CN114510064B - Inspection robot control method, inspection robot control system, storage medium and electronic equipment - Google Patents
Inspection robot control method, inspection robot control system, storage medium and electronic equipment Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention is suitable for the field of computers, and provides a patrol robot control method, a system, a storage medium and electronic equipment, wherein the method comprises the following steps: controlling an inspection robot to perform mobile inspection on a target area according to an inspection route, wherein the inspection robot comprises a parent robot and a child robot detachably arranged on the parent robot; identifying an abnormal subregion of which the danger index reaches a preset danger level in the moving inspection process, controlling a master robot to gradually separate at least one sub-robot, and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot; the method has the beneficial effects that the change trend of the risk index in the abnormal subregion is judged based on the fixed point monitoring information, and the method has the following beneficial effects: the number of the sub-robots and the number of the abnormal sub-areas can be considered, and the change of the danger indexes of the abnormal sub-areas can be comprehensively controlled.
Description
Technical Field
The invention belongs to the field of computers, and particularly relates to a patrol robot control method, a patrol robot control system, a storage medium and electronic equipment.
Background
Under the conditions of increasingly perfect various technologies and continuously expanded requirements, the market scale of the robot is larger and larger at present, the product system is richer and richer, the application range is wider, and the figure of the robot can be seen in various scenes.
The inspection robot is used as a 'new star' in the field of mobile robots and a 'representative' in the field of special robots, the status of the inspection robot is continuously improved, the inspection robot can replace or assist manual operation in high-risk and hard special environments, the operation efficiency and quality can be improved, the operation safety can be guaranteed, artificial short boards are made up, and the inspection robot can exert significant value in numerous fields such as IDC (Internet Data Center) machine rooms, power distribution room hanging rails, outdoor transformer substations/stations, power plants, petroleum and petrochemical industries, rail transit, finance and the like.
When implementing above-mentioned technical scheme, discover that current inspection robot control system has following defect at least: when the inspection robot inspects the corresponding area, if the number of sub-areas covered by the corresponding area is too large, operation and maintenance personnel may not be in time to maintain the dangerous area, and the dangerous area may have a risk of further worsening the situation.
Disclosure of Invention
An embodiment of the present invention provides a method, a system, a storage medium, and an electronic device for controlling a patrol robot, which are used to solve the problems in the background art.
The embodiment of the invention mainly comprises the following technical scheme, and on one hand, the inspection robot control method comprises the following steps:
controlling an inspection robot to perform mobile inspection on a target area according to an inspection route, wherein the inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
identifying an abnormal subregion of which the danger index reaches a preset danger level in the moving inspection process, controlling a master robot to gradually separate at least one sub-robot, and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
judging the change trend of the risk index in the abnormal subregion based on the fixed point monitoring information, if and only if the first derivative of the risk index to time is not less than the first change rate or the change quantity of the risk index is not less than the first change quantity, giving out an early warning based on the sub-robot, and preferentially sending the position information of the corresponding abnormal subregion to a terminal bound with operation and maintenance personnel;
when the number of the sub-robots is smaller than the number of the anomaly sub-areas, selecting the anomaly sub-areas of which the first derivative of the danger index with respect to time is smaller than the first change rate but larger than the second change rate or of which the change amount of the danger index is smaller than the first change amount but larger than the second change amount, and at least one of the sub-robots is programmed to perform movement monitoring on at least two of the selected anomaly sub-areas.
As a further scheme of the present invention, the controlling the inspection robot to perform the mobile inspection on the target area according to the inspection route specifically includes:
planning a routing inspection route of a target area:
the robot is patrolled and examined in control removes according to patrolling and examining the route to the target area spare, wherein patrols and examines the robot and include the parent robot and relative a plurality of sub-robots that the parent robot can separate one by one.
As a further aspect of the present invention, the identifying an abnormal sub-area where a risk index reaches a preset risk level in the mobile inspection process and controlling the master robot to gradually separate at least one of the sub-robots, wherein the acquiring, based on the master robot, fixed-point monitoring information of the separated sub-robot on the abnormal sub-area specifically includes:
whether the danger index reaches a preset danger level in the inspection process is identified based on the master robot;
if yes, controlling a release switch on the parent robot moving at the speed V1 to open for a first preset duration T1, releasing at least one child robot at a relative-speed-free state, so that the child robot is separated from the parent robot, and continuing to control a positioning buffer device at the rear side of the parent robot to perform reverse horizontal throwing from a position with the height H at the initial speed V2 after a second preset duration T2, wherein the horizontal distance L between the throwing point and a corresponding abnormal subregion to be monitored satisfies:
and the direction of V2 is opposite to that of V1, so that the falling point of the positioning buffer equipment is just opposite to the identification point of the corresponding abnormal subregion to be monitored, after waiting for a third preset time period T3, the winding equipment is controlled to work, and the positioning buffer equipment is wound on the parent robot through the connecting rope, wherein the V2 is opposite to that of V1
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And establishing an information interaction channel between the parent robot and the child robot, wherein the information interaction channel is used for acquiring the fixed-point monitoring information of the separated child robot to the abnormal subregion based on the parent robot.
As a further aspect of the present invention, the determining the variation trend of the risk index in the abnormal sub-area based on the fixed point monitoring information specifically includes:
regularly acquiring fixed-point monitoring information of the child robot to the abnormal subarea based on the parent robot;
judging the size relationship between the change rate of the risk index along with time and the first change rate and the second change rate in the fixed point monitoring information;
if the change rate is smaller than the second change rate, continuing to judge the change amount of the danger index;
and judging the magnitude relation between the change quantity of the hazard index in the fixed point monitoring information and the first change quantity and the second change quantity.
As a further aspect of the present invention, after the acquiring the fixed-point monitoring information of the separated sub-robot on the abnormal sub-area based on the parent robot, the method further includes:
if the change rate is not less than the second change rate but less than the first change rate, continuing to judge the change amount of the danger index;
if the change rate is not less than the first change rate, directly judging the risk index of the next abnormal subregion;
if the change amount is smaller than the second change amount, continuing to judge the danger index of the next abnormal subarea;
if the variation is not smaller than the second variation but smaller than the first variation, continuing to judge the danger index of the next abnormal subarea;
and if the change quantity is not smaller than the first change quantity, judging the danger index of the next abnormal subarea.
As a further scheme of the present invention, the sending an early warning based on the sub-robot and preferentially sending the position information of the corresponding abnormal sub-region to the terminal bound to the operation and maintenance staff specifically includes:
controlling the secondary robot to send out a maintenance early warning signal based on the primary robot;
acquiring the position information of an abnormal subarea corresponding to a first change rate of which the first derivative of the danger index to time is not less than the first change rate or the change amount of the danger index is not less than the first change amount;
sending the position information of the corresponding abnormal subarea to a terminal bound with operation and maintenance personnel;
and sending out a vibration prompt after the terminal receives the position information.
As a further aspect of the present invention, the planning of the movement monitoring of the at least two selected abnormal sub-areas by the at least one sub-robot specifically includes:
judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a first preset range or not;
if so, preferentially selecting a sub-robot corresponding to the abnormal sub-area in the preset middle area in the preset range as a mobile monitoring sub-robot, generating a new routing inspection route containing the abnormal sub-area in the preset middle area based on the routing inspection route, and sending the new routing inspection route to the mobile monitoring sub-robot;
if not, judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a second preset range, wherein the second preset range is larger than the first preset range, and continuing to execute the previous step;
and controlling the mobile monitoring sub-robot to carry out mobile inspection according to the new inspection route and reporting the mobile monitoring information to the parent robot.
As a further aspect of the present invention, in another aspect, a patrol robot control system includes:
the inspection robot comprises a control module, a control module and a control module, wherein the control module is used for controlling the inspection robot to carry out mobile inspection on a target area according to an inspection route, and the inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
the identification and separation module is used for identifying an abnormal subregion of which the danger index reaches a preset danger level in the moving inspection process, controlling the master robot to gradually separate at least one sub-robot and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
the judgment and early warning module is used for judging the change trend of the danger index in the abnormal subregion based on the fixed point monitoring information, if and only if the first derivative of the danger index to time is not less than the first change rate or the change quantity of the danger index is not less than the first change quantity, sending out early warning based on the sub-robot, and preferentially sending the position information corresponding to the abnormal subregion to the terminal bound with the operation and maintenance personnel;
and a planning module for selecting the abnormal subarea with the first derivative of the danger index to the time smaller than the first change rate but larger than the second change rate or the abnormal subarea with the change quantity of the danger index smaller than the first change quantity but larger than the second change quantity when the number of the sub-robots is smaller than the number of the abnormal subareas, and at least planning one sub-robot to carry out movement monitoring on the selected at least two abnormal subareas.
Compared with the prior art, the patrol robot control method, the patrol robot control system, the storage medium and the electronic equipment provided by the embodiment of the invention have the following beneficial effects:
1) identifying an abnormal sub-area of which the danger index reaches a preset danger level in the moving inspection process, controlling a master robot to gradually separate at least one sub-robot, acquiring fixed-point monitoring information of the separated sub-robot on the abnormal sub-area based on the master robot, and continuously performing moving inspection by the master robot;
2) judging the change trend of the risk index in the abnormal subarea based on the fixed-point monitoring information, if and only if the first derivative of the risk index to time is not less than the first change rate or the change quantity of the risk index is not less than the first change quantity, giving out an early warning based on the sub-robots, and preferentially sending the position information of the corresponding abnormal subarea to a terminal bound with operation and maintenance personnel, effectively distinguishing the area of which the risk index reaches a critical degree, and being convenient for the operation and maintenance personnel to position and search the abnormal subarea;
3) when the number of the sub-robots is smaller than that of the abnormal sub-areas, the abnormal sub-areas with the first derivative of the danger indexes to time smaller than the first change rate but larger than the second change rate or with the change amount of the danger indexes smaller than the first change amount but larger than the second change amount are selected, at least one sub-robot is planned to carry out movement monitoring on at least two selected abnormal sub-areas, the number of the sub-robots and the number of the abnormal sub-areas can be considered, and the change of the danger indexes of the abnormal sub-areas can be comprehensively controlled even if operation and maintenance personnel are not in time for maintenance, particularly for the unselected abnormal areas.
Drawings
Fig. 1 is a main flowchart of a patrol robot control method.
FIG. 2 is a flow chart for determining a trend of change in risk index in an abnormal subregion based on fixed point monitoring information.
Fig. 3 is a flowchart of another embodiment of a patrol robot control method.
Fig. 4 is a flow chart of issuing an early warning based on the sub-robot and preferentially sending position information of the corresponding abnormal sub-area to the terminal bound with the operation and maintenance personnel.
Fig. 5 is a flow chart for planning at least one sub-robot for movement monitoring of a selected at least two abnormal sub-areas.
Fig. 6 is a main structural diagram of a patrol robot control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
The invention provides a control method and a control system of a patrol robot, a storage medium and electronic equipment, which solve the technical problems in the background technology.
As shown in fig. 1, a main flow chart of a patrol robot control method according to an embodiment of the present invention includes:
step S10: controlling an inspection robot to perform mobile inspection on a target area according to an inspection route, wherein the inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
step S11: identifying an abnormal subregion of which the danger index reaches a preset danger level in the moving inspection process, controlling a master robot to gradually separate at least one sub-robot, and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
step S12: judging the change trend of the risk index in the abnormal subarea based on the fixed-point monitoring information, if and only if the first derivative of the risk index to time is not less than a first change rate or the change quantity of the risk index is not less than a first change quantity, giving out an early warning based on the sub-robot, and preferentially sending the position information of the corresponding abnormal subarea to a terminal bound with operation and maintenance personnel;
step S13: when the number of the sub-robots is smaller than that of the abnormal sub-areas, the abnormal sub-areas with the first derivative of the danger index to time smaller than the first change rate but larger than the second change rate or the abnormal sub-areas with the change quantity of the danger index smaller than the first change quantity but larger than the second change quantity are selected, at least one sub-robot is planned to carry out movement monitoring on at least two selected abnormal sub-areas, for example, when the interior of a power distribution room is inspected, the inspection robot can be selected to be matched with the type coverage of a moving ring sensor: temperature, humidity, gas, PM2.5, noise, etc., for identifying one or more of the risk indices of humidity, temperature, gas, noise, etc., for the sub-area.
By identifying the abnormal subarea with the danger index reaching the preset danger level in the moving inspection process and controlling the master robot to gradually separate at least one sub-robot, the master robot can continue to carry out moving inspection based on the fixed-point monitoring information of the separated sub-robot on the abnormal subarea, and the variation trend of the danger index in the abnormal subarea is judged based on the fixed-point monitoring information, issuing an early warning based on the sub-robot if and only if the first derivative of the risk index with respect to time is not less than the first rate of change or the amount of change of the risk index is not less than the first amount of change, the position information of the corresponding abnormal sub-region is preferentially sent to the terminal bound with the operation and maintenance personnel, the region with the danger index reaching the critical degree is effectively distinguished, the operation and maintenance personnel can conveniently position and search the abnormal sub-region, and the operation and maintenance efficiency is improved; when the number of the sub-robots is smaller than that of the abnormal sub-areas, the abnormal sub-areas with the first derivative of the danger index to time smaller than a first change rate but larger than a second change rate or with the change amount of the danger index smaller than a first change amount but larger than a second change amount are selected, at least one sub-robot is planned to carry out movement monitoring on at least two selected abnormal sub-areas, the number of the sub-robots and the number of the abnormal sub-areas can be considered, even if operation and maintenance personnel do not come to maintain in time, the change of the danger index of the abnormal sub-areas can be comprehensively controlled, particularly for the non-selected abnormal areas, and subsequent operation and maintenance are facilitated preferentially.
As a preferred embodiment of the present invention, the controlling the inspection robot to perform the mobile inspection on the target area according to the inspection route specifically includes:
step S101: planning a routing inspection route of a target area;
step S102: the robot is patrolled and examined in control removes according to patrolling and examining the route to the target area spare, wherein patrols and examines the robot and include the parent robot and relative a plurality of sub-robots that the parent robot can separate one by one.
When the embodiment is applied, the plurality of the child robots and the parent robot can cooperate to cover the routing inspection path, the child robots are lower than the parent robot in cruising ability or volume, the child robots can charge and continue cruising through the parent robot, the battery capacity of the parent robot is 26Ah, the maximum discharge current is 25A, the charging time from 0% to 100% is less than or equal to 3.5 hours, and the cruising time is more than or equal to 8 hours.
As a preferred embodiment of the present invention, the identifying an abnormal sub-area where a risk index reaches a preset risk level in the mobile inspection process and controlling the master robot to gradually separate at least one sub-robot, wherein the acquiring, based on the master robot, fixed-point monitoring information of the separated sub-robot on the abnormal sub-area specifically includes:
step S111: whether the danger index reaches a preset danger level in the inspection process is identified based on the master robot;
step S112: if yes, a release switch on the mother robot moving at the speed V1 is controlled to be openedA first preset duration T1, releasing at least one sub-robot at a relative-speed-free state so that it is separated from the parent robot, correspondingly, and continuing to control the positioning buffer device at the rear side of the parent robot to perform reverse flat-throw at the initial speed V2 from the position with the height H after a second preset duration T2, the horizontal distance L between the throw point and the corresponding abnormal sub-area to be monitored being satisfied:
and the direction of V2 is opposite to that of V1, so that the falling point of the positioning buffer device is just opposite to the identification point of the corresponding abnormal subregion to be monitored, after waiting for a third preset time period T3, the winding device is controlled to work, and the positioning buffer device is wound on the parent robot through the connecting rope, wherein the direction of V2 is opposite to that of V1
(ii) a T1 and T2 can be set empirically by positioning the buffer device after horizontal throw
The positioning buffer device can be a rubber air bag, the surface of the positioning buffer device has certain friction force, the positioning buffer device can not displace on the ground due to the friction between the positioning buffer device and the ground of a target area, and a connecting rope is in a relaxed state when the positioning buffer device is horizontally thrown, so that the horizontal throwing motion of the positioning buffer device cannot be interfered;
step S113: and establishing an information interaction channel between the parent robot and the child robot, wherein the information interaction channel is used for acquiring the fixed-point monitoring information of the separated child robot to the abnormal subregion based on the parent robot, the inspection is finished, the parent robot recovers the child robot, and the child robot and the parent robot are combined into a whole again.
It should be understood that, through the separation mode in this embodiment, can realize that the master robot separates the sub-robot in the condition of moving to make the sub-robot finally stop in the identification point position of abnormal subregion, need not to make the sub-robot separate and can realize that the sub-robot stops in the position of fixed point control simultaneously under the condition that the master robot shuts down, do benefit to and improve and patrol and examine efficiency.
As shown in fig. 2, as a preferred embodiment of the present invention, the determining the variation trend of the risk index in the abnormal sub-area based on the fixed point monitoring information specifically includes:
step S1211: regularly acquiring fixed-point monitoring information of the child robot to the abnormal subarea based on the parent robot;
step S1212: judging the size relationship between the change rate of the risk index along with time and the first change rate and the second change rate in the fixed point monitoring information;
step S1213: if the change rate is smaller than the second change rate, continuing to judge the change amount of the danger index;
step S1214: and judging the magnitude relation between the change quantity of the hazard index in the fixed point monitoring information and the first change quantity and the second change quantity.
It is understood that, if the change rate is not less than the second change rate, which indicates that the change of the risk index in the abnormal sub-area has reached a critical degree, the change determination of the risk index is not performed.
As shown in fig. 3, as a preferred embodiment of the present invention, after the acquiring the fixed-point monitoring information of the separated sub-robot on the abnormal sub-area based on the parent robot, the method further includes:
step S201: if the change rate is not less than the second change rate but less than the first change rate, continuing to perform the change amount determination of the risk index, and continuing to perform any one of S203-S205, where the first change rate and the second change rate may be set empirically;
step S202: if the change rate is not less than the first change rate, directly judging the risk index of the next abnormal subregion, and not executing any one of S203-S205;
step S203: if the variation is smaller than the second variation, continuing to judge the danger index of the next abnormal subarea, namely continuing to execute the S201 of the next abnormal subarea;
step S204: if the variation is not smaller than the second variation but smaller than the first variation, continuing to determine the risk index of the next abnormal subregion, and continuing to execute S201 of the next abnormal subregion, where the first variation and the second variation may be set empirically;
step S205: if the variation is not smaller than the first variation, the risk index of the next abnormal subregion is determined, and the step S201 of the next abnormal subregion is executed continuously.
The double judgment mechanism combining the change rate and the change amount can effectively identify that the danger index of the abnormal subarea changes abruptly (increases or decreases) in a short time or does not change abruptly in a short time, but the slow change (increases or decreases) is long enough to exceed the first change amount or the second change amount.
As shown in fig. 4, as a preferred embodiment of the present invention, the sending an early warning based on the sub-robot and preferentially sending the position information of the corresponding abnormal sub-area to the terminal bound to the operation and maintenance staff specifically includes:
step S1221: controlling the secondary robot to send out a maintenance early warning signal based on the primary robot;
step S1222: acquiring position information of an abnormal subarea corresponding to a first change rate, wherein the first derivative of the danger index to time is not less than the first change rate, or the change amount of the danger index is not less than the first change amount;
step S1223: sending the position information of the corresponding abnormal subarea to a terminal bound with operation and maintenance personnel;
step S1224: and sending out a vibration prompt after the terminal receives the position information.
It can be understood that, the first derivative of the risk index to time is not less than the first change rate or the change amount of the risk index is not less than the first change amount to indicate that the risk index of the corresponding abnormal sub-region has reached a critical degree, and priority processing needs to be performed.
As shown in fig. 5, as a preferred embodiment of the present invention, the planning of the movement monitoring of the at least two abnormal sub-areas by the at least one sub-robot specifically includes:
step S131: judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a first preset range or not;
step S132: if so, preferentially selecting the sub-robot corresponding to the abnormal sub-area in the preset middle area in the preset range as a mobile monitoring sub-robot, generating a new routing inspection route containing the abnormal sub-area in the preset middle area based on the routing inspection route, and sending the new routing inspection route to the mobile monitoring sub-robot, wherein the preset middle area can be understood as an area within a preset distance from a central point, and the sub-robot corresponding to the abnormal sub-area in the preset middle area in the preset range is selected as the mobile monitoring sub-robot, so that the total distance for carrying out mobile monitoring on a plurality of abnormal areas can be effectively reduced;
step S133: if not, judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a second preset range, wherein the second preset range is larger than the first preset range, and continuing to execute the previous step;
step S134: and controlling the mobile monitoring sub-robot to carry out mobile inspection according to the new inspection route and reporting the mobile monitoring information to the parent robot.
S132-S133 herein are loop steps, the preset range in the next sub-step is always larger than the preset range in the previous sub-step, the first preset range and the second preset range are gradually increased, and there may be a third preset range larger than the second preset range, the loop step is set to always ensure the successful selection of the mobile monitoring sub-robot, when the number of sub-robots is smaller than the number of abnormal sub-regions, a pair of fixed point monitoring for the unselected abnormal sub-regions is preferentially ensured, and then the mobile monitoring for the selected abnormal sub-regions is ensured, thereby ensuring the overall monitoring for a plurality of abnormal sub-regions, and the change of the risk index of the abnormal sub-regions can be comprehensively controlled even when the operation and maintenance personnel are not in time, especially for the unselected abnormal regions.
As another preferred embodiment of the present invention, as shown in fig. 6, in another aspect, a patrol robot control system includes:
the system comprises a control module 100, a routing inspection robot and a control module, wherein the control module is used for controlling the routing inspection robot to carry out mobile inspection on a target area according to an inspection route, and the routing inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
the identification and separation module 200 is used for identifying an abnormal subregion of which the danger index reaches a preset danger level in the mobile inspection process, controlling the master robot to gradually separate at least one sub-robot, and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
the judgment and early warning module 300 is used for judging the change trend of the risk index in the abnormal subregion based on the fixed point monitoring information, if and only if the first derivative of the risk index to time is not less than the first change rate or the change quantity of the risk index is not less than the first change quantity, sending out early warning based on the sub-robot, and preferentially sending the position information corresponding to the abnormal subregion to the terminal bound with the operation and maintenance personnel;
and a planning module 400, configured to select the abnormal sub-regions with the first derivative of the risk index with respect to time smaller than the first change rate but larger than the second change rate or with the change amount of the risk index smaller than the first change amount but larger than the second change amount when the number of the sub-robots is smaller than the number of the abnormal sub-regions, and plan at least one of the sub-robots to perform the movement monitoring on the selected at least two abnormal sub-regions.
In still another aspect, a storage medium having stored thereon a computer program which, when executed by a processor, implements the patrol robot control method described in the foregoing embodiments.
In still another aspect, an electronic device includes a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, and the processor implements the patrol robot control method described in the foregoing embodiment when executing the computer program.
The above embodiments of the present invention provide a method for controlling a patrol robot, and provide a method, a system, a storage medium and an electronic device for controlling a patrol robot based on the method for controlling a patrol robot, wherein the method comprises identifying an abnormal sub-region where a risk index reaches a preset risk level during a mobile patrol, controlling a parent robot to gradually separate at least one child robot, obtaining fixed-point monitoring information of the separated child robot on the abnormal sub-region based on the parent robot, the parent robot continuing the mobile cruise, determining a variation trend of the risk index in the abnormal sub-region based on the fixed-point monitoring information, issuing an early warning based on the child robot, and preferentially sending position information of the corresponding abnormal sub-region to a terminal bound with an operation and maintenance person when and only when a first derivative of the risk index with respect to time is not less than a first variation rate or a variation of the risk index is not less than a first variation amount, the area with the danger index reaching the critical degree is effectively distinguished, operation and maintenance personnel can conveniently position and search abnormal sub-areas, and operation and maintenance efficiency is improved; when the number of the sub-robots is smaller than that of the abnormal sub-areas, the abnormal sub-areas with the first derivative of the danger indexes to time smaller than the first change rate but larger than the second change rate or with the change amount of the danger indexes smaller than the first change amount but larger than the second change amount are selected, at least one sub-robot is planned to carry out movement monitoring on at least two selected abnormal sub-areas, the number of the sub-robots and the number of the abnormal sub-areas can be considered, and even if operation and maintenance personnel do not come to maintain in time, the change of the danger indexes of the abnormal sub-areas can be comprehensively controlled, particularly for the non-selected abnormal areas, and subsequent operation and maintenance are facilitated preferentially.
In order to load the above method and system to operate successfully, the system may include more or less components than those described above, or combine some components, or different components, in addition to the various modules described above, for example, input/output devices, network access devices, buses, processors, memories, and the like.
The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the system and that connects the various components using various interfaces and lines.
The memory may be used to store computer and system programs and/or modules, and the processor may perform the various functions described above by operating or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (such as an information collection template presentation function, a product information distribution function, and the like), and the like. The storage data area may store data created according to the use of the berth-state display system (e.g., product information acquisition templates corresponding to different product types, product information that needs to be issued by different product providers, etc.), and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid state storage device.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence 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 various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
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 present 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.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A patrol robot control method, characterized by comprising:
controlling an inspection robot to perform mobile inspection on a target area according to an inspection route, wherein the inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
identifying an abnormal subregion of which the danger index reaches a preset danger level in the moving inspection process, controlling a master robot to gradually separate at least one sub-robot, and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
the discernment removes the unusual subregion that the in-process danger index reaches preset danger level and control the master robot and gradually separate out at least one sub-robot, obtains the fixed point monitoring information of the sub-robot to unusual subregion that separates based on the master robot and specifically includes:
whether the danger index reaches a preset danger level in the inspection process is identified based on the master robot;
if yes, controlling a release switch on the parent robot moving at the speed V1 to open for a first preset duration T1, releasing at least one child robot at a relative-speed-free state so that the child robot is separated from the parent robot, and continuing to control a positioning buffer device at the rear side of the parent robot to perform reverse flat-throwing from a position with the height H at the initial speed V2 after a second preset duration T2, wherein the throwing point is at a horizontal distance L from a corresponding abnormal subregion to be monitored, wherein the horizontal distance L is equal to the height H of the corresponding abnormal subregion
And the direction of V2 is opposite to that of V1, so that the falling point of the positioning buffer equipment is just opposite to the identification point of the corresponding abnormal subregion to be monitored, after waiting for a third preset time period T3, the winding equipment is controlled to work, and the positioning buffer equipment is wound on the parent robot through the connecting rope, wherein the V2 is opposite to that of V1
；
Establishing an information interaction channel between the parent robot and the child robot, wherein the information interaction channel is used for acquiring fixed-point monitoring information of the separated child robot to the abnormal subregion based on the parent robot;
judging the change trend of the risk index in the abnormal subregion based on the fixed point monitoring information, if and only if the first derivative of the risk index to time is not less than the first change rate or the change quantity of the risk index is not less than the first change quantity, giving out an early warning based on the sub-robot, and preferentially sending the position information of the corresponding abnormal subregion to a terminal bound with operation and maintenance personnel;
when the number of the sub-robots is smaller than the number of the anomaly sub-areas, selecting the anomaly sub-areas of which the first derivative of the danger index with respect to time is smaller than the first change rate but larger than the second change rate or of which the change amount of the danger index is smaller than the first change amount but larger than the second change amount, and at least one of the sub-robots is programmed to perform movement monitoring on at least two of the selected anomaly sub-areas.
2. The inspection robot control method according to claim 1, wherein the controlling of the inspection robot to perform the mobile inspection of the target area according to the inspection route specifically comprises:
planning a routing inspection route of a target area:
the robot is patrolled and examined in control removes according to patrolling and examining the route to the target area spare, wherein patrols and examines the robot and include the parent robot and relative a plurality of sub-robots that the parent robot can separate one by one.
3. The inspection robot control method according to claim 1 or 2, wherein the determining the trend of change in the risk index in the abnormal subregion based on the fixed point monitoring information specifically includes:
regularly acquiring fixed-point monitoring information of the child robot to the abnormal subarea based on the parent robot;
judging the size relationship between the change rate of the risk index along with time and the first change rate and the second change rate in the fixed point monitoring information;
if the change rate is smaller than the second change rate, continuing to judge the change amount of the danger index;
and judging the magnitude relation between the change quantity of the hazard index in the fixed point monitoring information and the first change quantity and the second change quantity.
4. The patrol robot control method according to claim 1, wherein after the acquiring the fixed point monitoring information of the separated sub-robot for the abnormal sub-area based on the parent robot, the method further comprises:
if the change rate is not less than the second change rate but less than the first change rate, continuing to judge the change amount of the danger index;
if the change rate is not less than the first change rate, directly judging the risk index of the next abnormal subregion;
if the change amount is smaller than the second change amount, continuing to judge the danger index of the next abnormal subarea;
if the variation is not smaller than the second variation but smaller than the first variation, continuing to judge the danger index of the next abnormal subarea;
and if the change quantity is not smaller than the first change quantity, judging the danger index of the next abnormal subarea.
5. The inspection robot control method according to claim 1, wherein the issuing of the warning based on the sub-robot and the sending of the position information of the corresponding abnormal sub-area to the terminal bound to the operation and maintenance staff with priority specifically include:
controlling the secondary robot to send out a maintenance early warning signal based on the primary robot;
acquiring position information of an abnormal subarea corresponding to a first change rate, wherein the first derivative of the danger index to time is not less than the first change rate, or the change amount of the danger index is not less than the first change amount;
sending the position information of the corresponding abnormal subarea to a terminal bound with operation and maintenance personnel;
and sending out a vibration prompt after the terminal receives the position information.
6. The inspection robot control method according to claim 1 or 5, wherein the planning of the at least one sub-robot for movement monitoring of the selected at least two abnormal sub-areas specifically comprises:
judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a first preset range or not;
if so, preferentially selecting a sub-robot corresponding to the abnormal sub-area in the preset middle area in the preset range as a mobile monitoring sub-robot, generating a new routing inspection route containing the abnormal sub-area in the preset middle area based on the routing inspection route, and sending the new routing inspection route to the mobile monitoring sub-robot;
if not, judging whether the distance of the selected abnormal subarea corresponding to the routing inspection route is within a second preset range, wherein the second preset range is larger than the first preset range, and continuing to execute the previous step;
and controlling the mobile monitoring sub-robot to carry out mobile inspection according to the new inspection route and reporting the mobile monitoring information to the parent robot.
7. A patrol robot control system, characterized in that the system comprises:
the inspection robot comprises a control module, a control module and a control module, wherein the control module is used for controlling the inspection robot to carry out mobile inspection on a target area according to an inspection route, and the inspection robot comprises a parent robot and a child robot which is detachably arranged on the parent robot;
the identification and separation module is used for identifying an abnormal subregion of which the danger index reaches a preset danger level in the mobile inspection process, controlling the master robot to gradually separate at least one sub-robot and acquiring fixed-point monitoring information of the separated sub-robot on the abnormal subregion based on the master robot;
the identification and separation module is specifically configured to:
whether the danger index reaches a preset danger level in the inspection process is identified based on the master robot;
if yes, controlling a release switch on a parent robot moving at a speed V1 to open for a first preset duration T1, releasing at least one child robot at a non-relative speed so that the child robot is separated from the parent robot, and continuing to control a positioning buffer device at the rear side of the parent robot to perform reverse flat-throwing from a position with a height H at an initial speed V2 after a second preset duration T2, wherein the throwing point is at a horizontal distance L from a corresponding abnormal subregion to be monitored, wherein the horizontal distance L is equal to the horizontal distance L of the corresponding abnormal subregion to be monitored
And the direction of V2 is opposite to that of V1, so that the falling point of the positioning buffer equipment is just opposite to the identification point of the corresponding abnormal subregion to be monitored, after waiting for a third preset time period T3, the winding equipment is controlled to work, and the positioning buffer equipment is wound on the parent robot through the connecting rope, wherein the V2 is opposite to that of V1
；
Establishing an information interaction channel between the parent robot and the child robot, wherein the information interaction channel is used for acquiring fixed-point monitoring information of the separated child robot to the abnormal subregion based on the parent robot;
the judgment and early warning module is used for judging the change trend of the danger index in the abnormal subregion based on the fixed point monitoring information, if and only if the first derivative of the danger index to time is not less than the first change rate or the change quantity of the danger index is not less than the first change quantity, sending out early warning based on the sub-robot, and preferentially sending the position information corresponding to the abnormal subregion to the terminal bound with the operation and maintenance personnel;
and a planning module, configured to select an abnormal sub-area with a first derivative of the risk index with respect to time smaller than the first change rate but larger than the second change rate or with a change amount of the risk index smaller than the first change amount but larger than the second change amount when the number of the sub-robots is smaller than the number of the abnormal sub-areas, and plan at least one of the sub-robots to perform movement monitoring on at least two of the selected abnormal sub-areas.
8. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the inspection robot control method according to any one of claims 1 to 6.
9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor implements the patrol robot control method according to any one of claims 1 to 6 when executing the computer program.
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