CN114147740A - Robot patrol planning system and method based on environment state - Google Patents
Robot patrol planning system and method based on environment state Download PDFInfo
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- 238000013479 data entry Methods 0.000 claims abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to the technical field of inspection, and discloses a robot inspection system and a method based on an environmental state, wherein the system comprises: the system comprises a data input module, an environment acquisition module, an analysis and identification module, a location marking module and a patrol planning module; the data entry module is used for entering and storing patrol comparison information; the environment acquisition module is used for acquiring environment state information; the analysis and identification module is used for judging whether the equipment is normal or not according to the collected environment state information and by combining the inspection comparison information; the location marking module is used for marking the inspection location for the equipment which is judged to be abnormal; and the patrol planning module is used for planning the patrol route of the robot according to the patrol place. The robot patrol system and method based on the environmental state, provided by the invention, can preferentially plan a patrol route for equipment with possible problems, and improve patrol efficiency and pertinence.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to a robot inspection system and method based on an environmental state.
Background
The inspection tour is needed in the fields of industrial production, machine room operation and maintenance, security and civil life and the like, and is mainly used for inspecting the running state of important equipment and judging whether the running state is abnormal or not and taking targeted measures after timely reporting.
The traditional inspection mode is that the inspection is carried out manually, namely, the worker carries a corresponding tool to carry out inspection on the equipment regularly, but the manual inspection can have the defects of high labor intensity, low safety, low working efficiency and the like, and particularly, the defects of the manual inspection are more obvious when severe weather or complex terrains are encountered.
With the development and progress of science and technology, the intelligent robot is more and more widely applied, and the inspection mode of the robot replaces the manual inspection mode in many fields. The current inspection mode of the robot is mainly that the robot samples equipment one by one along a fixed path, and a worker judges whether the equipment is abnormal according to information such as returned images. Although the above method can replace the manual patrol method, the following disadvantages still exist: 1. the robot checks along a fixed path one by one, equipment which is easy to have problems cannot be checked in time, checking efficiency is low, and the optimal time for processing the problems is possibly delayed; 2. the running state of the equipment still needs to be identified manually, so that a lot of manpower resources are occupied, and the identification accuracy also depends on the experience of workers; 3. the staff only discerns the contrast according to the collection information that the robot returned, and the judgement accuracy of certain information is not as the on-the-spot direct contrast, and the real-time nature of analysis discernment can't guarantee to cause the problem of equipment to discover in time.
Disclosure of Invention
The invention aims to provide a robot patrol planning system based on an environment state, whether equipment is possibly in an abnormal state or not is analyzed based on the environment state, a patrol place is marked, a patrol route is planned, the patrol route can be planned for equipment items possibly having problems preferentially, and the patrol efficiency and pertinence are improved.
The technical scheme provided by the invention is as follows: robot patrol planning system based on environmental state, comprising: the system comprises a data input module, an environment acquisition module, an analysis and identification module, a location marking module and a patrol planning module; the data entry module is used for entering and storing patrol comparison information; the environment acquisition module is used for acquiring environment state information; the analysis and identification module is used for judging whether the equipment is normal or not according to the collected environment state information and by combining the inspection comparison information; the location marking module is used for marking the inspection location for the equipment which is judged to be abnormal; and the patrol planning module is used for planning the patrol route of the robot according to the patrol place.
The working principle and the advantages of the invention are as follows: the data entry module stores information for comparison of the analysis and identification module, and after the environment acquisition module acquires the environment state information, the analysis and identification module can judge whether the equipment is in an abnormal operation state or not according to the acquired environment state information in combination with the inspection and comparison information. When the equipment is in the abnormal operation state for a long time, accidents such as damage and the like can be caused, and after the equipment is judged to be in the abnormal operation state, the position marking module marks the position of the equipment as an inspection place. And the patrol planning module plans a patrol route of the robot according to the marked one or more patrol places. Compared with the mode that the inspection robot inspects the current fixed paths one by one, the scheme of the invention can inspect the equipment which is easy to cause problems in the current environment preferentially, can grasp the time for processing the problems better, improves the inspection efficiency compared with the current inspection mode, and saves energy sources.
Further, the environment collection module includes temperature collection unit, humidity collection unit and image acquisition unit, the temperature collection unit is used for gathering the temperature information around the robot, the humidity collection unit is used for gathering the humidity information around the robot, the image acquisition unit is used for gathering the image information around the robot.
In the environmental state of the equipment in operation, the factors influencing the operation of the equipment mainly include temperature and humidity information, and the normal operation of the equipment may be influenced by high-temperature, low-temperature and humid environments, so that the equipment detected to be in the above severe environment needs to be subjected to key inspection. The image acquisition unit mainly acquires image information of the equipment for further analysis.
Furthermore, the patrol comparison information comprises parameter information of the equipment, the analysis and identification module comprises an environment analysis unit, and the environment analysis unit is used for judging whether the environmental state of the equipment is normal or not according to the collected environmental state information and the parameter information of the equipment.
The method comprises the steps of inputting parameters of all equipment in advance, wherein the parameters comprise information such as proper temperature and humidity when the equipment runs, then collecting surrounding environment state information in real time by a system, and comparing the surrounding environment state information with environment parameters required by the equipment, thereby judging whether the environment state of the equipment is normal or not. Through the further analysis of the surrounding environment information, the probability that the equipment has problems in the current environment can be roughly judged when the equipment is far away, and therefore reasonable route planning is conducted.
Further, the patrol comparison information further comprises standard image information of the equipment, the image information around the robot comprises real-time image information of the equipment, the analysis and identification module further comprises an appearance analysis unit, and the appearance analysis unit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the appearance of the equipment is normal or not.
The standard image information of the equipment can be a standard image manually input into the equipment, and can also be a standard image of the equipment acquired by a system in the previous patrol process of the robot. According to the analysis of the environmental state information, after the equipment arrives at the patrol place, the analysis and identification module analyzes and compares the acquired real-time image information of the equipment with the standard image information of the equipment, and judges whether the appearance of the equipment has a problem or not. The equipment in the abnormal environment state is analyzed in appearance, the process of manual observation is replaced by the camera image acquisition and intelligent identification algorithm, the identification efficiency and the accuracy are improved compared with manual identification, and the real-time performance of analysis and identification can be guaranteed.
Further, the appearance analysis unit comprises a defect analysis subunit, a structure analysis unit and a corrosion analysis subunit, wherein the defect analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the appearance of the equipment is defective or not; the structure analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the equipment structure is abnormal or not; and the corrosion analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the equipment is corroded in appearance.
Through the analysis discernment to equipment outward appearance, can discover the problem of many aspects, such as whether complete, whether normal, the shell has the corrosion, can discover as early as possible and handle the problem that equipment probably exists through the detection of above problem to stop bigger hidden danger.
Further, the environment collection module further comprises a sound collection unit, and the sound collection unit is used for collecting sound information around the robot.
The system of the invention also provides sound collection around the robot for analyzing the operation condition of the equipment from the dimension of sound. Problems in the operation of the device can be further discovered.
Further, the patrol comparison information further comprises sound information of normal operation of the equipment, the sound information around the robot comprises real-time sound information of operation of the equipment, the analysis and identification module further comprises a sound analysis unit, and the sound analysis unit is used for comparing the real-time sound information of operation of the equipment with the sound information of normal operation of the equipment and judging whether the operation sound of the equipment is normal or not.
The system collects the sound emitted by the equipment in normal operation in the prior patrol process, compares the real-time sound of the equipment operation with the sound for identifying the normal operation, can judge whether the equipment has a problem in operation or not through the difference of the sounds, and can find the problem which cannot be seen in the equipment by judging the sound compared with the identification on the appearance. And because of the directivity of sound transmission, the judgment of the sound can only be realized on site in real time, and the sound is difficult to be uploaded to a user terminal for manual real-time identification, which is a detection effect that cannot be achieved by the traditional robot patrol mode.
The system further comprises a data optimization module, wherein the data optimization module is used for carrying out clarification processing on the acquired environmental state information.
The data optimization module can carry out the clarification processing to each item environmental status information that the system gathered, helps further to improve the recognition effect, for example carries out image enhancement optimization to image information, carries out the optimization of making an uproar of falling to sound information.
The invention also discloses a robot patrol planning method based on the environmental state, which is characterized in that: the method comprises the following steps:
s1: inputting patrol data required in the patrol planning process;
s2: collecting environmental state information;
s3: judging whether the equipment is normal or not according to the collected environmental state information and by combining the inspection comparison information;
s4: marking the inspection place for the equipment which is judged to be abnormal;
s5: and planning the patrol route of the robot according to the patrol place.
Further, the patrol data in S1 includes parameter information of the device, standard picture information of the device, and sound information of normal operation of the device;
the environmental state information collected in S2 and S3 includes temperature information and humidity information, and the patrol comparison information in S3 is parameter information of the device;
further comprising:
s6: after arriving at a patrol place, acquiring real-time image information of equipment and real-time sound information of equipment operation;
s7: carrying out clarification processing on the acquired real-time image information of the equipment and the real-time sound information of the equipment operation;
s8: comparing the real-time image information of the equipment with the standard image information of the equipment, and judging whether the appearance of the equipment is normal or not;
s9: comparing the real-time sound information of the equipment operation with the sound information of the equipment normal operation, and judging whether the operation sound of the equipment is normal or not;
s10: and summarizing the comparison and judgment results and sending the results to the user terminal.
Drawings
FIG. 1 is a block diagram of a first embodiment of a system for planning a robot patrol based on environmental conditions;
fig. 2 is a logic block diagram of a first embodiment of a robot patrol planning method based on an environmental state according to the present invention.
Detailed Description
The first embodiment is as follows:
as shown in fig. 1, the embodiment discloses a robot patrol planning system based on an environmental state, which includes a data entry module, an environment acquisition module, a data optimization module, an analysis and identification module, a location marking module, and a patrol planning module.
The data entry module is used for entering and storing patrol comparison information, and the patrol comparison information entry mode in the embodiment can be directly imported into the data entry module manually, is parameter information of each device generally, and mainly comprises suitable working environment parameters of the device operation on a use specification of the device. Or the information collected by the environment collection module is processed by the data optimization module in a clear mode and then automatically imported into the data entry module, wherein the information is the standard image information of each device and the sound information of each device in normal operation.
The environment acquisition module is used for acquiring environment state information and comprises a temperature acquisition unit, a humidity acquisition unit, an image acquisition unit and a sound acquisition unit. The temperature acquisition unit in this embodiment includes the temperature sensor who installs on the robot, gathers the temperature information around the robot to upload to analysis and identification module. The humidity acquisition unit comprises a humidity sensor installed on the robot, acquires humidity information around the robot and uploads the humidity information to the analysis and identification module. The image acquisition unit comprises a camera installed on the robot, acquires image information around the robot and uploads the image information to the analysis and identification module. The sound collection unit comprises an array microphone arranged on the robot, collects sound information around the robot and uploads the sound information to the analysis and identification module.
The data optimization module is used for carrying out sharpening processing on the acquired environmental state information and comprises an image optimization unit and a sound optimization unit.
The image optimization unit carries out sharpening processing on the acquired image information, analyzes the images frame by frame aiming at the problem that the acquired images are not sharp due to the flicker of the on-site environment light, selects a plurality of images with the minimum chromatic aberration, generates images with stable environment light through an image multi-frame fusion algorithm, and then enhances the image contrast and the color; aiming at the problem that the collected image is fuzzy due to heavy field water mist, the image is analyzed frame by frame, an image with a water mist removing effect is generated through a multi-sheet fusion algorithm, and then the image contrast and the color are enhanced.
The sound optimizing unit carries out clarification processing on the collected sound information, the array microphone processes sound signals according to the collected sound information and the directivity, so that the sound signals arriving at different angles are amplified differently, the running sound of equipment is amplified, and noise is filtered, so that the effects of enhancing useful signals and relatively weakening background noise are achieved. The data optimization module uploads the optimized image information and sound information to the data entry module for storage or directly uploads the optimized image information and sound information to the analysis and identification module for further analysis.
The analysis and identification module is used for judging whether the equipment is normal or not according to the collected environment state information and by combining the patrol comparison information and comprises an environment analysis unit, an appearance analysis unit and a sound analysis unit.
The environment analysis unit is used for judging whether the environment state of the equipment is normal or not according to the collected environment state information and the parameter information of the equipment, comparing the collected temperature and humidity information with the recorded parameter information of each equipment, and rapidly identifying which equipment operates under the abnormal environment state at present.
The appearance analysis unit comprises a defect analysis subunit, a structure analysis subunit and a corrosion analysis subunit, wherein the defect analysis subunit is used for comparing the currently acquired real-time image information of the equipment with the previously stored standard image information of the equipment and judging whether the equipment has defects in appearance or not; the structure analysis subunit is used for comparing the currently acquired real-time image information of the equipment with the previously stored standard image information of the equipment, and judging whether the structure of the equipment is abnormal or not, wherein the structure of the equipment comprises the installation positions of key components of the equipment, the opening and closing states of certain switch structures of the equipment and the like. The corrosion analysis subunit is used for comparing the currently acquired real-time image information of the equipment with the previously stored standard image information of the equipment, and judging whether the equipment is corroded in appearance and the corrosion condition through algorithms such as color recognition.
The sound analysis unit is used for comparing the currently acquired real-time sound information of the equipment operation with the sound information of the equipment normal operation stored in the past, analyzing the similarity and fluctuation rate of the two, and judging whether the operation sound of the equipment is normal or not in the current state.
And the place marking module is used for marking the inspection place for the equipment which is judged to be abnormal. After an environment analysis unit of the analysis and identification module preliminarily identifies which equipment is operated in an abnormal environment state at present, the position marking module marks the positions of the equipment on a map as patrol places, and the position information of the patrol places is uploaded to the patrol planning module.
And the patrol planning module is used for planning the patrol route of the robot according to the patrol place. According to each inspection place, the inspection planning module plans a route which can be used for sequentially inspecting the equipment in the inspection places. And in the route planning process, an optimal patrol route is formulated by combining factors such as the urgency degree of equipment inspection, the shortest distance passing through each equipment and the like.
The embodiment also discloses a method matched with the robot patrol planning system based on the environmental state, the logic flow is shown in fig. 2, and the method comprises the following steps (the numbering of each step in the scheme is only used for distinguishing the steps, the specific execution sequence of each step is not limited, and each step can be simultaneously carried out):
s1: and inputting inspection data required in the inspection planning process, wherein the inspection data comprises manually input parameter information of each device, standard picture information of each device and sound information of normal operation of each device, which are acquired and processed clearly by the system in the past.
S2: and collecting environmental state information including temperature information and humidity information under the current environment.
S3: and judging whether the equipment is normal or not according to the collected environmental state information and the inspection comparison information. And comparing the acquired temperature and humidity information with the recorded parameter information of each device, and judging that the current device with the temperature or humidity within the proper temperature or humidity range of the device is abnormal. And sequencing abnormal equipment in sequence according to the deviation value of the current temperature or humidity and the proper range from large to small, wherein for example, the equipment 1 with the largest temperature deviation value and the equipment 2 with the next largest temperature deviation value are sequenced in sequence.
S4: and marking the inspection place for the equipment which is judged to be abnormal. And marking the positions of the devices which are judged to be abnormal on the map respectively as patrol places. And according to the sequencing result of the abnormal equipment, sequencing the corresponding patrol places in sequence, namely a patrol place 1, a patrol place 2 and the like.
S5: and planning the patrol route of the robot according to the patrol place. And according to the sequencing result of the patrol places, sequencing the installation patrol places from the patrol place 1 to the last patrol place, wherein the path between each patrol place is the shortest travel distance path. And sequentially checking each device according to the planned path.
S6: and after the mobile terminal arrives at the patrol place, acquiring real-time image information of the equipment and real-time sound information of the operation of the equipment. And after the equipment arrives at the corresponding patrol place, acquiring real-time image information and real-time sound information of the equipment at the current patrol place.
S7: and carrying out clarification processing on the acquired real-time image information of the equipment and the real-time sound information of the equipment operation. Aiming at the problem that the acquired images are not clear due to the flicker of the on-site environment light, analyzing the images frame by frame, selecting a plurality of images with the minimum chromatic aberration, generating images with stable environment light through a fusion algorithm, enhancing the contrast of the images and enhancing the color; aiming at the problem that the collected image is fuzzy due to heavy field water mist, the image is analyzed frame by frame, an image with a water mist removing effect is generated through a multi-sheet fusion algorithm, then the image contrast is enhanced, the color is enhanced, and the image after the sharpening treatment is obtained. The sound of the equipment operation is amplified, and the noise is filtered, so that the effects of enhancing useful signals and relatively weakening background noise are achieved, and the sound after the clarification processing is obtained.
S8: and comparing the real-time image information of the equipment with the standard image information of the equipment, and judging whether the appearance of the equipment is normal or not. Comparing the currently acquired real-time image information of the equipment with the previously stored standard image information of the equipment, and judging whether the appearance of the equipment is completely defective or not, specifically whether the shell of the equipment is defective or not and the defect condition; whether the structure of the equipment is abnormal or not, specifically whether the installation position of a key part of the equipment has deviation or not and whether a switch structure of the equipment is in a correct position or not; whether the equipment is rusted in appearance and the approximate area of the rust.
S9: and comparing the real-time sound information of the equipment operation with the sound information of the equipment normal operation, and judging whether the operation sound of the equipment is normal or not. Comparing the currently acquired real-time sound information of the equipment operation with the sound information of the equipment normal operation stored in the past, analyzing the similarity and fluctuation rate of the two, judging whether the operation sound of the equipment is normal under the current state, and if the similarity of the two is too low or the fluctuation rate of the real-time sound of the current equipment operation is abnormal and large, judging that the operation sound of the equipment is abnormal.
S10: and summarizing the comparison and judgment results and sending the results to the user terminal. According to the equipment of each patrol place on the path, the temperature and humidity comparison results, the appearance defects, the structure and the corrosion comparison results and the sound comparison results of each equipment are collected in sequence by the installation and inspection sequence and are sent to the user terminal.
Example two:
the difference between the present embodiment and the first embodiment is:
s1: and inputting inspection data required in the inspection planning process, wherein the inspection data comprises manually input parameter information of each device, standard picture information of each device and sound information of normal operation of each device, which are acquired and processed clearly by the system in the past.
S2: and collecting environmental state information including temperature information and humidity information under the current environment.
S3: and judging whether the equipment is normal or not according to the collected environmental state information and the inspection comparison information. Recognizing that the temperature and the humidity of the current environment state are both located in the appropriate range of all the devices, acquiring the sound information of the nearest devices around the robot, carrying out clarification processing on the acquired sound information, and determining each device according to the direction of the sound source. Comparing the currently acquired real-time sound information of the equipment operation with the sound information of the equipment normal operation stored in the past, analyzing the similarity and fluctuation rate of the two, judging whether the operation sound of the equipment is normal under the current state, and if the similarity of the two is too low or the fluctuation rate of the real-time sound of the current equipment operation is abnormal and large, judging that the operation sound of the equipment is abnormal.
S4: and marking the inspection place for the equipment which is judged to be abnormal. And marking the position of the equipment which is judged to be abnormal on the map as a patrol place.
S5: and planning the patrol route of the robot according to the patrol place.
S6: and after the mobile terminal arrives at the patrol place, acquiring real-time image information of the equipment.
S7: and carrying out sharpening processing on the acquired real-time image information of the equipment.
S8: and comparing the real-time image information of the equipment with the standard image information of the equipment, and judging whether the appearance of the equipment is normal or not.
S9: and summarizing the comparison and judgment results and sending the results to the user terminal.
S10: and collecting the sound information of other nearest equipment around the position of the robot again, carrying out clarification processing, and determining each equipment according to the direction of the sound source. And comparing the currently acquired real-time sound information of the equipment operation with the sound information of the equipment normal operation stored in the past, and judging whether the operation sound of the equipment is normal or not.
The rest of this embodiment is the same as the first embodiment.
The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. Robot patrol planning system based on environmental status, characterized by comprising: the system comprises a data input module, an environment acquisition module, an analysis and identification module, a location marking module and a patrol planning module; the data entry module is used for entering and storing patrol comparison information; the environment acquisition module is used for acquiring environment state information; the analysis and identification module is used for judging whether the equipment is normal or not according to the collected environment state information and by combining the inspection comparison information; the location marking module is used for marking the inspection location for the equipment which is judged to be abnormal; and the patrol planning module is used for planning the patrol route of the robot according to the patrol place.
2. The environmental state based robot patrol planning system of claim 1, wherein: the environment acquisition module includes temperature acquisition unit, humidity acquisition unit and image acquisition unit, the temperature acquisition unit is used for gathering the temperature information around the robot, the humidity acquisition unit is used for gathering the humidity information around the robot, the image acquisition unit is used for gathering the image information around the robot.
3. The environmental state-based robotic patrol planning system of claim 2, wherein: the patrol comparison information comprises parameter information of the equipment, the analysis and identification module comprises an environment analysis unit, and the environment analysis unit is used for judging whether the environment state of the equipment is normal or not according to the collected environment state information and the parameter information of the equipment.
4. The environmental state based robot patrol planning system of claim 3, wherein: the patrol comparison information further comprises standard image information of the equipment, the image information around the robot comprises real-time image information of the equipment, the analysis and identification module further comprises an appearance analysis unit, and the appearance analysis unit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the appearance of the equipment is normal or not.
5. The environmental state based robot patrol planning system of claim 4, wherein: the appearance analysis unit comprises a defect analysis subunit, a structure analysis unit and a corrosion analysis subunit, wherein the defect analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the appearance of the equipment is defective or not; the structure analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the equipment structure is abnormal or not; and the corrosion analysis subunit is used for comparing the real-time image information of the equipment with the standard image information of the equipment and judging whether the equipment is corroded in appearance.
6. The environmental state-based robotic patrol planning system of claim 2, wherein: the environment acquisition module further comprises a sound acquisition unit, and the sound acquisition unit is used for acquiring sound information around the robot.
7. The environmental state based robot patrol planning system of claim 6, wherein: the patrol comparison information further comprises sound information of normal operation of equipment, the sound information around the robot comprises real-time sound information of operation of the equipment, the analysis and identification module further comprises a sound analysis unit, and the sound analysis unit is used for comparing the real-time sound information of operation of the equipment with the sound information of normal operation of the equipment and judging whether the operation sound of the equipment is normal or not.
8. The environmental state based robot patrol planning system of claim 1, wherein: the system also comprises a data optimization module, wherein the data optimization module is used for carrying out clear processing on the acquired environmental state information.
9. The robot patrol planning method based on the environment state is characterized by comprising the following steps: the method comprises the following steps:
s1: inputting patrol data required in the patrol planning process;
s2: collecting environmental state information;
s3: judging whether the equipment is normal or not according to the collected environmental state information and by combining the inspection comparison information;
s4: marking the inspection place for the equipment which is judged to be abnormal;
s5: and planning the patrol route of the robot according to the patrol place.
10. The environmental state-based robot patrol planning method according to claim 9, wherein:
the patrol data in the S1 includes parameter information of the device, standard picture information of the device, and sound information of normal operation of the device;
the environmental state information collected in S2 and S3 includes temperature information and humidity information, and the patrol comparison information in S3 is parameter information of the device;
further comprising:
s6: after arriving at a patrol place, acquiring real-time image information of equipment and real-time sound information of equipment operation;
s7: carrying out clarification processing on the acquired real-time image information of the equipment and the real-time sound information of the equipment operation;
s8: comparing the real-time image information of the equipment with the standard image information of the equipment, and judging whether the appearance of the equipment is normal or not;
s9: comparing the real-time sound information of the equipment operation with the sound information of the equipment normal operation, and judging whether the operation sound of the equipment is normal or not;
s10: and summarizing the comparison and judgment results and sending the results to the user terminal.
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