrolling and examining, do benefit to the battery maintenance of patrolling and examining the robot.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art, 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 according to the drawings without creative efforts.
Fig. 1 shows a first flowchart of a method for determining a sequence of inspection points of an inspection robot according to an embodiment of the present disclosure;
fig. 2 shows a schematic view of an installation position of the inspection robot according to the embodiment of the invention;
fig. 3 shows a flow chart of a point location order determination process of the inspection points according to the embodiment of the present disclosure;
fig. 4 shows a flowchart of determining a point to be inspected in the opposite device according to the embodiment of the present disclosure;
fig. 5 shows a second flowchart of the inspection point sequence determining method of the inspection robot according to the embodiment;
fig. 6 shows a flowchart of a process for determining a point to be inspected under the present embodiment;
fig. 7 shows a third flowchart of the inspection point sequence determining method of the inspection robot according to the embodiment of the invention;
fig. 8 shows a fourth flowchart of the inspection point order determination method of the inspection robot according to the embodiment of the present disclosure;
fig. 9 is a structural diagram of an inspection point sequence determining device of the inspection robot according to the embodiment;
FIG. 10 illustrates a block diagram of an inspection system according to embodiments herein;
FIG. 11 shows a block diagram of a computer device according to an embodiment of the present disclosure.
Description of the figures the symbols:
210. a track;
220. a control device;
230. a detection device;
240. a lifting device;
910. an optimizing module;
920. a control module;
1010. a server;
1020. a patrol robot;
1102. a computer device;
1104. a processor;
1106. a memory;
1108. a drive mechanism;
1110. an input/output module;
1112. an input device;
1114. an output device;
1116. a presentation device;
1118. a graphical user interface;
1120. a network interface;
1122. a communication link;
1124. a communication bus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual system or apparatus product executes, it can execute sequentially or in parallel according to the method shown in the embodiment or the figures.
In the prior art, the inspection sequence of an inspection robot is determined according to the sequence of pre-punctuations, and for equipment (such as a data center) with two rows of layouts, one row needs to be inspected first, and the other row needs to be inspected after one row is inspected, so that the problems of long inspection period and low inspection efficiency exist in the conventional inspection method. In addition, the task of the conventional inspection robot is fixed, and is only suitable for all inspection scenes, and for the user-defined task scene, the optimal inspection sequence cannot be automatically planned according to the user-defined task, so that the conventional inspection method is not suitable for the user-defined inspection task scene, and further has the problem of low inspection efficiency.
Based on the technical problems in the prior art, in an embodiment of the present disclosure, a method for determining a sequence of inspection points of an inspection robot is provided, where the method is suitable for a machine room including at least two rows of machine rooms arranged face to face, where devices in the machine room include, but are not limited to, a transformer cabinet, an incoming cabinet, a switch cabinet, a capacitance compensation cabinet, a connection cabinet, a non-standard cabinet, and the like. When the method is specifically implemented, the method can be operated in a server, the server realizes remote control of the inspection robot, and the method can also be applied to the inspection robot and is automatically controlled by the inspection robot. Specifically, as shown in fig. 1, the method for determining the sequence of the inspection points of the inspection robot includes:
110, traversing all the points to be inspected according to the current position of the inspection robot detection device, and determining the point position sequence of the points to be inspected;
and step 122, after the current inspection point is inspected, controlling the inspection robot to turn to opposite equipment for inspection.
In the step 110, the inspection robot described herein is, for example, a rail-type inspection robot capable of rotating at least 180 ° and provided with a detection device, as shown in fig. 2, a rail 210 is installed on the top surface of the machine room opposite to the equipment, the inspection robot includes a control device 220, a detection device 230 and a lifting device 240, the control device 220 is disposed on the rail 210, the detection device 230 is connected to the control device 220 through the lifting device 240, so that the control device 220 moves on the rail 210 to drive the lifting device 240 and the detection device 230 to perform planar movement, and the detection device 230 performs up-and-down movement through the lifting device 240. Specifically, the detecting device 230 is just located below the equipment after descending through the lifting device 240, so as to realize inspection below the equipment. The detection device 230 can be just positioned above the equipment after rising through the lifting device 240 so as to avoid shielding the equipment during inspection. The track can be a bow-shaped track, so that the inspection robot detection device moves along the obliquely upper part of each row of equipment. The track can also be a 'well' -shaped track, so that the inspection robot detection device can move along the oblique upper part of each row of equipment, and can also move from one row of equipment to another row of equipment quickly.
The current position of the inspection robot detection device can be determined by the positioning equipment arranged on the inspection robot. The to-be-patrolled point can be generated from all patrolling points in a user-defined mode according to a patrolling task, wherein the patrolling task is preset by a worker, for example, the patrolling task is used for patrolling each equipment switch (including but not limited to a knife switch, a mechanical switch and the like), the patrolling task is used for a dial plate (including but not limited to a pointer instrument, a digital dial plate and the like), the patrolling task is used for an indicator lamp, the patrolling task is used for infrared temperature measurement, the patrolling task is used for noise polling and the like. The point to be inspected can also be temporarily set by the staff according to the actual requirements, and the determination mode of the point to be inspected is not limited. The point position sequence of the points to be inspected can be determined by using a Depth First Search (DFS), and the determination mode and the number of the points to be inspected are not limited in the text.
The control inspection robot described herein is used for inspecting a point to be inspected, and if no special description is given, the control inspection robot refers to the inspection robot detection device to inspect the point to be inspected, specifically, the above step 120 includes: and controlling the inspection robot detection device to move to a first inspection point (recorded as a target inspection point) which is not inspected in the point location sequence according to the point location sequence, and inspecting the target inspection point by the inspection robot detection device. The inspection means is, for example, to shoot a picture containing a target point to be inspected by using a visible light camera installed on the inspection robot, the inspection robot identifies the information of the target point to be inspected on the shot picture (during identification, the identification can be performed according to the sequence of the pictures from left to right and from top to bottom), the identified inspection point can contain other inspection points besides the target point to be inspected, if the other inspection points belong to the points to be inspected, the inspection robot inspects one of the inspection points, and if the other inspection points do not belong to the points to be inspected, the inspection robot does not inspect the inspection point. The inspection robot identifies the information of the target point to be inspected and then judges the information so as to determine whether the target point to be inspected is abnormal or not, and if the inspection robot cannot judge, the inspection robot sends the information of the picture or the target point to be inspected to a far-end server (wherein the far-end server is wirelessly or electrically connected with the inspection robot) so as to be automatically judged by the far-end server. The specific inspection mode is not limited in this document. The inspection means is, for example, a sound-measuring device mounted on the inspection robot to acquire sound information, and the sound information is analyzed to determine whether the target inspection point is normal.
This embodiment confirms the point location order of waiting to patrol and examine the point by oneself through step 110, adjusts the point location order according to actual scene through step 120, can solve and patrol and examine the point location order and need be by artifical mark in earlier stage and mark the point and receive artifical the influence great, artifical optimization patrols and examines the problem that the point location order is wasted time and energy, can realize waiting to any and patrols and examines the equal automatic execution of point and best patrols and examine the point location order, can shorten the period of patrolling and examining simultaneously, improve and patrol and examine efficiency, do benefit to the battery maintenance of patrolling and examining the robot.
In an embodiment of this document, as shown in fig. 3, the step 110 is to traverse all the points to be inspected according to the current position of the inspection robot detection device, and determining the point location sequence of the points to be inspected includes:
and 303, taking the finally obtained traversal sequence of the points to be inspected as the point position sequence of the points to be inspected.
The point location sequence determining efficiency can be improved by combining the depth-first searching algorithm, and therefore the inspection efficiency of the inspection robot is improved.
In an embodiment of this document, as shown in fig. 4, the step 120 of determining whether there is a point to be inspected in the opposite device to the current point to be inspected includes:
and step 403, comparing all the points to be inspected with the inspection points of the opposite equipment of the current point to be inspected, and if the inspection points of the opposite equipment of the current point to be inspected exist in all the points to be inspected, determining that the opposite equipment of the current point to be inspected has the points to be inspected.
Specifically, distribution information of the devices in the room is predetermined, and position information of each device in the room and a relative position relationship (adjacent relationship and relative relationship) between the devices are recorded in the distribution information.
The inspection points in each device are also pre-calibrated and can be stored in the storage device in the form of a data table (as shown in table one below).
Watch 1
| Device information | Inspection point information |
| Device 1 | Inspection point 1, inspection point 2, and inspection point 3 |
| Device 2 | Inspection point 4, inspection point 5, inspection point 6 |
| …… | …… |
In step 401, determining the position of the equipment where the current point to be inspected is located according to the distribution information of the equipment in the machine room; and then determining the information of the equipment opposite to the current inspection point according to the position of the equipment where the current inspection point is located.
In step 402, the inspection point of the opposite device to the current inspection point can be determined by looking up a table (such as the table one).
In step 403, comparing one by one whether any point to be inspected in all points to be inspected is the same as any point to be inspected of the opposite device, if not, determining that the point to be inspected does not exist in the opposite device, otherwise, determining that the point to be inspected exists in the opposite device.
In this embodiment, since the lifting of the inspection robot may affect the inspection efficiency, in order to avoid unnecessary lifting of the inspection robot and improve the inspection efficiency, as shown in fig. 5, if the determination result in step 123 is that there is no point to be inspected on the opposite device of the current point to be inspected, step 123 is executed;
and 124, after the current point to be inspected is inspected, controlling the inspection robot to inspect the point to be inspected below the equipment where the current point to be inspected is located.
In detail, the below of the equipment where the current point to be inspected is located refers to the position of the equipment at a predetermined distance (for example, 10cm-50 cm) from the ground.
During specific implementation, the number of the points to be inspected below the equipment where the points to be inspected currently are located can be judged, and if the number of the points to be inspected is smaller than a preset value, for example, 2, the current point to be inspected below the equipment is preferentially inspected in order to save the movement time.
In some specific embodiments, as shown in fig. 6, the step 123 of determining whether there is a point to be inspected below the device where the current point to be inspected is located includes:
601, determining the equipment information of the current point to be inspected according to the equipment where the current point to be inspected is located and the distribution information of the equipment in the machine room;
When the step 124 is implemented, the inspection robot is controlled to descend below the equipment, and then the point to be inspected below the equipment is inspected. The specific inspection process can refer to the foregoing embodiments, and is not described in detail here.
The embodiment can reduce the unnecessary motion of the robot of patrolling and examining, can improve and patrol and examine efficiency.
In this embodiment, in view of the fact that the devices of the points to be inspected may be adjacent to each other, as shown in fig. 7, in order to further improve the inspection efficiency, if the determination result in step 121 is that there is no point to be inspected in the device opposite to the current point to be inspected, step 123' may also be executed;
step 123', judging whether a point to be inspected exists in the equipment adjacent to the current point to be inspected, and if so, executing step 124'; if the equipment adjacent to the current point to be patrolled does not have the point to be patrolled, controlling the patrolling robot to move to the next point to be patrolled, returning to the step 121 and continuing to execute until all the points to be patrolled are patrolled completely;
and 124', after the current point to be inspected is inspected, controlling the inspection robot to turn to the equipment adjacent to the current point to be inspected for inspection.
In an embodiment of the present disclosure, as shown in fig. 8, in order to avoid repeatedly inspecting the points to be inspected, the inspection robot inspection point sequence determining method described herein further includes, in addition to the above steps 110 to 120:
and step 130, updating the point to be inspected after each inspection of the point to be inspected is performed, returning to step 110, and re-executing the steps of traversing all the updated points to be inspected according to the current position of the inspection robot detection device, and determining the point position sequence of the updated points to be inspected and the subsequent steps.
During specific implementation, the point to be inspected can be removed from the point position sequence after the inspection of the point to be inspected is finished, and the removal includes but is not limited to deleting, changing the processing state of the point to be inspected and the like.
Based on the same inventive concept, the invention also provides a device for determining the sequence of the inspection points of the inspection robot, which is described in the following embodiments. The principle of solving the problems of the inspection point sequence determining device of the inspection robot is similar to that of the inspection point sequence determining method of the inspection robot, so the inspection point sequence determining device of the inspection robot can be implemented by the inspection point sequence determining method of the inspection robot, and repeated parts are not repeated.
The inspection point sequence determining device for the inspection robot provided by the embodiment comprises a plurality of functional modules, which can be realized by special or general chips, and can also be realized by software programs, and the specification does not limit the device. In detail, the inspection point sequence determining device of the inspection robot may be installed in the inspection robot or a remote server, some modules may be installed in the inspection robot, and the rest modules may be installed in the remote server, and how the modules are distributed may be determined according to the processing capacity and size of the inspection robot, which is not limited herein.
Specifically, as shown in fig. 9, the inspection point sequence determining apparatus of the inspection robot includes:
the optimizing module 910 is configured to traverse all the points to be inspected according to the current position of the inspection robot detection device, and determine a point location sequence of the points to be inspected;
In an embodiment of this document, as shown in fig. 10, there is further provided a patrol system, including: a server 1010 and an inspection robot 1020.
The server 1010 is used for traversing all the points to be patrolled according to the current position of the inspection robot detection device, determining the point location sequence of the points to be patrolled and sending the point location sequence of the points to be patrolled to the inspection robot;
the inspection robot 1020 is used for inspecting the inspection points according to the point location sequence, the inspection robot judges whether the opposite equipment of the current inspection point has the inspection point or not when performing the inspection of the inspection point once, if the opposite equipment of the current inspection point has the inspection point, the current inspection point turns to the opposite equipment for inspection after the inspection is finished, and the inspection point to be inspected in the opposite equipment is deleted in the point location sequence.
According to the inspection robot inspection point sequence determining device and the inspection system, all points to be inspected are traversed according to the current position of the inspection robot detection device, and the point position sequence of the points to be inspected is determined; controlling the inspection robot to inspect the inspection points according to the point position sequence; the point of patrolling and examining is waited to patrol and examine once every execution, judges whether the opposite equipment of waiting to patrol and examine the point exists at present and waits to patrol and examine the point, if the opposite equipment of waiting to patrol and examine the point exists and waits to patrol and examine the point at present, then wait to patrol and examine the point and patrol and examine the back control patrol and examine the robot turns to and patrols and examines to opposite equipment, can solve to patrol and examine the point order and need by artifical mark in earlier stage and mark the point and receive artifical influence great, the artifical problem that the point order of patrolling and examining wastes time and energy of optimizing can realize waiting to any and patrolling and examining the equal automatic execution of point and examining the optimal point order, can shorten the cycle of patrolling and examining simultaneously, improve the efficiency of patrolling and examining, do benefit to the battery maintenance of patrolling and examining the robot.
In order to more clearly illustrate the technical solution herein, the following describes in detail by taking the points to be inspected as { a, B, C, D, E, F } as an example, where the inspection points a and B belong to the device 1, the inspection point B is located below the device 1, the inspection point C is a device 2 adjacent to the device 1, the inspection points D, E, F are located at the devices 3, 4, 5, respectively, and the device 5 is located opposite to the device 1, specifically, the inspection process includes:
1) Traversing all points to be patrolled according to the current position of the inspection robot detection device, and determining the point position sequence of the points to be patrolled as { A, B, C, D, F and E };
2) Controlling the inspection robot to move to the equipment 1 of the inspection point A, inspecting the inspection point A by the inspection robot, judging whether an inspection point to be inspected exists at the equipment 5 opposite to the equipment 1 after inspection is finished, and executing 3 if the inspection point to be inspected exists at the equipment 5 opposite to the equipment 1 after analysis; judging whether a point to be inspected exists below the equipment 1, analyzing and determining that a point B to be inspected exists below the equipment 1, and executing 4) after executing 3);
3) Controlling the inspection robot to turn to opposite equipment 5 for inspection, and after inspection is finished, deleting an inspected point F from the point location sequence to obtain a new point location sequence { B, C, D and E };
4) The inspection robot is controlled to inspect a point B to be inspected below the equipment 1 where the current point to be inspected is located, and after inspection is finished, the inspected point B is deleted from the point location sequence to obtain a new point location sequence { C, D and E };
5) Judging whether equipment adjacent to the equipment 1 has a point to be patrolled or not, analyzing to determine that the equipment 2 adjacent to the equipment 1 has a point C to be patrolled, controlling the patrolling robot to patrol the point C to be patrolled in the equipment 2, and deleting the patrolled point C from the point position sequence after patrolling to obtain a new point position sequence { D, E };
whether opposite equipment has a point to be patrolled and examined, whether a point to be patrolled and examined is arranged below the equipment and whether adjacent equipment has a point to be patrolled and examined is executed in the patrolling process, and the patrolling is carried out by referring to the logics from the step 2) to the step 5), if the opposite equipment does not have a point to be patrolled and examined, the lower part of the equipment does not have a point to be patrolled and examined, and the adjacent equipment does not have a point to be patrolled and examined; then execute 6);
6) And controlling the inspection robot to continuously inspect the points to be inspected according to the point position sequence until all the points to be inspected are inspected.
In one embodiment herein, as shown in FIG. 11, and also when the above-described method is performed by a special purpose computer device, the computer device 1102 may include one or more processors 1104, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 1102 may also include any memory 1106 for storing any kind of information, such as code, settings, data, etc. For example, and without limitation, memory 1106 may include any one or combination of the following: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent fixed or removable components of computer device 1102. In one case, when the processor 1104 executes the associated instructions, which are stored in any memory or combination of memories, the computer device 1102 can perform any of the operations of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108, such as a hard disk drive mechanism, an optical disk drive mechanism, or the like, for interacting with any of the memories.
In an embodiment herein, a computer-readable storage medium is also provided, having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.
Embodiments herein also provide computer readable instructions, wherein a program therein causes a processor to perform the steps of the above method when the instructions are executed by the processor.
It should be understood that, in various embodiments herein, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments herein.
It should also be understood that, in the embodiments herein, the term "and/or" is only one kind of association relation describing an associated object, meaning that three kinds of relations may exist. For example, a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the 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 technical solution. 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 disclosure.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided herein, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments herein.
In addition, functional units in the embodiments herein may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present invention may be implemented in a form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The principles and embodiments of the present disclosure are explained in detail by using specific embodiments, and the above description of the embodiments is only used to help understanding the method and its core idea; meanwhile, for the general technical personnel in the field, according to the idea of this document, there may be changes in the concrete implementation and the application scope, in summary, this description should not be understood as the limitation of this document.
Claims (9)
1. The utility model provides a patrol and examine robot and patrol and examine some order determination method which characterized in that is applicable to the computer lab, includes:
traversing all the points to be inspected according to the current position of the inspection robot detection device, and determining the point position sequence of the points to be inspected;
controlling the inspection robot to inspect the point to be inspected according to the point location sequence;
when the inspection of the point to be inspected is performed once, whether the point to be inspected exists on the opposite equipment of the current point to be inspected is judged, if the point to be inspected exists on the opposite equipment of the current point to be inspected, the inspection robot is controlled to turn to the opposite equipment for inspection after the inspection of the current point to be inspected is finished,
wherein, according to patrolling and examining robot detection device current position, traverse all points of waiting to patrol and examine, confirm to wait to patrol and examine the point position order of point and include:
taking one of adjacent points to be patrolled and examined of the current position of the patrolling robot detection device as an initial point and an end point, traversing from all the points to be patrolled and examined by utilizing a depth-first search algorithm, if the points to be patrolled and examined are not traversed, taking the next adjacent point to be patrolled and examined of the current position of the patrolling robot detection device as the initial point and the end point, and repeatedly utilizing the depth-first search to traverse from all the points to be patrolled and examined until all the points to be patrolled and examined are traversed;
and taking the finally obtained traversal sequence of the points to be inspected as the point position sequence of the points to be inspected.
2. The inspection robot inspection point sequence determination method according to claim 1, wherein the points to be inspected are custom generated from all inspection points according to inspection tasks.
3. The inspection robot inspection point sequence determining method according to claim 1, wherein determining whether a point to be inspected exists in the opposite equipment of the current point to be inspected comprises:
determining opposite equipment information of the current point to be inspected according to the equipment where the current point to be inspected is located and the distribution information of the equipment in the machine room;
determining a patrol point of opposite equipment of the current point to be patrolled according to opposite equipment information of the current point to be patrolled;
and comparing all the points to be inspected and the inspection points of opposite equipment of the current points to be inspected, and if the inspection points of the opposite equipment of the current points to be inspected exist in all the points to be inspected, determining that the opposite equipment of the current points to be inspected has the points to be inspected.
4. The inspection robot inspection point sequence determination method according to claim 1, further comprising:
if the opposite equipment of the current point to be inspected does not have the point to be inspected, judging whether the lower part of the equipment where the current point to be inspected is located has the point to be inspected, if the lower part of the equipment where the current point to be inspected is located has the point to be inspected, controlling the inspection robot to inspect the point to be inspected below the equipment where the current point to be inspected is located after the inspection of the current point to be inspected is finished.
5. The inspection robot inspection point sequence determining method according to claim 4, wherein determining whether a point to be inspected exists below a device where the current point to be inspected is located includes:
determining the information of the equipment where the current point to be inspected is located according to the equipment where the current point to be inspected is located and the distribution information of the equipment in the machine room;
determining a patrol point below the equipment where the current point to be patrolled according to the information of the equipment where the current point to be patrolled is located;
and comparing all the points to be inspected with the inspection points below the equipment where the current point to be inspected is located, and if the inspection points below the equipment where the current inspection point is located exist in the points to be inspected, determining that the points to be inspected exist below the equipment where the current point to be inspected is located.
6. The inspection robot inspection point sequence determining method according to claim 1, further including:
if the opposite equipment of the current point to be patrolled does not have the point to be patrolled and examined, then judge whether the adjacent equipment of the current point to be patrolled and examined exists the point to be patrolled and examined, if the adjacent equipment of the current point to be patrolled and examined exists the point to be patrolled and examined, then the current point to be patrolled and examined is patrolled and examined and is controlled after finishing patrolling and examining the robot turns to the adjacent equipment of the current point to be patrolled and examined and examine.
7. The inspection robot inspection point sequence determination method according to claim 1, further comprising: after every execution waits to patrol and examine the point, still include:
and updating the points to be patrolled, returning to re-execute the steps of traversing all the updated points to be patrolled according to the current position of the patrolling robot detection device, and determining the point position sequence of the updated points to be patrolled and the subsequent steps.
8. The utility model provides a patrol and examine robot and patrol and examine some order confirming device which characterized in that includes:
the optimizing module is used for traversing all the points to be inspected according to the current position of the inspection robot detection device and determining the point position sequence of the points to be inspected;
the control module is used for controlling the inspection robot to inspect the point to be inspected according to the point position sequence, judging whether the point to be inspected exists in opposite equipment of the point to be inspected at present or not when the inspection of the point to be inspected is executed once, and controlling the inspection robot to turn to the opposite equipment to inspect after the inspection of the point to be inspected is finished if the point to be inspected exists in opposite equipment of the point to be inspected at present,
wherein, according to patrolling and examining robot detection device current position, traverse all points of waiting to patrol and examine, confirm to wait to patrol and examine the point location order of point and include:
taking one of the adjacent points to be inspected in the current position of the inspection robot detection device as an initial point and an end point, traversing from all the points to be inspected by using a depth-first search algorithm, and if the points to be inspected are not traversed, repeatedly using the depth-first search process from all the points to be inspected until all the points to be inspected are traversed by using the next adjacent point to be inspected in the current position of the inspection robot detection device as the initial point and the end point;
and taking the finally obtained traversal sequence of the points to be inspected as the point location sequence of the points to be inspected.
9. An inspection system, comprising: a server and a patrol robot;
the server is used for traversing all the points to be patrolled according to the current position of the inspection robot detection device, determining the point location sequence of the points to be patrolled and sending the point location sequence of the points to be patrolled to the inspection robot;
the inspection robot is used for inspecting the points to be inspected according to the point position sequence, the inspection robot judges whether the points to be inspected exist in opposite equipment of the current points to be inspected or not every time the inspection robot performs inspection of the points to be inspected, if the points to be inspected exist in opposite equipment of the current points to be inspected, the inspection robot turns to the opposite equipment to perform inspection after the inspection of the current points to be inspected is finished, the points to be inspected in the opposite equipment are deleted from the point position sequence,
wherein, according to patrolling and examining robot detection device current position, traverse all points of waiting to patrol and examine, confirm to wait to patrol and examine the point location order of point and include:
taking one of adjacent points to be patrolled and examined of the current position of the patrolling robot detection device as an initial point and an end point, traversing from all the points to be patrolled and examined by utilizing a depth-first search algorithm, if the points to be patrolled and examined are not traversed, taking the next adjacent point to be patrolled and examined of the current position of the patrolling robot detection device as the initial point and the end point, and repeatedly utilizing the depth-first search to traverse from all the points to be patrolled and examined until all the points to be patrolled and examined are traversed;
and taking the finally obtained traversal sequence of the points to be inspected as the point location sequence of the points to be inspected.
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| CN113537584B (en) * | 2021-07-06 | 2023-10-27 | 和美（深圳）信息技术股份有限公司 | Patrol task conflict processing method and device, electronic equipment and storage medium |
| CN113900436B (en) * | 2021-09-07 | 2023-11-07 | 杭州申昊科技股份有限公司 | Inspection control method, inspection control device, inspection control equipment and storage medium |
| CN113971845A (en) * | 2021-10-27 | 2022-01-25 | 广东电网有限责任公司 | Automatic operation and maintenance patrol guiding terminal and operation and maintenance patrol guiding method |
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