CN114115277A - Inspection robot-based inspection management method and related equipment - Google Patents
Inspection robot-based inspection management method and related equipment Download PDFInfo
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Abstract
According to the inspection management method and the related equipment based on the inspection robot, a first virtual coordinate of at least one inspection point to be inspected in a target entity machine room in a 3D virtual machine room constructed for the target entity machine room can be determined in a preset inspection task planning path; drawing a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point; after the inspection robot is controlled to start inspection, acquiring a first real-time coordinate of the inspection robot in a target entity machine room according to a preset polling interval; and drawing the position of the inspection robot in real time in the 3D virtual machine room through the second virtual coordinate mapped by the first real-time coordinate. According to the method, the preset routing inspection task planning path and the routing inspection robot are drawn in the 3D virtual machine room, so that the specific space of the routing inspection robot in the machine room can be clearly displayed, and a user can visually acquire related information of the routing inspection robot in a real machine room scene.
Description
Technical Field
The disclosure relates to the technical field of robot inspection, in particular to an inspection management method based on an inspection robot and related equipment.
Background
At present, a user can check a camera picture and a 2D point cloud scanning plan image which are acquired by the inspection robot through a background, and judge the position of a scene where the inspection robot is located. And then the inspection robot is operated to move to the next specified position by inputting an instruction.
In the prior art, the visual field of a camera of the inspection robot is limited, the 2D expression mode is limited for display, the state information (such as angle, height of a holder and the like) of the robot cannot be known on a 2D view interface, the layout scanned by point cloud only can express plane position information, the position, state and other information of real physical space equipment cannot be clearly expressed, and the specific space of the inspection robot in a house and various physical state information of the inspection robot are difficult to visually display.
Therefore, how to clearly display the specific space of the inspection robot in the machine room and various physical state information of the inspection robot becomes a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above problems, the present disclosure provides an inspection robot based inspection management method and related apparatus that overcome or at least partially solve the above problems, and the technical solutions are as follows:
an inspection management method based on an inspection robot comprises the following steps:
obtaining a preset routing inspection task planning path, wherein the preset routing inspection task planning path comprises at least one routing inspection point position to be inspected in a target entity machine room;
determining a first virtual coordinate of each inspection point in a 3D virtual machine room constructed for the target entity machine room;
drawing the preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point location;
after the inspection robot is controlled to start to inspect each inspection point according to the preset inspection task planning path, acquiring real-time state information of the inspection robot according to a preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in the target entity machine room;
mapping the reference point according to a preset entity-virtual coordinate, and converting the first real-time coordinate into a second virtual coordinate;
and according to the second virtual coordinate, drawing the position of the inspection robot in the 3D virtual machine room in real time.
Optionally, the method further includes:
and after the inspection robot finishes inspecting the last inspection point position in the preset inspection task planning path, clearing the preset inspection task planning path drawn on the 3D virtual machine room.
Optionally, the method further includes:
in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, determining the moving speed of the inspection robot according to the second virtual coordinate, the first virtual coordinate of the next inspection point location to be inspected and the preset inspection interval;
and according to the moving speed, displaying the moving process that the inspection robot moves to the next inspection point position to be inspected in the 3D virtual machine room.
Optionally, the real-time status information further includes an image acquisition angle of the inspection robot, and the method further includes:
in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, determining a position vector between the inspection robot and the next inspection point location to be inspected according to the second virtual coordinate and the first virtual coordinate of the next inspection point location to be inspected by the inspection robot;
and controlling the image acquisition angle of the inspection robot to be consistent with the position vector.
Optionally, the method further includes:
acquiring alarm information reported by the inspection robot;
and displaying the alarm information.
Optionally, the obtaining of the preset routing inspection task planning path includes:
sending a routing inspection instruction including a second real-time coordinate of at least one routing inspection point to be inspected in the target entity machine room to the routing inspection robot, so that the routing inspection robot calculates a preset routing inspection task planning path according to the first real-time coordinate of the routing inspection robot and the second real-time coordinate of each routing inspection point;
and obtaining the preset routing inspection task planning path calculated by the routing inspection robot.
Optionally, the inspection instruction further includes a device location field, where the device location field is used to indicate that the inspection robot moves to the target direction of the target device corresponding to the inspection point location.
The utility model provides a management device patrols and examines based on robot patrols and examines, includes: an inspection task planning path obtaining unit, a first virtual coordinate obtaining unit, a path drawing unit, a real-time state information obtaining unit, a coordinate conversion unit and an inspection robot drawing unit,
the routing inspection task planning path obtaining unit is used for obtaining a preset routing inspection task planning path, wherein the preset routing inspection task planning path comprises at least one routing inspection point position to be inspected in a target entity machine room;
the first virtual coordinate obtaining unit is used for determining first virtual coordinates of the inspection point positions in a 3D virtual machine room constructed for the target entity machine room;
the path drawing unit is used for drawing the preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point;
the real-time state information obtaining unit is used for obtaining real-time state information of the inspection robot according to a preset polling interval after the inspection robot is controlled to start to inspect each inspection point according to the preset inspection task planning path, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in the target entity machine room;
the coordinate conversion unit is used for converting the first real-time coordinate into a second virtual coordinate according to a preset entity-virtual coordinate mapping reference point;
and the inspection robot drawing unit is used for drawing the position of the inspection robot in real time in the 3D virtual machine room according to the second virtual coordinate.
A computer-readable storage medium on which a program is stored, the program, when executed by a processor, implementing an inspection robot-based inspection management method according to any one of the above.
An electronic device comprising at least one processor, and at least one memory connected to the processor, a bus; the processor and the memory complete mutual communication through the bus; the processor is used for calling the program instructions in the memory to execute the inspection robot-based inspection management method according to any one of the above items.
By means of the technical scheme, the inspection management method based on the inspection robot and the related equipment can obtain a preset inspection task planning path, wherein the preset inspection task planning path comprises at least one inspection point to be inspected in a target entity machine room; determining a first virtual coordinate of each inspection point in a 3D virtual machine room constructed for a target entity machine room; drawing a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point; after the inspection robot is controlled to inspect each inspection point according to a preset inspection task planning path, acquiring real-time state information of the inspection robot according to a preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in a target entity machine room; mapping the reference point according to a preset entity-virtual coordinate, and converting the first real-time coordinate into a second virtual coordinate; and according to the second virtual coordinate, drawing the position of the inspection robot in the 3D virtual machine room in real time. According to the method, the preset routing inspection task planning path and the routing inspection robot are drawn in the 3D virtual machine room through the 3D visualization technology, the specific space of the routing inspection robot in the machine room can be clearly displayed, and a user can visually acquire related information of the routing inspection robot in a real machine room scene.
The foregoing description is only an overview of the technical solutions of the present disclosure, and the embodiments of the present disclosure are described below in order to make the technical means of the present disclosure more clearly understood and to make the above and other objects, features, and advantages of the present disclosure more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart illustrating an implementation manner of an inspection management method based on an inspection robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart diagram illustrating another implementation of the inspection robot-based inspection management method according to the embodiment of the disclosure;
fig. 3 shows a schematic structural diagram of an inspection management device based on an inspection robot according to an embodiment of the disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, a flowchart of an implementation manner of an inspection management method based on an inspection robot according to an embodiment of the present disclosure may include:
s100, obtaining a preset routing inspection task planning path, wherein the preset routing inspection task planning path comprises at least one routing inspection point position to be inspected in a target entity machine room.
The preset routing inspection task planning path can be a routing inspection route planned for the routing inspection robot according to target equipment needing routing inspection in a target entity machine room. The inspection robot plans a path according to a preset inspection task and inspects the target equipment corresponding to each inspection point in sequence.
Optionally, the routing inspection task planning path may be preset according to actual requirements and stored, so that the preset routing inspection task planning path may be queried when routing inspection is started, and the routing inspection point location on the preset routing inspection task planning path is obtained.
Optionally, the embodiment of the present disclosure may send the patrol inspection instruction including the second real-time coordinate of the at least one patrol inspection point to be patrolled in the target entity machine room to the patrol inspection robot, so that the patrol inspection robot calculates the preset patrol inspection task planning path according to the first real-time coordinate of the patrol inspection robot and the second real-time coordinate of each patrol inspection point. And obtaining a preset routing inspection task planning path calculated by the routing inspection robot.
Optionally, the inspection instruction further includes a device location field, where the device location field is used to indicate that the inspection robot moves to a target direction of the target device corresponding to the inspection point location.
Specifically, the embodiment of the present disclosure may use the unique ID of the target device as the inspection instruction for the inspection robot to move to the inspection point corresponding to the target device in advance. For example: and adding an equipment position field 'isFront' in the routing inspection instruction, determining an equipment rear door for controlling the routing inspection robot to move to the target equipment when the 'isFront' is 0, and determining an equipment front door for controlling the routing inspection robot to move to the target equipment when the 'isFront' is 1.
S200, determining first virtual coordinates of each inspection point in a 3D virtual machine room constructed for the target entity machine room.
The embodiment of the disclosure can construct a corresponding 3D virtual machine room for a target entity machine room through a 3D visualization technology. The virtual coordinates of each device in the target entity machine room in the 3D virtual machine room can be determined according to the position of each device in the target entity machine room in the 3D virtual machine room. It can be understood that the embodiment of the present disclosure can show a 3D virtual machine room.
S300, drawing a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point.
Specifically, the embodiment of the disclosure can draw the preset routing inspection task planning path in the 3D virtual machine room through the T-3D engine. It can be understood that the preset routing inspection task planning path drawn in the 3D virtual machine room can be displayed in the embodiment of the present disclosure.
S400, after the inspection robot is controlled to start to inspect each inspection point according to the preset inspection task planning path, the real-time state information of the inspection robot is obtained according to the preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in a target entity machine room.
Wherein the preset polling interval may be 1 second. The embodiment of the disclosure can refresh the real-time state information of the inspection robot every second.
S500, converting the first real-time coordinate into a second virtual coordinate according to the preset entity-virtual coordinate mapping reference point.
The embodiment of the disclosure can virtualize a real inspection robot model in a target entity machine room through a digital simulation technology, and determine a coordinate system mapping relationship between real-time coordinates of the inspection robot and virtual coordinates of a 3D virtual machine room, for example, a machine room central point is set as a coordinate origin to realize mapping management of a 3D digital twin visualization platform and hardware real-time coordinates of the inspection robot. In an actual situation, a manufacturer of the inspection robot can upload coordinate data of the inspection robot to the master control center, and the 3D digital twin visualization platform acquires the coordinate data of the inspection robot through the master control center.
In a general situation, the inspection robot may establish a physical coordinate system of the target physical machine room by scanning the target physical machine room, and the 3D virtual machine room uses its own virtual coordinate system. Therefore, in order to realize the correspondence between the real coordinate system and the virtual coordinate system of the inspection robot, a real-virtual coordinate mapping reference point needs to be set. For example: assuming that the central point of the target entity machine room is the origin of the entity coordinate system established by the inspection robot, the real-time coordinates of the inspection robot are all the difference values relative to the origin. According to the embodiment of the invention, after the real-time coordinate reported by the inspection robot is obtained, the central point of the virtual coordinate system is obtained, the difference value operation is carried out on the real-time coordinate and the central point, and the virtual coordinate of the inspection robot in the 3D virtual machine room is calculated.
S600, according to the second virtual coordinate, the position of the inspection robot is drawn in the 3D virtual machine room in real time.
Specifically, the embodiment of the disclosure can draw the position of the inspection robot in the 3D virtual machine room through the T-3D engine. It can be understood that the embodiment of the disclosure can show the position of the inspection robot drawn in the 3D virtual machine room.
The inspection management method based on the inspection robot can obtain a preset inspection task planning path, wherein the preset inspection task planning path comprises at least one inspection point to be inspected in a target entity machine room; determining a first virtual coordinate of each inspection point in a 3D virtual machine room constructed for a target entity machine room; drawing a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point; after the inspection robot is controlled to inspect each inspection point according to a preset inspection task planning path, acquiring real-time state information of the inspection robot according to a preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in a target entity machine room; mapping the reference point according to a preset entity-virtual coordinate, and converting the first real-time coordinate into a second virtual coordinate; and according to the second virtual coordinate, drawing the position of the inspection robot in the 3D virtual machine room in real time. According to the method, the preset routing inspection task planning path and the routing inspection robot are drawn in the 3D virtual machine room through the 3D visualization technology, the specific space of the routing inspection robot in the machine room can be clearly displayed, and a user can visually acquire related information of the routing inspection robot in a real machine room scene.
Optionally, in the embodiment of the disclosure, in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, the moving speed of the inspection robot is determined according to the second virtual coordinate, the first virtual coordinate of the next inspection point location to be inspected and the preset inspection interval; and according to the moving speed, the moving process that the inspection robot moves to the next inspection point position to be inspected is displayed in the 3D virtual machine room.
Specifically, this disclosed embodiment can work out the distance of patrolling and examining the robot to this point location of patrolling and examining under the task planning route is patrolled and examined in the presetting according to the second virtual coordinate of patrolling and examining the robot and the first virtual coordinate of the next point location of patrolling and examining of waiting to patrol and examine, divide again and predetermine the polling interval and obtain the translation rate of patrolling and examining the robot, demonstrate in 3D virtual machine room and patrol and examine the effect that the robot moved to this point location of patrolling and examining according to this translation rate.
Optionally, the real-time status information further includes an image acquisition angle of the inspection robot. According to the embodiment of the method and the device, in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, the position vector between the inspection robot and the next inspection point location to be inspected is determined according to the second virtual coordinate and the first virtual coordinate of the next inspection point location to be inspected of the inspection robot; and controlling the image acquisition angle of the inspection robot to be consistent with the position vector.
Specifically, this disclosed embodiment can patrol and examine the robot and remove the in-process, and the control is patrolled and examined the image acquisition angle of robot and is rotated in real time. This disclosed embodiment can be according to the position that the second virtual coordinate of patrolling and examining the robot corresponds and the position that the next first virtual coordinate of patrolling and examining the point location of patrolling and examining corresponds, determine to patrol and examine the robot and this next position vector between the point location of patrolling and examining of waiting to patrol and examine, and the image acquisition angle of robot is patrolled and examined in control keeps unanimous with the position vector, can realize patrolling and examining the image acquisition angle of robot and moving direction all the time.
Optionally, the embodiment of the disclosure may obtain alarm information reported by the inspection robot; and displaying the alarm information.
Optionally, the real-time status information of the inspection robot may include alarm information. The alarm information can comprise an environment state, a noise state, a smoke state, an equipment state, a thermal infrared temperature parameter value, an image recognition parameter value, formaldehyde concentration and the like collected by the inspection robot. In the interface for displaying the 3D virtual machine room, the warning information can be displayed in a mode of popping up the warning information.
Optionally, based on the method shown in fig. 1, as shown in fig. 2, a flowchart of another implementation of the inspection management method based on the inspection robot according to the embodiment of the present disclosure may further include:
s700, after the inspection robot finishes inspecting the last inspection point in the preset inspection task planning path, clearing the preset inspection task planning path drawn on the 3D virtual machine room.
When the inspection robot is started to execute the inspection task, the preset inspection task planning path of the current inspection task can be obtained first, and the preset inspection task planning path is drawn on the 3D virtual machine room through the T-3D engine. After the inspection robot is controlled to inspect each inspection point according to a preset inspection task planning path, real-time coordinates of the inspection robot are obtained in real time through an Ajax polling request, the real-time coordinates are converted into virtual coordinates, and the position of the inspection robot is drawn on a 3D virtual machine room through a T-3D engine. And judging whether the inspection of the last inspection point in the preset inspection task planning path is finished or not during each polling, if not, continuously acquiring the real-time coordinates of the inspection robot in real time through the Ajax polling request, if so, stopping polling and closing the inspection robot, then closing an inspection layer on the 3D virtual machine room, and clearing the preset inspection task planning path drawn on the 3D virtual machine room and the moving track of the inspection robot.
The embodiment of the disclosure can send the Ajax polling request to the server layer on the view layer, and the server layer returns the preset routing inspection task planning path to the computing layer for coordinate conversion. And drawing the converted preset routing inspection task planning path to a 3D virtual machine room by a drawing layer, and displaying by a view layer. The embodiment of the disclosure can send the Ajax polling request to the server layer on the view layer, the server layer converts the real-time coordinate of the inspection robot into the virtual coordinate through the calculation layer, the real-time position of the inspection robot is drawn in real time through the drawing layer, and the real-time position is displayed on the view layer. And after the drawing layer exits from the inspection state, a preset inspection task planning path and a real-time position of the inspection robot are drawn on the drawing layer emptying 3D virtual machine room.
Although the operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
Corresponding to the above method embodiment, the inspection management device based on the inspection robot according to the embodiment of the present disclosure may include, as shown in fig. 3: the inspection task planning path obtaining unit 100, the first virtual coordinate obtaining unit 200, the path drawing unit 300, the real-time state information obtaining unit 400, the coordinate converting unit 500, and the inspection robot drawing unit 600.
The routing inspection task planning path obtaining unit 100 is configured to obtain a preset routing inspection task planning path, where the preset routing inspection task planning path includes at least one routing inspection point location to be inspected in the target entity machine room.
The first virtual coordinate obtaining unit 200 is configured to determine first virtual coordinates of each inspection point in a 3D virtual machine room constructed for the target entity machine room.
And the path drawing unit 300 is configured to draw a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point location.
The real-time status information obtaining unit 400 is configured to obtain real-time status information of the inspection robot according to a preset polling interval after controlling the inspection robot to start to inspect each inspection point according to a preset inspection task planning path, where the real-time status information includes a first real-time coordinate of the inspection robot in a target entity machine room.
And a coordinate conversion unit 500, configured to convert the first real-time coordinate into a second virtual coordinate according to a preset entity-virtual coordinate mapping reference point.
And the inspection robot drawing unit 600 is used for drawing the position of the inspection robot in real time in the 3D virtual machine room according to the second virtual coordinate.
Optionally, the inspection management device based on the inspection robot may further include: and a drawing clearing unit.
And the drawing and clearing unit is used for clearing the preset routing inspection task planning path drawn on the 3D virtual machine room after the routing inspection robot finishes routing inspection on the last routing inspection point in the preset routing inspection task planning path.
Optionally, the inspection management device based on the inspection robot may further include: a moving speed determining unit and a robot moving display unit.
And the moving speed determining unit is used for determining the moving speed of the inspection robot according to the second virtual coordinate, the first virtual coordinate of the next inspection point to be inspected and the preset polling interval in the process that the inspection robot moves to the next inspection point to be inspected according to the preset inspection task planning path.
The robot moving display unit is used for displaying the moving process that the inspection robot moves to the next inspection point position to be inspected in the 3D virtual machine room according to the moving speed.
Optionally, the real-time status information further includes an image acquisition angle of the inspection robot.
Optionally, the inspection management device based on the inspection robot may further include: the device comprises a position vector determining unit and an image acquisition angle control unit.
And the position vector determining unit is used for determining the position vector between the inspection robot and the next inspection point location to be inspected according to the second virtual coordinate and the first virtual coordinate of the next inspection point location to be inspected of the inspection robot in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path.
And the image acquisition angle control unit is used for controlling the image acquisition angle of the inspection robot to be consistent with the position vector.
Optionally, the inspection management device based on the inspection robot may further include: the alarm information display device comprises an alarm information acquisition unit and an alarm information display unit.
And the alarm information obtaining unit is used for obtaining the alarm information reported by the inspection robot.
And the alarm information display unit is used for displaying the alarm information.
Optionally, the inspection task planning path obtaining unit 100 may be specifically configured to send an inspection instruction including a second real-time coordinate of at least one inspection point to be inspected in the target entity machine room to the inspection robot, so that the inspection robot calculates the preset inspection task planning path according to the first real-time coordinate of the inspection robot and the second real-time coordinate of each inspection point; and obtaining a preset routing inspection task planning path calculated by the routing inspection robot.
Optionally, the inspection instruction further includes a device location field, where the device location field is used to indicate that the inspection robot moves to a target direction of the target device corresponding to the inspection point location.
The inspection management device based on the inspection robot can obtain a preset inspection task planning path, wherein the preset inspection task planning path comprises at least one inspection point to be inspected in a target entity machine room; determining a first virtual coordinate of each inspection point in a 3D virtual machine room constructed for a target entity machine room; drawing a preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point; after the inspection robot is controlled to inspect each inspection point according to a preset inspection task planning path, acquiring real-time state information of the inspection robot according to a preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in a target entity machine room; mapping the reference point according to a preset entity-virtual coordinate, and converting the first real-time coordinate into a second virtual coordinate; and according to the second virtual coordinate, drawing the position of the inspection robot in the 3D virtual machine room in real time. According to the method, the preset routing inspection task planning path and the routing inspection robot are drawn in the 3D virtual machine room through the 3D visualization technology, the specific space of the routing inspection robot in the machine room can be clearly displayed, and a user can visually acquire related information of the routing inspection robot in a real machine room scene.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The patrol inspection management device based on the patrol inspection robot comprises a processor and a memory, wherein the patrol inspection task planning path obtaining unit 100, the first virtual coordinate obtaining unit 200, the path drawing unit 300, the real-time state information obtaining unit 400, the coordinate conversion unit 500, the patrol inspection robot drawing unit 600 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, the preset routing inspection task planning path and the routing inspection robot are drawn in the 3D virtual machine room through the 3D visualization technology by adjusting the kernel parameters, the specific space of the routing inspection robot in the machine room can be clearly displayed, and a user can visually acquire related information of the routing inspection robot in the real machine room scene.
An embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a program, which when executed by a processor, implements the inspection management method based on an inspection robot.
The embodiment of the disclosure provides a processor, wherein the processor is used for running a program, and the program executes the inspection management method based on the inspection robot when running.
The embodiment of the disclosure provides an electronic device, which comprises at least one processor, at least one memory connected with the processor, and a bus; the processor and the memory complete mutual communication through a bus; the processor is used for calling the program instructions in the memory so as to execute the inspection management method based on the inspection robot. The electronic device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present disclosure also provides a computer program product adapted to execute a program initialized with inspection robot based inspection management method steps when executed on an electronic device.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, electronic devices (systems), and computer program products according to embodiments of the disclosure. 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The 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.
In the description of the present disclosure, it is to be understood that the directions or positional relationships indicated as referring to the terms "upper", "lower", "front", "rear", "left" and "right", etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the positions or elements referred to must have specific directions, be constituted and operated in specific directions, and thus, are not to be construed as limitations of the present disclosure.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. 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 identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure 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 so forth) having computer-usable program code embodied therein.
The above are merely examples of the present disclosure, and are not intended to limit the present disclosure. Various modifications and variations of this disclosure will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the scope of the claims of the present disclosure.
Claims (10)
1. The utility model provides a patrol and examine management method based on robot patrols and examines, its characterized in that includes:
obtaining a preset routing inspection task planning path, wherein the preset routing inspection task planning path comprises at least one routing inspection point position to be inspected in a target entity machine room;
determining a first virtual coordinate of each inspection point in a 3D virtual machine room constructed for the target entity machine room;
drawing the preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point location;
after the inspection robot is controlled to start to inspect each inspection point according to the preset inspection task planning path, acquiring real-time state information of the inspection robot according to a preset inspection interval, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in the target entity machine room;
mapping the reference point according to a preset entity-virtual coordinate, and converting the first real-time coordinate into a second virtual coordinate;
and according to the second virtual coordinate, drawing the position of the inspection robot in the 3D virtual machine room in real time.
2. The method of claim 1, further comprising:
and after the inspection robot finishes inspecting the last inspection point position in the preset inspection task planning path, clearing the preset inspection task planning path drawn on the 3D virtual machine room.
3. The method of claim 1, further comprising:
in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, determining the moving speed of the inspection robot according to the second virtual coordinate, the first virtual coordinate of the next inspection point location to be inspected and the preset inspection interval;
and according to the moving speed, displaying the moving process that the inspection robot moves to the next inspection point position to be inspected in the 3D virtual machine room.
4. The method of claim 1, wherein the real-time status information further includes an image acquisition angle of the inspection robot, the method further comprising:
in the process that the inspection robot moves to the next inspection point location to be inspected according to the preset inspection task planning path, determining a position vector between the inspection robot and the next inspection point location to be inspected according to the second virtual coordinate and the first virtual coordinate of the next inspection point location to be inspected by the inspection robot;
and controlling the image acquisition angle of the inspection robot to be consistent with the position vector.
5. The method of claim 1, further comprising:
acquiring alarm information reported by the inspection robot;
and displaying the alarm information.
6. The method according to claim 1, wherein the obtaining the preset inspection task planning path comprises:
sending a routing inspection instruction including a second real-time coordinate of at least one routing inspection point to be inspected in the target entity machine room to the routing inspection robot, so that the routing inspection robot calculates a preset routing inspection task planning path according to the first real-time coordinate of the routing inspection robot and the second real-time coordinate of each routing inspection point;
and obtaining the preset routing inspection task planning path calculated by the routing inspection robot.
7. The method of claim 6, wherein the inspection instruction further includes a device location field indicating a target direction in which the inspection robot moves to a target device corresponding to the inspection site location.
8. The utility model provides a management device patrols and examines based on robot patrols and examines which characterized in that includes: an inspection task planning path obtaining unit, a first virtual coordinate obtaining unit, a path drawing unit, a real-time state information obtaining unit, a coordinate conversion unit and an inspection robot drawing unit,
the routing inspection task planning path obtaining unit is used for obtaining a preset routing inspection task planning path, wherein the preset routing inspection task planning path comprises at least one routing inspection point position to be inspected in a target entity machine room;
the first virtual coordinate obtaining unit is used for determining first virtual coordinates of the inspection point positions in a 3D virtual machine room constructed for the target entity machine room;
the path drawing unit is used for drawing the preset routing inspection task planning path in the 3D virtual machine room according to the first virtual coordinate corresponding to each routing inspection point;
the real-time state information obtaining unit is used for obtaining real-time state information of the inspection robot according to a preset polling interval after the inspection robot is controlled to start to inspect each inspection point according to the preset inspection task planning path, wherein the real-time state information comprises a first real-time coordinate of the inspection robot in the target entity machine room;
the coordinate conversion unit is used for converting the first real-time coordinate into a second virtual coordinate according to a preset entity-virtual coordinate mapping reference point;
and the inspection robot drawing unit is used for drawing the position of the inspection robot in real time in the 3D virtual machine room according to the second virtual coordinate.
9. A computer-readable storage medium on which a program is stored, the program implementing the inspection robot-based inspection management method according to any one of claims 1 to 7 when executed by a processor.
10. An electronic device comprising at least one processor, and at least one memory connected to the processor, a bus; the processor and the memory complete mutual communication through the bus; the processor is used for calling the program instructions in the memory to execute the inspection robot-based inspection management method according to any one of claims 1 to 7.
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