CN114003034A - Method, equipment and storage medium for making routing inspection plan of routing inspection robot - Google Patents
Method, equipment and storage medium for making routing inspection plan of routing inspection robot Download PDFInfo
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Abstract
The application discloses a method, equipment and a storage medium for making a routing inspection plan of a routing inspection robot, which are used for solving the technical problem that the existing routing inspection robot cannot automatically make the routing inspection plan. The method comprises the following steps: responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed; analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot; determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises a point to be inspected in an area to be inspected, a route to be inspected of the inspection robot, and an execution operation and an alarm threshold value of the inspection robot at the corresponding point to be inspected. The method realizes the process of automatically formulating the inspection plan of the inspection robot.
Description
Technical Field
The application relates to the technical field of inspection robots, in particular to a method, equipment and a storage medium for making an inspection plan of an inspection robot.
Background
In the current high-risk production workshop, in order to strengthen the safety production, an inspection worker is generally specially arranged to inspect production equipment and production products regularly, but the inspection quality is uneven due to the limitation of the personal working capacity of the inspection worker. With the increasing maturity of the robot technology, the inspection robots executing the inspection function are also increasingly applied to inspection work.
At present patrolling and examining robot, its patrolling and examining the planning and still need carry out the setting one by one according to specific workshop environment, when the workshop takes place the environment change, for example, when the production product piles up on patrolling and examining the route of patrolling and examining robot or under workshop production facility produced the condition that removes, patrolling and examining the robot and all need resetting to patrol and examine the planning, influenced the efficiency of patrolling and examining greatly. Therefore, how to identify the inspection environment and automatically making an inspection plan based on the inspection environment becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, the embodiment of the present application provides a method, a device, and a storage medium for making an inspection plan of an inspection robot, so as to solve the technical problem that the existing inspection robot cannot automatically make an inspection plan.
In a first aspect, an embodiment of the present application provides a method for making a routing inspection plan of a routing inspection robot, where the method includes: responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed; analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot; determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises a point to be inspected in an area to be inspected, a route to be inspected of the inspection robot, and an execution operation and an alarm threshold value of the inspection robot at the corresponding point to be inspected.
According to the method and the device, the laser radar is used for scanning the area to be inspected and establishing a map, and the area information in the area to be inspected is determined according to the specific inspection requirement; and then, based on the established three-dimensional graph and the area information, determining a patrol point needing to be patrolled, and determining the operation needing to be executed on the corresponding patrol point and the corresponding alarm threshold value. According to the method, when the inspection robot enters a new workshop environment or the workshop environment changes, the inspection plan does not need to be formulated again, and only corresponding information of the objects to be inspected needs to be preset.
In an implementation manner of the present application, before analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected, the method further includes: establishing an article information base, and importing article information in an area to be inspected and execution operation information of the inspection robot aiming at different articles to be inspected into the article information base; wherein the item information at least includes any one of: the system comprises article characteristic information, article attribute information, article operation information and inspection priority information, and the incidence relation between the corresponding article characteristic information and the corresponding article attribute information, the corresponding article operation information and the corresponding inspection priority information.
In an implementation manner of the present application, a three-dimensional map of an area to be inspected is analyzed to determine area information of the area to be inspected, which specifically includes: determining the outline information and outline parameters of the object contained in the three-dimensional image of the area to be inspected and the movable area of the inspection robot based on the target edge detection algorithm and the object characteristic information stored in the object information base; wherein the characteristic information of the article includes: the name of the article, the outline information of the article and the outline parameters; comparing the outline information and the outline parameters of the object with the object characteristic information in the object information base to determine whether the object is an object to be inspected; and under the condition that the article is determined to be the article to be inspected, determining corresponding inspection priority information and corresponding article attribute information or article operation information based on the article characteristic information of the article to be inspected.
In an implementation manner of the present application, based on the article characteristic information of the article to be inspected, it is determined that the corresponding inspection priority information and the corresponding article attribute information or the article operation information specifically include: determining the type of an article to be inspected; wherein, the type of article of waiting to patrol and examine includes: products to be inspected and working equipment to be inspected; under the condition that the type of the product to be inspected is determined to be the product to be inspected, based on the product characteristic information of the product to be inspected, the inspection priority information of the corresponding product to be inspected and the product attribute information of the corresponding product to be inspected are determined; and under the condition that the type of the object to be inspected is determined to be the working equipment to be inspected, based on the object characteristic information of the working equipment to be inspected, determining inspection priority information of the corresponding equipment to be inspected and object operation information of the corresponding working equipment to be inspected.
In an implementation of the present application, based on the regional information of the region to be patrolled and examined, the patrol and examine planning information of the robot is determined, which specifically includes: determining the spatial position corresponding to each article to be inspected as a point to be inspected in an area to be inspected; determining a route to be patrolled of the patrolling robot based on the patrolling priority information of each article to be patrolled and the movable area of the patrolling robot; determining the execution operation of the inspection robot at the corresponding point to be inspected based on the article attribute information of the product to be inspected or the article operation information of the working equipment to be inspected; and determining an alarm threshold value of the inspection robot at the corresponding point to be inspected based on the article attribute information.
In an implementation of the present application, the routing of patrolling and examining waiting of patrolling and examining the robot is confirmed to be patrolled and examined the route based on the priority information of patrolling and examining of each article and the region that can remove of patrolling and examining the robot, specifically includes: dividing each article to be inspected into a plurality of article sets to be inspected based on the inspection priority information of each article to be inspected; the inspection priorities of the objects to be inspected in each object set to be inspected are the same inspection priority; based on the spatial position of the inspection robot and the movable area of the inspection robot, in the set of the objects to be inspected with the highest inspection priority, the inspection sequence number of each object to be inspected is determined according to the principle of inspection proximity; the inspection nearby principle is that the inspection robot determines the nearest object to be inspected to the current spatial position inspection route of the inspection robot as the next object to be inspected based on the movable area of the inspection robot in the object to be inspected which is not inspected; according to the sequence of the inspection priorities from high to low, traversing the remaining object sets to be inspected except the object set to be inspected with the highest inspection priority, and determining the inspection sequence numbers of all the objects to be inspected; and determining a route to be patrolled of the patrolling robot based on the patrolling sequence numbers.
In an implementation manner of the present application, based on the article attribute information of the product to be inspected or the article operation information of the working device to be inspected, the execution operation of the inspection robot at the corresponding inspection point to be inspected is determined, and the method specifically includes: under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is the to-be-inspected product, generating a product inspection operation instruction aiming at each attribute based on the object attribute information of the to-be-inspected product; and under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is the to-be-inspected working equipment, generating an equipment inspection instruction aiming at the to-be-inspected working equipment based on the object operation information of the to-be-inspected working equipment.
In an implementation of the present application, based on the article attribute information, the alarm threshold of the inspection robot at the corresponding point to be inspected is determined, which specifically includes: determining an alarm threshold value of the product to be inspected based on the object attribute information of the product to be inspected under the condition that the type of the product to be inspected corresponding to the point to be inspected is the product to be inspected; and determining an alarm threshold value of the working equipment to be inspected based on the article operation information of the working equipment to be inspected under the condition that the type of the article to be inspected corresponding to the point to be inspected is the working equipment to be inspected.
In a second aspect, an embodiment of the present application further provides a planning equipment for routing inspection of a robot, which is characterized in that the equipment includes: a processor; and a memory having executable code stored thereon, which when executed, causes the processor to perform a method according to any one of claims 1-8.
In a third aspect, an embodiment of the present application further provides a nonvolatile computer storage medium for making a routing inspection plan of an inspection robot, where computer-executable instructions are stored, where the computer-executable instructions are configured to: responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed; analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot; determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises a point to be inspected in an area to be inspected, a route to be inspected of the inspection robot, and an execution operation and an alarm threshold value of the inspection robot at the corresponding point to be inspected.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a method for making an inspection plan of an inspection robot according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an internal structure of a planning device for routing inspection of an inspection robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a method, equipment and a storage medium for making a routing inspection plan of a routing inspection robot, and aims to solve the technical problem that the existing routing inspection robot cannot automatically make the routing inspection plan.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for making an inspection plan of an inspection robot according to an embodiment of the present disclosure. As shown in fig. 1, the method for making the inspection plan of the inspection robot according to the embodiment of the present application mainly includes the following steps:
In an embodiment of the application, the patrol and examine robot can start the laser radar who installs in advance inside the robot of patrolling and examining and treat the region of patrolling and examining and scan under the condition that receives the planning signal of patrolling and examining. And after scanning, establishing a three-dimensional map of the region to be inspected according to the scanning result.
It should be noted that the routing inspection planning formulating signal can be triggered at regular time, so that the routing inspection robot can update the routing inspection planning at regular time, and can also be triggered only by people when the routing inspection planning needs to be updated.
And 102, analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected.
It should be noted that, in order to provide data support for analyzing the three-dimensional map of the area to be inspected by the inspection robot, before analyzing the three-dimensional map of the area to be inspected, an article information base needs to be established to store article information including all articles in the area to be inspected and to store required execution operation information of the inspection robot for different articles to be inspected. Wherein the item information at least includes any one of: the system comprises article characteristic information, article attribute information, article operation information and inspection priority information, and the incidence relation between the corresponding article characteristic information and the corresponding article attribute information, the corresponding article operation information and the corresponding inspection priority information.
It is understood that not all information is contained in the item information of any item, for example, the item to be inspected in the area to be inspected is not the item to be inspected, and the corresponding item information only contains the item characteristic information.
In one embodiment of the application, after a laser radar preset in an inspection robot is started to scan an area to be inspected and establish a three-dimensional map of the area to be inspected, the three-dimensional map of the area to be inspected is analyzed based on article information stored in an article information base so as to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot; .
Specifically, firstly, identifying the outline information and outline parameters of an object contained in a three-dimensional image of an area to be inspected according to object characteristic information stored in an object information base based on a target edge detection algorithm converged by training; wherein the characteristic information of the article at least comprises any one of the following items: the name of the article, the outline information of the article and the outline parameters; the contour information is the shape of the contour. After detecting the outline information and the outline parameters of a certain article, the target edge detection algorithm performs matching in an article information base to determine the outline information and the article characteristic information corresponding to the outline parameters. In addition, based on a target edge detection algorithm, a movable area of the inspection robot in the three-dimensional image of the area to be inspected is identified.
It should be noted that the identification of the movable region includes, but is not limited to: after identifying the articles contained in the three-dimensional image of the area to be inspected based on a target edge detection algorithm, determining the area which can be reached by the robot according to the size of the robot; or identifying the road characteristics in the three-dimensional map of the area to be inspected based on a target edge detection algorithm. The present application is not limited thereto.
In one embodiment of the application, after determining the article characteristic information in the article information base corresponding to the article, determining whether the article is a preset article to be inspected based on the article characteristic information; and under the condition that the article is determined to be the article to be inspected, determining corresponding article attribute information or article operation information related to the article characteristic information of the article to be inspected based on the article characteristic information of the article to be inspected.
In one embodiment of the application, when determining corresponding article attribute information or article operation information based on article characteristic information of an article to be inspected, first determining the type of the article to be inspected; wherein, the type of article of waiting to patrol and examine includes: the product to be patrolled and examined and the working equipment to be patrolled and examined. Under the condition that the type of the product to be inspected is determined to be the product to be inspected, determining the attribute information of the corresponding product to be inspected based on the characteristic information of the product to be inspected; and under the condition that the type of the object to be inspected is determined to be the working equipment to be inspected, determining the object operation information of the corresponding working equipment to be inspected based on the object characteristic information of the working equipment to be inspected.
103, determining routing inspection planning information of the routing inspection robot based on the area information of the area to be inspected
In one embodiment of the application, after the three-dimensional map of the area to be patrolled is analyzed and the area information of the area to be patrolled is determined, the patrol planning information of the patrol robot is formulated based on the determined area information of the area to be patrolled.
Specifically, the spatial position corresponding to each article to be inspected is determined as the point to be inspected in the area to be inspected. And determining a route to be patrolled of the patrolling robot based on the patrolling priority information of each object to be patrolled and the movable area of the patrolling robot. Then, dividing each article to be inspected into a plurality of article sets to be inspected based on the inspection priority information of each article to be inspected; and the polling priorities of the objects to be polled in each object set to be polled are the same polling priority. For example, all the items to be inspected with the priority level of one are determined as a first-level item set to be inspected.
In one embodiment of the application, after each article to be inspected is divided into a plurality of article sets to be inspected, based on the spatial position of the inspection robot and the movable area of the inspection robot, in the article set to be inspected with the highest inspection priority, the inspection sequence number of each article to be inspected is determined according to the principle of inspection proximity; the inspection nearby principle is that the inspection robot determines the nearest object to be inspected to the current spatial position inspection route of the inspection robot as the next object to be inspected based on the movable area of the inspection robot in the object to be inspected which is not inspected; according to the sequence of the inspection priority from high to low, the remaining object sets to be inspected except the object set to be inspected with the highest inspection priority are traversed, and therefore the inspection sequence numbers of all the objects to be inspected are determined. For example, three sets of objects to be inspected are provided, namely a first-level set of objects to be inspected, a second-level set of objects to be inspected and a third-level set of objects to be inspected, wherein the priority of the objects to be inspected in the third-level set of objects to be inspected is highest, the number of the three-level objects to be inspected closest to the current spatial position route of the inspection robot is determined to be 1, then the spatial position of the objects to be inspected, which is 1, is determined, the number of the next three-level objects to be inspected, which is closest to the route, is 2, and so on, all the objects to be inspected in the third-level set of objects to be inspected are numbered. Assuming that A articles to be inspected exist in the three-level article set to be inspected in total, when the spatial position of the article to be inspected with the distance number of A is determined, the second-level article to be inspected with the closest route is numbered as A +1, and so on, all the articles to be inspected in the second-level article set to be inspected and the first-level article set to be inspected are numbered.
After the inspection sequence numbers of all the objects to be inspected are determined, the inspection sequence numbers are connected in the movable area of the inspection robot according to the inspection sequence numbers, and therefore the route to be inspected of the inspection robot is determined.
In an embodiment of the present application, after dividing each article to be inspected into a plurality of article sets to be inspected, the method further includes: under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is the to-be-inspected product, generating a product inspection operation instruction aiming at each attribute based on the object attribute information of the to-be-inspected product; and under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is the to-be-inspected working equipment, generating an equipment inspection instruction aiming at the to-be-inspected working equipment based on the object operation information of the to-be-inspected working equipment. And determining an alarm threshold value of the product to be inspected based on the object attribute information of the product to be inspected under the condition that the type of the product to be inspected corresponding to the point to be inspected is the product to be inspected; and determining an alarm threshold value of the working equipment to be inspected based on the article operation information of the working equipment to be inspected under the condition that the type of the article to be inspected corresponding to the point to be inspected is the working equipment to be inspected.
Based on the same inventive concept, the embodiment of the application also provides a device for making the inspection plan of the inspection robot, and the internal structure of the device is shown in fig. 2.
Fig. 2 is a schematic diagram of an internal structure of a planning device for routing inspection of an inspection robot according to an embodiment of the present application. As shown in fig. 2, the apparatus includes: a processor 201; a memory 202 having executable instructions stored thereon that, when executed, cause the processor 201 to perform a method of making an inspection plan for an inspection robot as described above.
In an embodiment of the application, the processor 201 is configured to respond to the routing inspection planning making signal, start a laser radar preset in the routing inspection robot to scan an area to be inspected, and establish a three-dimensional map of the area to be inspected; analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot; determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises a point to be inspected in an area to be inspected, a route to be inspected of the inspection robot, and an execution operation and an alarm threshold value of the inspection robot at the corresponding point to be inspected.
Some embodiments of the present application provide a non-volatile computer storage medium corresponding to the formulation of an inspection plan for an inspection robot of fig. 1, having stored thereon computer-executable instructions configured to:
responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed;
analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the region information comprises article information existing in a region to be inspected and a movable region of the inspection robot;
determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises a point to be inspected in an area to be inspected, a route to be inspected of the inspection robot, and an execution operation and an alarm threshold value of the inspection robot at the corresponding point to be inspected.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. Especially, for the internet of things device and medium embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
The system and the medium provided by the embodiment of the application correspond to the method one to one, so the system and the medium also have the beneficial technical effects similar to the corresponding method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for making a routing inspection plan of a routing inspection robot is characterized by comprising the following steps:
responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed;
analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the area information comprises article information existing in the area to be inspected and a movable area of the inspection robot;
determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises points to be inspected in the area to be inspected, routes to be inspected of the inspection robot, and execution operations and alarm thresholds of the inspection robot at the corresponding points to be inspected.
2. The method of claim 1, wherein prior to analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected, the method further comprises:
establishing an article information base, and importing article information in the area to be inspected and execution operation information of the inspection robot aiming at different articles to be inspected into the article information base; wherein the item information includes at least any one of: the system comprises article characteristic information, article attribute information, article operation information and inspection priority information, and the incidence relation between the corresponding article characteristic information and the corresponding article attribute information, the corresponding article operation information and the corresponding inspection priority information.
3. The method for formulating an inspection plan of an inspection robot according to claim 2, wherein the analysis of the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected specifically comprises:
determining the outline information and outline parameters of the object contained in the three-dimensional image of the area to be inspected and the movable area of the inspection robot based on a target edge detection algorithm and the object characteristic information stored in an object information base; wherein the characteristic information of the article comprises: the name of the article, the outline information of the article and the outline parameters;
comparing the outline information and the outline parameters of the object with the object characteristic information in the object information base to determine whether the object is an object to be inspected;
and under the condition that the article is determined to be the article to be inspected, determining corresponding inspection priority information and corresponding article attribute information or article operation information based on the article characteristic information of the article to be inspected.
4. The method for formulating an inspection plan of an inspection robot according to claim 3, wherein the determining of the corresponding inspection priority information and the corresponding item attribute information or item operation information based on the item feature information of the item to be inspected specifically comprises:
determining the type of an article to be inspected; wherein, the type of the article to be patrolled and examined includes: products to be inspected and working equipment to be inspected;
determining routing inspection priority information of the corresponding product to be inspected and article attribute information of the corresponding product to be inspected on the basis of the article characteristic information of the product to be inspected under the condition that the type of the product to be inspected is determined to be the product to be inspected;
and under the condition that the type of the object to be inspected is determined to be the working equipment to be inspected, determining inspection priority information of the corresponding equipment to be inspected and object operation information of the corresponding working equipment to be inspected based on the object characteristic information of the working equipment to be inspected.
5. The method for formulating an inspection plan of an inspection robot according to claim 4, wherein the determining of the inspection plan information of the inspection robot based on the area information of the area to be inspected specifically comprises:
determining the space position corresponding to each article to be inspected as the point to be inspected in the area to be inspected;
determining a route to be patrolled of the patrolling robot based on the patrolling priority information of each article to be patrolled and the movable area of the patrolling robot;
determining the execution operation of the inspection robot at the corresponding point to be inspected based on the article attribute information of the product to be inspected or the article operation information of the working equipment to be inspected; and the number of the first and second groups,
and determining the alarm threshold value of the inspection robot at the corresponding point to be inspected based on the article attribute information.
6. The method for formulating the inspection plan of the inspection robot according to claim 5, wherein the route to be inspected of the inspection robot is determined based on the inspection priority information of each object to be inspected and the movable area of the inspection robot, and specifically comprises:
dividing each article to be inspected into a plurality of article sets to be inspected based on inspection priority information of each article to be inspected; the inspection priorities of the objects to be inspected in each object set to be inspected are the same inspection priority;
based on the spatial position of the inspection robot and the movable area of the inspection robot, in the set of the objects to be inspected with the highest inspection priority, the inspection sequence number of each object to be inspected is determined according to the inspection proximity principle; the inspection nearby principle is that the inspection robot determines the next article to be inspected, which reaches the nearest inspection route of the current spatial position of the inspection robot, to be the next article to be inspected based on the movable area of the inspection robot;
according to the sequence of the inspection priorities from high to low, traversing the remaining object sets to be inspected except the object set to be inspected with the highest inspection priority, and determining the inspection sequence numbers of all the objects to be inspected;
and determining a route to be patrolled of the patrolling robot based on the patrolling sequence number.
7. The method for formulating an inspection plan of an inspection robot according to claim 5, wherein the method for determining the execution operation of the inspection robot at the corresponding point to be inspected based on the object attribute information of the product to be inspected or the object operation information of the working equipment to be inspected specifically comprises:
under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is a to-be-inspected product, generating a product inspection operation instruction aiming at each attribute based on the object attribute information of the to-be-inspected product;
and under the condition that the type of the to-be-inspected object corresponding to the to-be-inspected point is the to-be-inspected working equipment, generating an equipment inspection instruction aiming at the to-be-inspected working equipment based on the object operation information of the to-be-inspected working equipment.
8. The method for formulating an inspection plan of an inspection robot according to claim 5, wherein the step of determining the alarm threshold of the inspection robot at the corresponding point to be inspected based on the object attribute information specifically comprises the steps of:
determining an alarm threshold value of the product to be inspected based on the object attribute information of the product to be inspected under the condition that the type of the product to be inspected corresponding to the point to be inspected is the product to be inspected;
and determining an alarm threshold value of the working equipment to be patrolled based on the object operation information of the working equipment to be patrolled under the condition that the type of the object to be patrolled corresponding to the point to be patrolled is the working equipment to be patrolled.
9. The utility model provides a patrol and examine equipment of formulating of robot patrolling and examining planning which characterized in that, equipment includes:
a processor;
and a memory having executable code stored thereon, which when executed, causes the processor to perform a method as claimed in any one of claims 1-8.
10. A non-transitory computer storage medium storing computer-executable instructions for formulation of an inspection plan for an inspection robot, the computer-executable instructions configured to:
responding to a routing inspection planning formulated signal, starting a laser radar preset in the routing inspection robot to scan an area to be routed, and establishing a three-dimensional map of the area to be routed;
analyzing the three-dimensional map of the area to be inspected to determine the area information of the area to be inspected; the area information comprises article information existing in an area to be inspected and a movable area of the inspection robot;
determining routing inspection planning information of the routing inspection robot based on the area information of the area to be routed; the inspection gauge information comprises points to be inspected in the area to be inspected, routes to be inspected of the inspection robot, and execution operations and alarm thresholds of the inspection robot at the corresponding points to be inspected.
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