CN114326719A - Inspection robot control method, inspection robot control system, computer equipment and storage medium - Google Patents
Inspection robot control method, inspection robot control system, computer equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent inspection, in particular to a method and a system for controlling an inspection robot, computer equipment and a storage medium, wherein the method comprises the steps of acquiring sensor data acquired by a sensor in an inspection area, wherein the inspection area comprises a plurality of inspection points, each inspection point comprises a plurality of sensors corresponding to the inspection points, and the sensors are provided with corresponding inspection actions; determining target sensor data meeting linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data; and sending first control information to the inspection robot to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, wherein the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the target sensor. By utilizing the inspection robot control method, the intelligent automatic control of the inspection robot can be realized, so that problems occurring in inspection points can be inspected and overhauled in time, and the loss is reduced as much as possible.
Description
Technical Field
The invention relates to the technical field of intelligent inspection, in particular to a method and a system for controlling an inspection robot, computer equipment and a storage medium.
Background
The track inspection robot is more and more widely used in a cable tunnel or an underground pipe gallery, and the current inspection robot executes an inspection task usually in a mode that the robot executes the inspection task at a preset time point or an operation and maintenance person manually controls the inspection robot to execute the inspection task. However, it may not be possible to timely find the abnormality occurring in the inspection point only by performing regularly or manually, and if the abnormality occurring in the area requiring to be intensively inspected, such as in a pipe gallery or a tunnel, cannot be timely found, an irretrievable loss may be caused. Therefore, how to realize the intelligent automatic control method of the inspection robot becomes a problem to be solved urgently.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a system for controlling an inspection robot, a computer device, and a storage medium, in order to solve the problem of how to implement an intelligent automatic control method for an inspection robot.
A control method of a patrol robot comprises the steps of obtaining sensor data collected by sensors in a patrol area, wherein the patrol area comprises a plurality of patrol points, the patrol points comprise a plurality of sensors corresponding to the patrol points, and the sensors are provided with corresponding patrol actions; determining target sensor data meeting linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data; and sending first control information to the inspection robot to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, wherein the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the target sensor.
In one embodiment, the sensor data collected by the sensors in the inspection area is acquired every first preset time.
In one embodiment, after the first control information is sent to the inspection robot to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, the method further includes acquiring inspection result data collected by the inspection robot when the inspection point executes the corresponding inspection action instruction.
In one embodiment, after acquiring sensor data acquired by a sensor in an inspection area, the method further includes sending the second control information to the inspection robot at a second preset time interval when the sensor data satisfying the linkage trigger condition does not exist.
In one embodiment, the polling action comprises taking a picture at a specified angle and/or collecting data of environmental parameters at a specified position.
A patrol robot control system comprises a plurality of sensors and a plurality of control modules, wherein the sensors are used for collecting sensor data of a patrol area, the patrol area comprises a plurality of patrol points, the patrol points comprise a plurality of sensors corresponding to the patrol points, and the sensors are provided with corresponding patrol actions; patrol and examine robot control module, respectively with patrol and examine the robot and a plurality of the sensor is connected for confirm satisfy the linkage trigger condition in the sensor data target sensor data and the target sensor that target sensor data corresponds still is used for sending first control information to patrolling and examining the robot, in order to control patrol and examine the robot and go to corresponding patrol and examine the corresponding action instruction of patrolling and examining of some execution, first control information includes the point sign of patrolling and examining that target sensor corresponds with the action instruction of patrolling and examining that target sensor corresponds.
In one embodiment, the inspection robot control system further comprises an area control module, which is respectively connected with the plurality of sensors and the inspection robot control module, and is used for transmitting the sensor data collected by the sensors in the inspection area to the inspection robot control module at intervals of a first preset time.
In one embodiment, the inspection robot control module comprises a data receiving unit, a data processing unit and a data processing unit, wherein the data receiving unit is used for acquiring sensor data acquired by the sensors in the inspection area; the data processing unit is connected with the data receiving unit and used for determining target sensor data meeting linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data; the control signal output unit is connected with the data processing unit and used for sending first control information to the inspection robot so as to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, and the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the target sensor.
In one embodiment, the data receiving unit is further configured to obtain patrol result data collected by the patrol robot when the patrol robot executes the corresponding patrol action instruction at the corresponding patrol point.
In one embodiment, the polling action comprises taking a picture at a specified angle and/or collecting data of environmental parameters at a specified position.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the inspection robot control method according to any one of the above embodiments when the processor executes the computer program.
A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the inspection robot control method according to any one of the above embodiments.
A computer program product comprising a computer program which, when executed by a processor, implements the steps of the inspection robot control method according to any one of the above embodiments.
According to the inspection robot control method, the sensors are arranged at each inspection point in the inspection area, and whether the inspection area is abnormal or not is judged by using the sensor data acquired by the sensors. When the linkage trigger condition is met according to the judgment of the sensor data, namely the inspection point where the sensor is located is abnormal, first control information can be output to the inspection robot so as to control the inspection robot to perform set inspection actions to the specified inspection point. The inspection robot control method can realize intelligent automatic control of the inspection robot, real-time monitoring is carried out on each inspection point in an inspection area by using the sensor, and the inspection robot is timely arranged to go to the inspection point with the abnormality to execute corresponding inspection action when the abnormality occurs at any inspection point, so that problems occurring in the inspection points can be inspected and repaired in time, and loss is reduced as much as possible.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flow chart of a method of controlling an inspection robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an inspection robot control system according to one embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an inspection robot control system according to another embodiment of the present disclosure;
FIG. 4 is a schematic block diagram of an inspection robot control device in one embodiment of the present disclosure;
fig. 5 is a schematic diagram of an internal structure of a computer device in an embodiment of the present disclosure.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "front," "rear," "circumferential," and the like are based on the orientation or positional relationship shown in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The track inspection robot is more and more widely used in a cable tunnel or an underground pipe gallery. At present, the inspection robot generally has two modes for executing tasks: (1) and (3) timing execution: the inspection robot executes an inspection task at a preset time point; (2) manually executing: and the operation and maintenance personnel manually control the inspection robot to execute the specified inspection task. However, it may not be possible to timely find the abnormality occurring in the inspection point only by performing regularly or manually, and if the abnormality occurring in the area requiring to be intensively inspected, such as in a pipe gallery or a tunnel, cannot be timely found, an irretrievable loss may be caused.
In order to solve the above problems, the present disclosure provides a patrol robot control method. Fig. 1 is a schematic flow chart of a method of controlling an inspection robot according to one embodiment of the present disclosure, and in one embodiment, the inspection robot may include the following steps S100 to S300.
Step S100: the method comprises the steps of obtaining sensor data collected by sensors in a routing inspection area, wherein the routing inspection area comprises a plurality of routing inspection points, each routing inspection point comprises a plurality of sensors corresponding to the routing inspection points, and the sensors are provided with corresponding routing inspection actions.
Step S200: and determining target sensor data meeting the linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data.
Step S300: and sending first control information to the inspection robot to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, wherein the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the inspection point.
Patrol and examine the region through setting up, patrol and examine the region and include a plurality of inspection points, and all be provided with a plurality of sensor that correspond in each inspection point, can utilize the sensor to patrol and examine each inspection point in the region and carry out real time monitoring. By acquiring and analyzing the sensor data acquired by the sensor at the corresponding inspection point, the abnormity of the inspection point can be timely detected. Each sensor is provided with corresponding action of patrolling and examining, and when the data that arbitrary one sensor detected satisfied linkage trigger condition, can control patrolling and examining the robot and go to the corresponding point of patrolling and examining of this sensor and carry out corresponding action of patrolling and examining. The linkage triggering condition refers to the corresponding relation between sensor data and triggering transmission of first control information to the inspection robot.
The linkage triggering condition may be a threshold interval, and when the sensor data is higher or lower than the threshold interval, it is determined that the sensor data satisfies the linkage triggering condition. For example, when the temperature is higher than the set threshold interval or lower than the set threshold interval, it is determined that the temperature data satisfies the linkage trigger condition, and the first control information may be sent to the inspection robot, so that the inspection robot goes to the inspection point corresponding to the sensor to perform the inspection action corresponding to the sensor. The linkage triggering condition can also be a preset value, and when the sensor data is higher than or lower than or equal to the preset value, the sensor data is judged to meet the linkage triggering condition. Or when certain sensor data is received, the linkage triggering condition is judged to be met. In practical application, corresponding linkage triggering conditions, such as a routing inspection threshold value and a linkage condition, can be set for each sensor according to the sensor parameter characteristics acquired by each sensor in each routing inspection point in advance.
In some embodiments of the present disclosure, the inspection area may be set as an area or a device that requires intensive inspection. The inspection area can also be set as the whole operation system. In practical application, the inspection area and the inspection points in the inspection area can be adaptively set according to inspection historical experience and inspection requirements so as to realize monitoring of the target area. For example, areas or equipment needing important inspection, such as in a pipe gallery or a tunnel, can be set as inspection points, and a plurality of sensors corresponding to the inspection points are installed at the inspection points.
In one embodiment, the sensors may include sensors for collecting data of an environment in which the device operates, and the sensor data may be an environmental parameter in which the device operates, such as temperature, humidity, water level, pressure, acceleration, vibration, smoke, and the like. The plurality of sensors may also include sensors for collecting device operating state data, which may be device operating state parameters, such as electrical parameters of voltage, current, and the like. In practical application, a sensor for acquiring corresponding data can be arranged according to the monitoring requirement of each inspection point, and the corresponding relation between the inspection points and the sensor is established.
In one embodiment, the same type of sensor may be set at different patrol points, and therefore, the determination process of the patrol point where the sensor corresponding to the target sensor data satisfying the linkage trigger condition is located may be affected. For example, the inspection point that sets up in piping lane or tunnel probably all is provided with smoke transducer, and when smoke transducer data satisfied linkage trigger condition, can't judge that the smoke transducer who satisfies linkage trigger condition is located the piping lane or in the tunnel. To address this issue, the various sensors in the inspection area may be numbered in advance. The acquired sensor data can also comprise a sensor number corresponding to the sensor data, so that when the target sensor data meets the linkage triggering condition, the target sensor corresponding to the target sensor data can be determined according to the sensor number in the target sensor data. In some embodiments of the present disclosure, a corresponding relationship between the sensor number and the patrol action may also be established.
In one embodiment, the inspection points can be numbered in advance, and the inspection points are distinguished by taking the inspection point numbers as inspection point identifiers. And establishing the corresponding relation between each inspection point identifier and each sensor number in advance. The target sensor can be determined according to the sensor number in the target sensor data meeting the linkage triggering condition, and the routing inspection point identification corresponding to the sensor number can also be determined according to the sensor number of the target sensor. Further, the first control information sent to the inspection robot may include an inspection point identifier corresponding to a sensor number of the target sensing data, and an inspection action instruction corresponding to the sensor number. The inspection robot can move to the corresponding inspection point according to the inspection point identification to perform corresponding inspection action at the corresponding inspection point according to the inspection action instruction.
According to the inspection robot control method, the sensors are arranged at each inspection point in the inspection area, and whether the inspection area is abnormal or not is judged by using the sensor data acquired by the sensors. When the linkage trigger condition is met according to the judgment of the sensor data, namely the inspection point where the sensor is located is abnormal, first control information can be output to the inspection robot so as to control the inspection robot to perform set inspection actions to the specified inspection point. The inspection robot control method can realize intelligent automatic control of the inspection robot, real-time monitoring is carried out on each inspection point in an inspection area by using the sensor, and the inspection robot is timely arranged to go to the inspection point with the abnormality to execute corresponding inspection action when the abnormality occurs at any inspection point, so that problems occurring in the inspection points can be inspected and repaired in time, and loss is reduced as much as possible.
In one embodiment, the sensor data collected by the sensors in the inspection area can be acquired every first preset time. Because a plurality of sensors are arranged in one inspection point, and a plurality of inspection points are included in the inspection area, the number of the sensors in the inspection area is large, and the efficiency of acquiring data of each sensor is low. One or more regional control modules can be arranged to centrally process the sensor data collected by the sensors. The area control module can acquire data acquired by the sensor every first preset time, transmit the data of the sensor and transmit the data to data processing equipment such as a control module or a server. Wherein, first preset time can be according to actual the requirement of patrolling and examining and set for. For example, the sensor data collected by the sensors in the inspection area may be acquired every 1 minute during the operation of the equipment, and every half hour during the non-operation of the equipment. In practical applications, the number of the area control modules can be determined according to the access capability of the adopted area control modules and the number of the sensors.
In one embodiment, the polling action may include taking a photograph at a specified angle at a specified location and/or performing data acquisition on environmental parameters. The polling action can be set according to the corresponding sensor characteristics. For example, the routing inspection actions corresponding to sensors such as a temperature sensor and a humidity sensor can be data acquisition of environmental parameters, and the routing inspection robot further acquires the environmental parameters to determine whether the routing inspection point is abnormal or not, so that false alarm caused by sensor faults is prevented. The inspection action corresponding to the sensors such as the smoke sensor and the pressure sensor can be that the camera is taken at a specified angle at a specified position, and whether the abnormality such as equipment collision, fire and the like exists at an inspection point is determined through the image and video information obtained by the inspection robot. In practical application, the corresponding polling actions can be adaptively set by integrating the characteristics of polling points and sensors.
In one embodiment, after the first control information is sent to the inspection robot to control the inspection robot to go to the corresponding inspection point to execute the corresponding inspection action instruction, the method further includes acquiring inspection result data collected when the inspection robot executes the corresponding inspection action instruction at the corresponding inspection point. After receiving the first control information, the inspection robot can move to the corresponding inspection point according to the inspection point identifier in the first control information to perform inspection according to the inspection action instruction in the first control information.
After the inspection robot finishes the corresponding inspection action at the corresponding inspection point, the acquired inspection result data can be stored and transmitted. The maintainer can make the judgement whether have the trouble in the point of patrolling and examining, what kind of trouble exists, whether need maintain etc. according to the result data of patrolling and examining that the robot gathered. Each inspection point in the inspection area is monitored in real time by using the sensor, and when any inspection point is abnormal, the inspection robot is timely arranged to go to the inspection point with the abnormality to execute corresponding inspection action, so that problems in the inspection points can be inspected and maintained in time, and loss is reduced as much as possible.
In one embodiment, after acquiring sensor data acquired by a sensor in an inspection area, the method further comprises sending second control information to the inspection robot when a second preset time is set and no sensor data meeting a linkage trigger condition exists. Under the special conditions that the sensor data collected by the sensor cannot be updated in time due to the abnormal condition of the sensor and the fault of a data transmission link between the sensor and the control system, the fault existing at the inspection point can not be found in time. Therefore, in some embodiments of the present disclosure, after the interval of the second preset time, when the sensor data meeting the linkage trigger condition still does not appear in the sensor data collected by the sensor, the second control information is sent to the inspection robot to control the inspection robot to go to the corresponding inspection point to execute the corresponding inspection action instruction. The second control information may include a polling point number corresponding to a sensor whose sensor data still does not satisfy the linkage trigger condition after the second preset time interval, and a polling action corresponding to the sensor.
The automatic inspection robot performs the inspection task according to the sensor data and the timing control inspection robot performs the inspection task, so that the problem that the sensor data cannot be updated in time due to sensor abnormity or data transmission abnormity can be prevented, the safety of the system is further improved, and the loss caused by faults is reduced as much as possible.
In some other embodiments, the automatic inspection robot for sensor data can perform the inspection task and the operation and maintenance personnel manually control the inspection robot to perform the specified inspection task; the automatic inspection robot can execute inspection tasks according to sensor data, regularly control the inspection robot to execute the inspection tasks and manually control the inspection robot to execute the specified inspection tasks by operation and maintenance personnel, so that the automatic inspection robot can adapt to different risk conditions.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
Based on the description of the embodiment of the inspection robot control method, the disclosure also provides an inspection robot control system. The inspection robot control system may include a system (including a distributed system), software (applications), modules, components, servers, clients, etc. using the method described in the embodiments of the present specification in combination with necessary hardware-implemented devices. Based on the same innovative concept, the patrol robot control system in one or more embodiments provided by the embodiments of the present disclosure is as described in the following embodiments. Because the implementation scheme and the method for solving the problem of the inspection robot control system are similar, the implementation of the inspection robot control system in the embodiment of the present specification may refer to the implementation of the foregoing method, and repeated details are not repeated. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. While the inspection robot control system described in the following embodiments is preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Fig. 2 is a schematic structural diagram of an inspection robot control system according to one embodiment of the present disclosure, and in one embodiment, the inspection robot control system may include a plurality of sensors 100 and an inspection robot control module 200.
A number of sensors 100 may be used to collect sensor data for the inspection area. Wherein, it can contain a plurality of inspection points to patrol and examine the region, and the inspection point can contain a plurality of sensors that correspond with the inspection point, and the sensor can be provided with the action of patrolling and examining that corresponds.
The inspection robot control module 200 is respectively connected with the inspection robot and the sensors 100, and is used for determining target sensor data meeting the linkage trigger condition in the sensor data and target sensors corresponding to the target sensor data, and sending first control information to the inspection robot to control the inspection robot to go to corresponding inspection points to execute corresponding inspection action instructions, wherein the first control information comprises inspection point identifiers corresponding to the target sensors and inspection action instructions corresponding to the target sensors. The inspection robot can be connected with the inspection robot control module 200 through a wireless network.
Fig. 3 is a schematic structural diagram of an inspection robot control system according to another embodiment of the present disclosure, and in one embodiment, the inspection robot control system may further include an area control module 300.
The area control module 300 is connected to the plurality of sensors 100 and the inspection robot control module 200, respectively. Wherein, the sensor can be connected with the area control module 300 by means of RS485, ethernet, etc. The area control module 300 may be connected to the inspection robot control module 200 through ethernet, optical fiber, wireless, or the like. The area control module 300 may be configured to transmit sensor data collected by sensors in the inspection area to the inspection robot control module 200 every first preset time. The number of the area control modules 300 may be set to one or more according to the access capability of the area control modules 300 and the number of sensors.
In one embodiment, the inspection robot control module 200 may include a data receiving unit, a data processing unit, and a control signal output unit.
And the data receiving unit can be used for acquiring sensor data acquired by the sensors in the inspection area.
And the data processing unit is connected with the data receiving unit and can be used for determining target sensor data meeting the linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data.
And the control signal output unit is connected with the data processing unit and can be used for sending first control information to the inspection robot so as to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction. The first control information may include a patrol point identifier corresponding to the target sensor and a patrol action instruction corresponding to the target sensor.
In one embodiment, the data receiving unit may be further configured to obtain inspection result data collected when the inspection robot executes the corresponding inspection action command at the corresponding inspection point.
In one embodiment, the polling action may include taking a photograph at a specified angle at a specified location and/or performing data acquisition on environmental parameters.
In one embodiment, the inspection robot control module 200 may be a functional unit in a server, and the server is used to implement automatic intelligent control on the inspection robot.
The inspection area is selected, the sensors and the area control module 300 are installed on the areas or equipment needing important inspection, and a plurality of sensors 100 can be placed at each inspection point in the inspection area. Each sensor 100 may be connected to the zone control module 300 by RS485, ethernet, etc. The regional control module 300 may be connected to the server via ethernet, fiber optic, wireless, etc. The inspection robot can be connected with the server through a wireless network.
The user can set corresponding inspection threshold values and linkage conditions, namely linkage triggering conditions, for parameters corresponding to various sensors at each inspection point in advance at the server according to actual conditions, and for example, the upper limit or the lower limit of the numerical value of the sensor required to execute the linkage task can be set for each sensor. The user can also number each sensor at the server end in advance according to the actual situation, establish the corresponding relation between the sensor and the inspection point, and set the appointed inspection action for the inspection point corresponding to each sensor. The inspection action can comprise photographing at a specified angle at a specified position, measuring ambient temperature, humidity and the like, and acquiring data supported by the inspection robot body.
The regional control module 300 periodically collects data from all sensors and reports the data to the server. The server compares the sensor data reported by the area control module 300 regularly with the preset linkage trigger condition, and judges whether the trigger condition is met in real time. And if the sensor data meet the linkage triggering condition, issuing the inspection point number corresponding to the target sensor data meeting the linkage triggering condition and a specified inspection action instruction to the inspection robot.
And after receiving the inspection point number and the inspection action instruction, the inspection robot goes to the specified inspection point to execute the specified inspection action, and uploads inspection result data to the server. The server can also store all the data acquired in the process.
All or part of each module in the inspection robot control system can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
With regard to the inspection robot control system 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 described in detail here.
It is to be understood that the various embodiments of the methods, systems, etc., described above are described in a progressive manner, and like/similar elements may be referred to one another, with each embodiment focusing on differences from the other embodiments. Reference may be made to the description of other method embodiments for relevant points.
Fig. 4 is a schematic block diagram of an inspection robot control device in one embodiment of the present disclosure. Referring to fig. 4, the inspection robot control device S00 includes a processing component S20 that further includes one or more processors, and memory resources, represented by memory S22, for storing instructions, such as applications, executable by the processing component S20. The application program stored in the memory S22 may include one or more modules each corresponding to a set of instructions. Further, the processing component S20 is configured to execute instructions to perform the above-described method.
The inspection robot control device S00 may further include: the power supply module S24 is configured to perform power management of the inspection robot control device S00, the wired or wireless network interface S26 is configured to connect the inspection robot control device S00 to a network, and the input/output (I/O) interface S28. The inspection robot controller S00 may operate based on an operating system stored in the memory S22, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, or the like.
In an exemplary embodiment, a computer-readable storage medium including instructions, such as the memory S22 including instructions, executable by the processor of the inspection robot control S00 to perform the method is also provided. The storage medium may be a computer-readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product is also provided that includes instructions executable by a processor of the inspection robot control device S00 to perform the above-described method.
In one embodiment, a computer device is provided, the computer device may be a server, an internal structure diagram of the computer device may be as shown in fig. 5, and fig. 5 is a schematic internal structure diagram of the computer device in one embodiment of the present disclosure. The computer device includes a processor, a memory, a network interface, and a display screen connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing sensor data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a patrol robot control method.
The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the hardware + program class embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to part of the description of the method embodiment for relevant points.
It should be noted that, the descriptions of the apparatus, the electronic device, the server, and the like according to the method embodiments may also include other embodiments, and specific implementations may refer to the descriptions of the related method embodiments. Meanwhile, the new embodiment formed by the mutual combination of the features of the methods, the devices, the equipment and the server embodiments still belongs to the implementation range covered by the present disclosure, and the details are not repeated herein.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A patrol robot control method is characterized by comprising the following steps:
acquiring sensor data acquired by sensors in a patrol area, wherein the patrol area comprises a plurality of patrol points, the patrol points comprise a plurality of sensors corresponding to the patrol points, and the sensors are provided with corresponding patrol actions;
determining target sensor data meeting linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data;
and sending first control information to the inspection robot to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, wherein the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the target sensor.
2. The inspection robot control method according to claim 1, wherein the sensor data collected by the sensors in the inspection area is acquired every first preset time.
3. The inspection robot control method according to claim 1 or 2, wherein after sending the first control information to the inspection robot to control the inspection robot to go to the corresponding inspection point to execute the corresponding inspection action command, the method further comprises:
and acquiring inspection result data acquired when the inspection robot executes the corresponding inspection action instruction at the corresponding inspection point.
4. The inspection robot control method according to claim 1, wherein after acquiring sensor data collected by the sensors in the inspection area, the method further comprises:
and when the interval of the second preset time is not provided with the sensor data meeting the linkage triggering condition, sending second control information to the inspection robot.
5. The patrol robot control method according to claim 1, wherein the patrol action comprises taking a picture at a specified angle at a specified position and/or performing data acquisition on an environmental parameter.
6. A patrol robot control system, comprising:
the system comprises a plurality of sensors, a data acquisition module, a data processing module and a data processing module, wherein the sensors are used for acquiring sensor data of a patrol area, the patrol area comprises a plurality of patrol points, the patrol points comprise a plurality of sensors corresponding to the patrol points, and the sensors are provided with corresponding patrol actions;
patrol and examine robot control module, respectively with patrol and examine the robot and a plurality of the sensor is connected for confirm satisfy the linkage trigger condition in the sensor data target sensor data and the target sensor that target sensor data corresponds still is used for sending first control information to patrolling and examining the robot, in order to control patrol and examine the robot and go to corresponding patrol and examine the corresponding action instruction of patrolling and examining of some execution, first control information includes the point sign of patrolling and examining that target sensor corresponds with the action instruction of patrolling and examining that target sensor corresponds.
7. The inspection robot control system according to claim 6, further comprising:
and the area control module is respectively connected with the plurality of sensors and the inspection robot control module and is used for transmitting the sensor data acquired by the sensors in the inspection area to the inspection robot control module at intervals of first preset time.
8. The inspection robot control system according to claim 6, wherein the inspection robot control module includes:
the data receiving unit is used for acquiring sensor data acquired by the sensors in the inspection area;
the data processing unit is connected with the data receiving unit and used for determining target sensor data meeting linkage triggering conditions in the sensor data and a target sensor corresponding to the target sensor data;
the control signal output unit is connected with the data processing unit and used for sending first control information to the inspection robot so as to control the inspection robot to go to a corresponding inspection point to execute a corresponding inspection action instruction, and the first control information comprises an inspection point identifier corresponding to the target sensor and an inspection action instruction corresponding to the target sensor.
9. The inspection robot control system according to claim 8, wherein the data receiving unit is further configured to obtain inspection result data collected by the inspection robot when the inspection robot executes the inspection action command at the corresponding inspection point.
10. The patrol robot control system according to claim 6, wherein the patrol action comprises taking a picture at a specified angle at a specified position and/or performing data acquisition on environmental parameters.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the patrol robot control method according to claims 1-5 when executing the computer program.
12. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the patrol robot control method according to claims 1 to 5.
13. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, realizes the steps of the patrol robot control method according to claims 1-5.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115102959A (en) * | 2022-08-04 | 2022-09-23 | 常州工程职业技术学院 | Indoor robot communication system applied to inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115102959A (en) * | 2022-08-04 | 2022-09-23 | 常州工程职业技术学院 | Indoor robot communication system applied to inspection |
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