CN116237945A

CN116237945A - Control method and device of inspection robot and control system of inspection robot

Info

Publication number: CN116237945A
Application number: CN202310258327.8A
Authority: CN
Inventors: 陈湘源; 李一文; 杨进; 惠树军
Original assignee: Guoneng Yulin Energy Co ltd; CCTEG Chongqing Research Institute Co Ltd
Current assignee: Guoneng Yulin Energy Co ltd; CCTEG Chongqing Research Institute Co Ltd
Priority date: 2023-03-15
Filing date: 2023-03-15
Publication date: 2023-06-09

Abstract

The application provides a control method and device of a patrol robot and a control system of the patrol robot. The method comprises the following steps: determining the driving distance of the inspection robot according to the positioning information; determining the consumed electric quantity of the inspection robot after walking at least according to the driving distance of the inspection robot; and determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, and controlling the inspection robot to stop inspection and controlling the inspection robot to return to the charging station under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value. The electric quantity consumed by the inspection robot can be calculated, the consumed electric quantity and the residual electric quantity are combined, whether the residual electric quantity of the battery of the inspection robot supports the inspection robot to return to the charging station is determined, and the inspection robot is controlled to return to charge in time under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value, so that the charging management efficiency is improved, and the working efficiency of the inspection robot is further improved.

Description

Control method and device of inspection robot and control system of inspection robot

Technical Field

The application relates to the technical field of coal mine inspection, in particular to a control method and device of an inspection robot, a computer readable storage medium and a control system of the inspection robot.

Background

Coal mine mechanization, automation, informatization and intelligence are the development directions of safe, efficient, green and modern coal mines. The underground coal mine robot is an effective measure for reducing the number of underground coal mine operators, and has important significance for reducing operators and improving efficiency and safety of coal mine enterprises. With the increasing development of artificial intelligence technology and robot technology, inspection robots are widely applied in various fields, and can replace or assist human beings to carry out inspection work with dangerous environments, repeatability and high labor intensity.

The long-distance inspection robot for the underground tunnel of the coal mine generally adopts a fixed track type. The inspection robot is powered by a battery pack and has the functions of autonomous walking along a track, autonomous charging, on-site inspection working condition data acquisition and analysis and the like. The battery pack adopts a lithium battery or a nickel-hydrogen battery, and when the battery pack has insufficient electric quantity, the inspection robot needs to be charged to supplement energy.

However, in the current scheme, the efficiency of charging management of the inspection robot is low, resulting in low working efficiency of the inspection robot.

Disclosure of Invention

The main object of the present application is to provide a method and an apparatus for controlling a patrol robot, a computer readable storage medium and a control system for a patrol robot, so as to at least solve the problem of low working efficiency of the patrol robot in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a patrol robot, including: acquiring positioning information of a patrol robot, wherein the positioning information is information of the position of the patrol robot in the track walking process of a tunnel of a coal mine; determining a running distance of the inspection robot according to the positioning information, wherein the running distance is obtained by accumulating the current running distance and the last running distance, the current running distance is obtained according to a distance between the positioning information at a first moment and the positioning information at a second moment, and the first moment is earlier than the second moment; determining the consumed electric quantity of the inspection robot after walking at least according to the driving distance of the inspection robot, wherein the consumed electric quantity is the electric quantity consumed by the inspection robot after driving for a certain distance; and determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, and controlling the inspection robot to stop inspection and controlling the inspection robot to return to a charging station under the condition that the difference value between the residual electric quantity and an electric quantity threshold value is smaller than or equal to the difference value threshold value, wherein the electric quantity threshold value is the minimum electric quantity for supporting the inspection robot to return to the charging station from the current position.

Optionally, determining the power consumption of the inspection robot after walking at least according to the travel distance of the inspection robot includes: according to the target formula:

determining the consumed electric quantity after the inspection robot walks, wherein W _A→B The consumed electric quantity which indicates that the inspection robot walks from the position of a first positioning card to the position of a second positioning card is represented by A-B, the distance between the first positioning card and the second positioning card is represented by tA, the first moment when the first positioning information is read is represented by tB, the second moment when the second positioning information is read is represented by tB, U _t Representing the voltage of the battery of the inspection robot, I _t The first positioning information is information of the position of the inspection robot obtained by reading the first positioning card in the track traveling process of the inspection robot in a tunnel of a coal mine, and the second positioning information is information of the position of the inspection robot obtained by reading the first positioning card in the track traveling process of the inspection robot in the tunnel of the coal mineAnd the second positioning card obtains the information of the position of the inspection robot.

Optionally, before determining the remaining power of the battery of the inspection robot according to the consumed power, the method further includes: acquiring the running speed of the inspection robot; determining the current position of the inspection robot according to the positioning information, the current time and the running speed; and calculating the target electric quantity consumed by the inspection robot from the current position to the charging station, and obtaining the electric quantity threshold.

Optionally, before controlling the inspection robot to stop inspecting, the method further includes: under the condition that first positioning information is acquired and second positioning information is not acquired, determining that the inspection robot is located in a first section of a roadway, and controlling the inspection robot to travel at a first speed, wherein the first section is a section where a track between a first positioning card and a second positioning card is located, the first positioning information is information of the position of the inspection robot obtained by reading the first positioning card in the track traveling process of the roadway of a coal mine, and the second positioning information is information of the position of the inspection robot obtained by reading the second positioning card in the track traveling process of the roadway of the coal mine; under the condition that the second positioning information is acquired and the third positioning information is not acquired, determining that the inspection robot is located in a second section of a roadway, and controlling the inspection robot to travel at a second speed, wherein the gradient of a track in the first section is smaller than that in the second section, the first speed is larger than the second speed, the second section is a section where the track between the second positioning card and the third positioning card is located, and the third positioning information is information of the position of the inspection robot obtained by reading the third positioning card in the track traveling process of the inspection robot in the roadway of a coal mine.

Optionally, after determining that the inspection robot is located in the first section of the roadway, the method further includes: under the condition that a first preset condition is met, controlling the inspection robot to travel at a third speed, wherein the first preset condition comprises at least one of the following: and the track of the first section is provided with an obstacle, the wind speed of the first section is greater than a wind speed threshold value, and the first speed is smaller than the third speed.

Optionally, before controlling the inspection robot to stop inspecting, the method further includes: acquiring a first driving distance fed back by the inspection robot, wherein the first driving distance is a distance from the charging station to the target positioning equipment, which is calculated after the inspection robot reaches the target positioning equipment; comparing the first travel distance with a preset second travel distance, wherein the second travel distance is a distance between the preset target positioning device and the charging station; and updating the first travel distance to the second travel distance when the first travel distance is different from the second travel distance.

Optionally, before controlling the inspection robot to stop inspecting, the method further includes: acquiring video information in the running process of the inspection robot, wherein the video information is acquired by video acquisition equipment, and the video acquisition equipment is arranged on the inspection robot; determining whether a roadway of the coal mine meets a second preset condition according to the video information, wherein the second preset condition comprises at least one of the following conditions: the belt conveyor below the track is deviated, and workers enter a dangerous area in the roadway, wherein the dangerous area is a predefined area with a dangerous source; and generating prompt information under the condition that the roadway of the coal mine accords with the second preset condition, wherein the prompt information is used for prompting that the roadway of the coal mine has abnormal conditions or dangerous conditions.

According to another aspect of the present application, there is provided a control device of a patrol robot, including: the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring positioning information of a patrol robot, and the positioning information is information of the position of the patrol robot in the track walking process of a roadway of a coal mine; a first determining unit, configured to determine a running distance of the inspection robot according to the positioning information, where the running distance is obtained by accumulating the running distance of the current time and the running distance of the last time, and the running distance of the current time is obtained according to a distance between the positioning information at a first time and the positioning information at a second time, and the first time is earlier than the second time; the second determining unit is used for determining the consumed electric quantity after the inspection robot walks according to at least the travelling distance of the inspection robot, wherein the consumed electric quantity is the electric quantity consumed by the inspection robot after travelling a certain distance; the first control unit is used for determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, controlling the inspection robot to stop inspection and controlling the inspection robot to return to a charging station under the condition that the difference value between the residual electric quantity and an electric quantity threshold value is smaller than or equal to the difference value threshold value, wherein the electric quantity threshold value is the minimum electric quantity for supporting the inspection robot to return to the charging station from the current position.

According to still another aspect of the present application, there is provided a computer readable storage medium, where the computer readable storage medium includes a stored program, and when the program runs, the apparatus where the computer readable storage medium is controlled to execute any one of the control methods of the inspection robot.

According to still another aspect of the present application, there is provided a control system of a patrol robot, including: the system comprises one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a control method for executing any one of the inspection robots.

By means of the technical scheme, the electric quantity consumed by the inspection robot can be calculated, the consumed electric quantity and the residual electric quantity are combined, whether the residual electric quantity of the battery of the inspection robot supports the inspection robot to return to a charging station is determined, and the inspection robot is controlled to return to charge in time under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value, so that the charging management efficiency is improved, and the working efficiency of the inspection robot is further improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 shows a hardware block diagram of a mobile terminal performing a control method of a patrol robot according to an embodiment of the present application;

fig. 2 shows a flow diagram of a control method of a patrol robot according to an embodiment of the present application;

FIG. 3 shows a schematic structural diagram of a control system of the inspection robot;

fig. 4 shows a block diagram of a control device of a patrol robot according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

102. a processor; 104. a memory; 106. a transmission device; 108. an input-output device; 10. a server; 11. an optical fiber ring network; 12. a downhole wireless base station; 13. inspection robot; 14. a track; 15. a charging station; 16. a positioning card; 17. and a belt conveyor.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the current scheme, the charging management method of the inspection robot is generally two methods, namely a battery voltage method and a battery residual coulomb value method.

1) The battery voltage method is mainly used for judging whether the inspection robot needs to be charged or not according to the battery voltage. However, the battery voltage will be different and larger due to different loads, for example, the power consumption is larger when the inspection robot goes up a slope, the battery voltage is lower at this time, the power consumption is smaller when the inspection robot goes down a slope, the battery voltage drops little, and the inspection robot is simply judged whether to charge according to the battery voltage, so that the battery state cannot be accurately estimated. In order to ensure that the inspection robot can smoothly return to the charging station, the battery power with larger allowance is required to be reserved, so that the battery efficiency cannot be fully exerted, the charging frequency of the inspection robot is higher, and the working efficiency is low.

2) The battery residual coulomb value method is mainly used for judging the battery residual electricity according to the accumulated discharge current value of the battery, namely the charge quantity, in a period of time, but the consumption power of the inspection robot is different when the inspection robot runs on tracks with different dip angles, so that the discharge current of the battery is different, the lower the battery voltage is, the larger the discharge current is, in order to ensure that the inspection robot can smoothly return to the position of a charging station, the larger battery electric energy allowance is required to be reserved, and the working efficiency of the inspection robot is not large.

In summary, the current charging management method of the inspection robot cannot accurately calculate the endurance mileage of the inspection robot, and has certain limitations, so that the application requirements of autonomous, intelligent and quick charging of the inspection robot cannot be met.

As described in the background art, the charging management efficiency of the inspection robot in the prior art is low, resulting in low working efficiency of the inspection robot, and in order to solve the above problems, embodiments of the present application provide a control method and apparatus of the inspection robot, a computer readable storage medium, and a control system of the inspection robot.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the operation on a mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of a mobile terminal of a control method of a patrol robot according to an embodiment of the present invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a display method of device information in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In the present embodiment, a control method of an inspection robot operating on a mobile terminal, a computer terminal, or a similar computing device is provided, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that herein.

Fig. 2 is a flow chart of a control method of the inspection robot according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S201, positioning information of a patrol robot is obtained, wherein the positioning information is information of the position of the patrol robot in the track walking process of a roadway of a coal mine;

specifically, the positioning information of the inspection robot can be obtained by reading a positioning card, the positioning card is arranged in a track, and a card reader is arranged on the inspection robot, so that the information of the positioning card can be read, and the positioning information is obtained.

Specifically, the positioning information of the inspection robot may be obtained through a GPS, or may be obtained through a SAR, which is not limited to the above, and may be obtained in any other feasible manner, for example, when the inspection robot walks on the ground of the coal mine, the positioning information of the final inspection robot may be obtained by fusing the data obtained through the GPS and the data obtained through the SAR.

Step S202, determining a running distance of the inspection robot according to the positioning information, wherein the running distance is obtained by accumulating the current running distance and the last running distance, the current running distance is obtained according to a distance between the positioning information at a first moment and the positioning information at a second moment, and the first moment is earlier than the second moment;

specifically, because the positioning information obtained at different moments is different, the running distance can be determined according to the positioning information of each time, and then the running distances of the inspection robots are accumulated to obtain the current running distance of the inspection robots, for example, the distance corresponding to the point A is 0 m, the distance from the point A to the point B is 5 m, the distance corresponding to the point C is 10 m, and the accumulated current running distance is 15 m.

Step S203, determining the consumed electric quantity after the inspection robot walks according to at least the travelling distance of the inspection robot, wherein the consumed electric quantity is the electric quantity consumed after the inspection robot walks for a certain distance;

specifically, after the inspection robot walks a certain distance, a part of the electric quantity of the battery of the inspection robot is consumed, so that the electric quantity consumed by the inspection robot after walking the certain distance can be determined according to the accumulated running distance of the inspection robot.

Step S204, determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, and controlling the inspection robot to stop inspection and controlling the inspection robot to return to a charging station under the condition that the difference value between the residual electric quantity and an electric quantity threshold value is smaller than or equal to the difference value threshold value, wherein the electric quantity threshold value is the minimum electric quantity for supporting the inspection robot to return to the charging station from the current position.

Specifically, in this scheme can also monitor the power consumption of battery, for example, when patrolling and examining the robot and ascending a slope, power consumption is great, and when patrolling and examining the robot and walking on the flat road or downhill, power consumption is less, and power consumption is great when the electric quantity decline is faster, and power consumption is less when the electric quantity decline is slower, can confirm the power consumption of the battery of the corresponding patrolling and examining the robot of different travelling intervals like this, can real-time detection power of consumption.

In addition, for some reasons that can lead to the lower charge management efficiency to have two kinds mainly, first is that the remaining capacity of inspection robot is insufficient to support inspection robot and return to the charging station, inspection robot can stop in the track in tunnel, need manual intervention, and the manual work is to seek inspection robot and take back to inspection robot, and second is when the remaining capacity of inspection robot is more, in fact inspection robot can continue to inspect, but can the miscontrol inspection robot get back to the charging station, causes inspection robot to charge comparatively frequently. The problem can be well solved in the scheme, and the inspection robot can be controlled to stop inspection only when the difference between the residual electric quantity of the battery of the inspection robot and the electric quantity threshold value is smaller than or equal to the difference threshold value, so that the inspection robot can return to a charging station and can not be charged frequently.

In addition, the cruising mileage of the inspection robot can be calculated according to the residual electric quantity, and the cruising is that if the residual electric quantity of the battery is detected to be insufficient, namely, the cruising mileage is close to the returning mileage, the inspection robot is controlled to return to the charging station, when the inspection robot is close to the charging station, the control system starts the charging station, the inspection robot is in butt joint with the charging station to charge, after the charging is completed, the control system stops the charging station, and the inspection robot carries out normal inspection.

Through the embodiment, the electric quantity consumed by the inspection robot can be calculated, the consumed electric quantity and the residual electric quantity are combined, whether the residual electric quantity of the battery of the inspection robot supports the inspection robot to return to the charging station is determined, and the inspection robot is controlled to return to charge in time under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value, so that the charging management efficiency is improved, and the working efficiency of the inspection robot is further improved.

The scheme can be applied to a control system of the inspection robot, as shown in fig. 3, the system comprises a server 10, an optical fiber ring network 11, a downhole wireless base station 12, the inspection robot 13, a track 14 (which can be fixed), a charging station 15, a positioning card 16 and a belt conveyor 17. The server is arranged underground or on the ground of the coal mine, runs inspection robot management and control platform software, achieves inspection robot task management (distributes inspection tasks for the inspection robots, can be a plurality of inspection robots, distributes different inspection tasks or the same inspection tasks for different inspection robots), fault diagnosis (determines whether a belt conveyor is faulty, determines whether personnel enter a dangerous area, determines whether the belt conveyor is deviated, determines whether dangerous situations occur in a roadway), automatic charging management and the like. Wireless base stations are arranged along the line of the inspection area, and 5G/4G/WiFi signals are transmitted for connection use of the inspection robot. The inspection tracks are arranged in parallel along the inspection area, RFID cards (positioning cards) are arranged at the gradient change points of the tracks, the tracks are A-B-C-D-E-F connecting lines, and the positioning cards 1-6 are arranged at the gradient change points.

The inspection robot automatically walks along the track, information of the positioning card can be read when the inspection robot passes through the slope changing point, positioning information is obtained, the positioning information can comprise position information, forward gradient information and reverse gradient information of the inspection robot, and the inspection robot can be subjected to position calibration and speed change according to the positioning information. The inspection robot moves back and forth along the belt conveyor, and can move forward from the tail of the belt conveyor to the head of the belt conveyor, and vice versa.

In order to further accurately determine the electricity consumption after the inspection robot walks, in a specific implementation process, the electricity consumption after the inspection robot walks is determined at least according to the travel distance of the inspection robot, and the method can be implemented by the following steps: according to the target formula:

determining the electricity consumption after the inspection robot walks, wherein W _A→B The power consumption of the inspection robot from the first positioning card to the second positioning card is represented by A- & gt B, the distance between the first positioning card and the second positioning card is represented by TA, tA represents the first moment of reading the first positioning information, tB represents the second moment of reading the second positioning information, U _t Indicating the voltage of the battery of the inspection robot, I _t The first positioning information is information of the position of the inspection robot obtained by reading the first positioning card during the track traveling process of the inspection robot in the tunnel of the coal mine, and the second positioning information is information of the position of the inspection robot obtained by reading the second positioning card during the track traveling process of the inspection robot in the tunnel of the coal mine.

In the scheme, the electric quantity consumed by the inspection robot when walking between the first positioning card and the second positioning card can be calculated through the target formula, and of course, the electric quantity consumed by the inspection robot when walking between the two positioning cards can be calculated according to the formula of the embodiment or other formulas under the condition that a plurality of positioning cards exist, and the electric quantity consumed by the inspection robot after walking can be further accurately determined through the formula of the embodiment, so that the follow-up charge management can be more efficiently performed. Of course, the above formulas are merely exemplary, and variations of any formulas fall within the scope of the present application.

Specifically, the power consumed by the inspection robot during walking is U _t I _t ，W _A→B In Wh, W can be calculated by the above target formula and the like _B→C 、W _C→D 、W _D→E 、W _E→F ，W _B→C Indicating that the inspection robot walks from the second positioning card toThe electric quantity consumed by the distance from the third positioning card, B-C represents the distance from the second positioning card to the third positioning card, W _C→D The electric quantity consumed by the distance from the third positioning card to the fourth positioning card of the inspection robot is represented by C-D, the distance from the third positioning card to the fourth positioning card is represented by W _D→E The electric quantity consumed by the distance from the fourth positioning card to the fifth positioning card of the inspection robot is represented, D-E represents the distance from the fourth positioning card to the fifth positioning card, and W _E→F And E-F represents the distance between the fifth positioning card and the sixth positioning card.

From the above formula, the length of the track of each section of the first locator card-second locator card-third locator card-fourth locator card-fifth locator card is known by the following formula:

calculating the electricity consumption per meter in the section, i _AB Indicating the distance between the first locator card and the second locator card,

The electricity consumption per meter of the rail is shown, and the electricity consumption per meter of other rails can be calculated by the same method

In order to more efficiently perform charge management, a manner of calculating a power threshold may be further defined, and before determining a remaining power of a battery of the inspection robot according to the power consumption, the method further includes the following steps: acquiring the running speed of the inspection robot; determining the current position of the inspection robot according to the positioning information, the current time and the running speed; and calculating the target electric quantity consumed by the inspection robot from the current position to the charging station, and obtaining the electric quantity threshold.

According to the scheme, the inspection robot can walk in the track according to different traveling speeds, the traveling speeds at different times can be different, the current position of the inspection robot is calculated according to the corresponding time and the corresponding traveling speed, for example, the time for the inspection robot to walk to the point A is 18, the traveling speed is 5 m/s, the position of the inspection robot at the point 19 is the point B, the inspection robot has walked to the point B, and then the electric quantity required by the inspection robot at different positions to return to the charging station can be determined respectively, so that the electric quantity threshold value is obtained.

When the inspection robot runs, the running speed of the inspection robot can be changed according to the position of the inspection robot and the gradient of the track in the section, and in the specific implementation process, before the inspection robot is controlled to stop inspection, the method further comprises the following steps: when the first positioning information is acquired and the second positioning information is not acquired, determining that the inspection robot is located in a first section of a roadway and controlling the inspection robot to travel at a first speed, wherein the first section is a section where a track between a first positioning card and a second positioning card is located, the first positioning information is information of a position of the inspection robot obtained by reading the first positioning card during track traveling of the roadway of a coal mine, and the second positioning information is information of a position of the inspection robot obtained by reading the second positioning card during track traveling of the roadway of the coal mine; when the second positioning information is acquired and the third positioning information is not acquired, determining that the inspection robot is located in a second section of the roadway, and controlling the inspection robot to travel at a second speed, wherein the gradient of a track in the first section is smaller than that of the track in the second section, the first speed is greater than the second speed, the second section is a section where the track between the second positioning card and the third positioning card is located, and the third positioning information is information of the position of the inspection robot obtained by reading the third positioning card during the track traveling of the inspection robot in the roadway of the coal mine.

In this scheme, can confirm the position that patrol and examine the robot place, the slope of different intervals is different in the tunnel, can control the orbital travel speed of patrol and examine the robot at different slopes like this, and then can adjust the travel speed of patrol and examine the robot, travel speed when the slope is great is slower, can avoid the electric quantity that consumes when the slope is great like this faster, and then further guarantee can patrol and examine the battery of robot and reach maximum utilization efficiency, extension operating duration, further improvement work efficiency.

For example, there are 6 total locator cards in the track, including locator card 1, locator card 2, locator card 3, locator card 4, locator card 5 and locator card 6, where locator card 1 is at point A, locator card 2 is at point B, locator card 3 is at point C, locator card 4 is at point D, locator card 5 is at point E, locator card 6 is at point F, the inspection robot starts from locator card 1, when the robot is at speed v ₁ During forward running, when the positioning card 2 is identified, the inspection robot detects that the inspection robot is about to run in a B-C point interval, and the track inclination angle of the interval is theta ₁ Changing the running speed to v ₂ ，v ₁ Less than v ₂ The method comprises the steps of carrying out a first treatment on the surface of the The inspection robot continues to advance, and when the positioning card 3 is identified, the inspection robot identifies an interval to be operated and C-D, and the track inclination angle of the interval is theta ₂ Restoring the operation speed to v ₁ ，θ ₁ Greater than theta ₂ The method comprises the steps of carrying out a first treatment on the surface of the The inspection robot continues to run, and when the positioning card 6 is identified, the inspection robot detects that the inspection robot has run to the end of the track and automatically reverses the direction. The inspection robot runs downhill in the reverse direction, and the speed is kept at a constant speed v ₁ 。

In the process of the inspection robot inspecting in the first section, if foreign matters exist on the track or the wind speed in the roadway is high, if the inspection robot can not normally walk when traveling at the first speed, in the specific implementation process, after the inspection robot is determined to be positioned in the first section of the roadway, the method further comprises the following steps: and controlling the inspection robot to travel at a third speed under the condition that a first preset condition is met, wherein the first preset condition comprises at least one of the following: the first section has an obstacle on a track thereof, the wind speed in the first section is greater than a wind speed threshold value, and the first speed is less than the third speed.

In this scheme, under the condition of meeting first preset condition in the environment of tunnel, can promote the speed of traveling of inspection robot, if have the barrier on the track of first interval like this, inspection robot can dash fast, can not be blocked motionless by the barrier, if the wind speed of first interval is greater than wind speed threshold value, inspection robot can promote the speed and travel, and the power consumption that corresponds also can be bigger, just so can travel in the great environment of wind speed, has guaranteed that inspection robot can normally travel.

If the inspection robot is in the process of inspecting, the distance detected by the inspection robot may be inaccurate due to slipping of wheels or slipping of other factors, possibly the real distance may be further than the distance detected by the inspection robot, and if the distance of the inspection robot is not corrected, the positioning of the inspection robot may be affected subsequently, in some embodiments, before the inspection robot is controlled to stop inspecting, the method further includes the following steps: acquiring a first travel distance fed back by the inspection robot, wherein the first travel distance is a distance from the charging station to the target positioning equipment, which is calculated after the inspection robot reaches the target positioning equipment; comparing the first travel distance with a preset second travel distance, wherein the second travel distance is a distance between the preset target positioning equipment and the charging station; and updating the first travel distance to the second travel distance when the first travel distance is different from the second travel distance.

In the scheme, the first running distance detected by the inspection robot can be calibrated, the second running distance between the target positioning equipment and the charging station is used as the reference distance, and if the first running distance is different from the second running distance, the second running distance is used as the reference to update the first running distance detected by the inspection robot, so that the follow-up positioning accuracy of the inspection robot can be ensured to be higher.

In some embodiments, before controlling the inspection robot to stop inspecting, the method further includes the steps of: acquiring video information in the running process of the inspection robot, wherein the video information is acquired by video acquisition equipment, and the video acquisition equipment is arranged on the inspection robot; determining whether a roadway of the coal mine meets a second preset condition according to the video information, wherein the second preset condition comprises at least one of the following conditions: the belt conveyor below the track is deviated, and workers enter a dangerous area in the roadway, wherein the dangerous area is a predefined area with a dangerous source; and generating prompt information under the condition that the roadway of the coal mine meets the second preset condition, wherein the prompt information is used for prompting that the roadway of the coal mine has abnormal conditions or dangerous conditions.

In the scheme, the inspection robot can also monitor the inspection area in the inspection process, and if the inspection area is abnormal (namely meets a second preset condition), prompt information can be generated to prompt underground workers of a coal mine or ground workers in time.

The embodiment of the application also provides a control device of the inspection robot, and it is to be noted that the control device of the inspection robot of the embodiment of the application can be used for executing the control method for the inspection robot provided by the embodiment of the application. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a control device of the inspection robot provided in the embodiment of the present application.

Fig. 4 is a block diagram of a control device of a patrol robot according to an embodiment of the present application. As shown in fig. 4, the apparatus includes:

a first obtaining unit 100, configured to obtain positioning information of a patrol robot, where the positioning information is information of a position of the patrol robot during a track traveling process of the patrol robot in a roadway of a coal mine;

A first determining unit 200 configured to determine a travel distance of the inspection robot according to the positioning information, where the travel distance is obtained by accumulating a current travel distance and a last travel distance, and the current travel distance is obtained according to a distance between the positioning information at a first time and the positioning information at a second time, and the first time is earlier than the second time;

A second determining unit 300 for determining an amount of electricity consumed by the inspection robot after traveling, at least according to the traveling distance of the inspection robot, wherein the amount of electricity consumed is an amount of electricity consumed by the inspection robot after traveling a certain distance;

And a first control unit 400, configured to determine a remaining power of the battery of the inspection robot according to the consumed power, and control the inspection robot to stop inspection and control the inspection robot to return to the charging station when a difference between the remaining power and a power threshold is less than or equal to a difference threshold, where the power threshold is a minimum power for supporting the inspection robot to return to the charging station from a current position.

In order to further accurately determine the consumed electric quantity after the inspection robot walks, in a specific implementation process, the second determining unit comprises a determining module, and the determining module is used for determining the consumed electric quantity according to a target formula:

Specifically, the power consumed by the inspection robot during walking is U _t I _t ，W _A→B In Wh, W can be calculated by the above target formula and the like _B→C 、W _C→D 、W _D→E 、W _E→F ，W _B→C The electric quantity consumed by the distance from the second positioning card to the third positioning card of the inspection robot is represented by B-C, the distance from the second positioning card to the third positioning card is represented by W _C→D The electric quantity consumed by the distance from the third positioning card to the fourth positioning card of the inspection robot is represented by C-D, the distance from the third positioning card to the fourth positioning card is represented by W _D→E The electric quantity consumed by the distance from the fourth positioning card to the fifth positioning card of the inspection robot is represented, D-E represents the distance from the fourth positioning card to the fifth positioning card, and W _E→F And E-F represents the distance between the fifth positioning card and the sixth positioning card.

the electricity consumption per meter of the other tracks can be calculated by the same method >

In order to more efficiently perform charge management, a manner of calculating an electric quantity threshold value may be defined, and the device of the present application further includes a second obtaining unit, a third determining unit, and a calculating unit, where the second obtaining unit is configured to obtain a running speed of the inspection robot before determining a remaining electric quantity of the battery of the inspection robot according to the consumed electric quantity; the third determining unit is used for determining the current position of the inspection robot according to the positioning information, the current time and the running speed; the calculating unit is used for calculating the target electric quantity consumed by the inspection robot from the current position to the charging station to obtain the electric quantity threshold.

When the inspection robot runs, the running speed of the inspection robot can be changed according to the position of the inspection robot and the gradient of a track in a section, in the concrete, the device further comprises a second control unit and a third control unit, the second control unit is used for determining that the inspection robot is located in a first section of a tunnel and controlling the inspection robot to run according to the first speed before controlling the inspection robot to stop inspection, when first positioning information is acquired and second positioning information is not acquired, wherein the first section is a section in which the track between a first positioning card and a second positioning card is located, the first positioning information is obtained by reading the first positioning card in the track running process of the tunnel of a coal mine, and the second positioning information is obtained by reading the second positioning card in the track running process of the tunnel of the coal mine; and a third control unit configured to determine that the inspection robot is located in a second section of the roadway and control the inspection robot to travel at a second speed when the second positioning information is acquired and the third positioning information is not acquired, wherein a gradient of a track in the first section is smaller than a gradient of a track in the second section, the first speed is greater than the second speed, the second section is a section in which the track between the second positioning card and the third positioning card is located, and the third positioning information is information of a position of the inspection robot obtained by reading the third positioning card during a track traveling process of the inspection robot in the roadway of the coal mine.

In the process that the inspection robot inspects in the first section, if foreign matters exist on a track or the wind speed in a roadway is high, if the inspection robot can not normally walk if the inspection robot runs at the first speed, the device further comprises a fourth control unit, and the fourth control unit is used for controlling the inspection robot to run at the third speed when the inspection robot is determined to be located in the first section of the roadway and meets a first preset condition, wherein the first preset condition comprises at least one of the following: the first section has an obstacle on a track thereof, the wind speed in the first section is greater than a wind speed threshold value, and the first speed is less than the third speed.

If the inspection robot slides due to wheel slipping or other factors during the inspection process, the detected distance of the inspection robot may be inaccurate, possibly the true distance may be further than the detected distance of the inspection robot, and if the detected distance of the inspection robot is not corrected, the positioning of the inspection robot may be affected subsequently, and in some embodiments, the apparatus further includes a third obtaining unit, a comparing unit and an updating unit, where the third obtaining unit is configured to obtain a first driving distance fed back by the inspection robot before controlling the inspection robot to stop inspecting, where the first driving distance is a distance calculated after the inspection robot reaches a target positioning device and driven from the charging station to the target positioning device; the comparison unit is used for comparing the first driving distance with a preset second driving distance, wherein the second driving distance is the distance between the preset target positioning equipment and the charging station; the updating unit is used for updating the first travel distance to the second travel distance when the first travel distance is different from the second travel distance.

In some embodiments, the apparatus further includes a fourth obtaining unit, a fourth determining unit, and a generating unit, where the fourth obtaining unit is configured to obtain video information during a running process of the inspection robot before controlling the inspection robot to stop inspecting, where the video information is acquired by a video acquisition device, and the video acquisition device is installed on the inspection robot; the fourth determining unit is configured to determine, according to the video information, whether a roadway of the coal mine meets a second preset condition, where the second preset condition includes at least one of: the belt conveyor below the track is deviated, and workers enter a dangerous area in the roadway, wherein the dangerous area is a predefined area with a dangerous source; the generating unit is used for generating prompt information when the roadway of the coal mine meets the second preset condition, wherein the prompt information is used for prompting that the roadway of the coal mine has abnormal conditions or dangerous conditions.

The control device of the inspection robot comprises a processor and a memory, wherein the first acquisition unit, the first determination unit, the second determination unit, the first control unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more, and the problem that the work efficiency of the inspection robot is low due to the fact that the efficiency of charging management of the inspection robot is low is solved by adjusting kernel parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is located to execute a control method of the inspection robot.

Specifically, the control method of the inspection robot comprises the following steps:

The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the inspection robot is executed when the program runs.

The application also provides a control system of the inspection robot, which comprises one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs comprise a control method for executing any one of the inspection robots.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) According to the control method of the inspection robot, the electric quantity consumed by the inspection robot can be calculated, the consumed electric quantity and the residual electric quantity are combined, whether the residual electric quantity of the battery of the inspection robot supports the inspection robot to return to the charging station is determined, and the inspection robot is timely controlled to return to charge under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value, so that the efficiency of charge management is improved, and the working efficiency of the inspection robot is further improved.

2) The control device of the inspection robot can calculate the consumed electric quantity of the inspection robot, the consumed electric quantity is combined with the residual electric quantity, whether the residual electric quantity of the battery of the inspection robot supports the inspection robot to return to a charging station is determined, and the inspection robot is controlled to return to charge in time under the condition that the difference value between the residual electric quantity and the electric quantity threshold value is smaller than or equal to the difference value threshold value, so that the efficiency of charge management is improved, and the working efficiency of the inspection robot is further improved.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. The control method of the inspection robot is characterized by comprising the following steps:

acquiring positioning information of a patrol robot, wherein the positioning information is information of the position of the patrol robot in the track walking process of a tunnel of a coal mine;

determining a running distance of the inspection robot according to the positioning information, wherein the running distance is obtained by accumulating the current running distance and the last running distance, the current running distance is obtained according to a distance between the positioning information at a first moment and the positioning information at a second moment, and the first moment is earlier than the second moment;

Determining the consumed electric quantity of the inspection robot after walking at least according to the driving distance of the inspection robot, wherein the consumed electric quantity is the electric quantity consumed by the inspection robot after driving for a certain distance;

and determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, and controlling the inspection robot to stop inspection and controlling the inspection robot to return to a charging station under the condition that the difference value between the residual electric quantity and an electric quantity threshold value is smaller than or equal to the difference value threshold value, wherein the electric quantity threshold value is the minimum electric quantity for supporting the inspection robot to return to the charging station from the current position.

2. The method of claim 1, wherein determining the amount of power consumed after walking of the inspection robot based at least on the distance traveled by the inspection robot comprises:

according to the target formula:

determining the consumed electric quantity after the inspection robot walks, wherein W _A→B The consumed electric quantity which indicates that the inspection robot walks from the position of a first positioning card to the position of a second positioning card is represented by A-B, the distance between the first positioning card and the second positioning card is represented by tA, the first moment when the first positioning information is read is represented by tB, the second moment when the second positioning information is read is represented by tB, U _t Representing the inspectionVoltage of the battery of robot, I _t The method comprises the steps of representing the discharge current of a battery of the inspection robot, wherein first positioning information is information of the position of the inspection robot obtained by reading a first positioning card in the track walking process of a roadway of a coal mine, and second positioning information is information of the position of the inspection robot obtained by reading a second positioning card in the track walking process of the roadway of the coal mine.

3. The method of claim 1, wherein prior to determining a remaining power of a battery of the inspection robot from the power consumption, the method further comprises:

acquiring the running speed of the inspection robot;

determining the current position of the inspection robot according to the positioning information, the current time and the running speed;

and calculating the target electric quantity consumed by the inspection robot from the current position to the charging station, and obtaining the electric quantity threshold.

4. The method of claim 1, wherein prior to controlling the inspection robot to stop inspection, the method further comprises:

Under the condition that first positioning information is acquired and second positioning information is not acquired, determining that the inspection robot is located in a first section of a roadway, and controlling the inspection robot to travel at a first speed, wherein the first section is a section where a track between a first positioning card and a second positioning card is located, the first positioning information is information of the position of the inspection robot obtained by reading the first positioning card in the track traveling process of the roadway of a coal mine, and the second positioning information is information of the position of the inspection robot obtained by reading the second positioning card in the track traveling process of the roadway of the coal mine;

under the condition that the second positioning information is acquired and the third positioning information is not acquired, determining that the inspection robot is located in a second section of a roadway, and controlling the inspection robot to travel at a second speed, wherein the gradient of a track in the first section is smaller than that in the second section, the first speed is larger than the second speed, the second section is a section where the track between the second positioning card and the third positioning card is located, and the third positioning information is information of the position of the inspection robot obtained by reading the third positioning card in the track traveling process of the inspection robot in the roadway of a coal mine.

5. The method of claim 4, wherein after determining that the inspection robot is located within a first zone of a roadway, the method further comprises:

under the condition that a first preset condition is met, controlling the inspection robot to travel at a third speed, wherein the first preset condition comprises at least one of the following: and the track of the first section is provided with an obstacle, the wind speed of the first section is greater than a wind speed threshold value, and the first speed is smaller than the third speed.

6. The method of claim 1, wherein prior to controlling the inspection robot to stop inspection, the method further comprises:

acquiring a first driving distance fed back by the inspection robot, wherein the first driving distance is a distance from the charging station to the target positioning equipment, which is calculated after the inspection robot reaches the target positioning equipment;

comparing the first travel distance with a preset second travel distance, wherein the second travel distance is a distance between the preset target positioning device and the charging station;

and updating the first travel distance to the second travel distance when the first travel distance is different from the second travel distance.

7. The method of claim 1, wherein prior to controlling the inspection robot to stop inspection, the method further comprises:

acquiring video information in the running process of the inspection robot, wherein the video information is acquired by video acquisition equipment, and the video acquisition equipment is arranged on the inspection robot;

determining whether a roadway of the coal mine meets a second preset condition according to the video information, wherein the second preset condition comprises at least one of the following conditions: the belt conveyor below the track is deviated, and workers enter a dangerous area in the roadway, wherein the dangerous area is a predefined area with a dangerous source;

and generating prompt information under the condition that the roadway of the coal mine accords with the second preset condition, wherein the prompt information is used for prompting that the roadway of the coal mine has abnormal conditions or dangerous conditions.

8. A control device for a patrol robot, comprising:

the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring positioning information of a patrol robot, and the positioning information is information of the position of the patrol robot in the track walking process of a roadway of a coal mine;

A first determining unit, configured to determine a running distance of the inspection robot according to the positioning information, where the running distance is obtained by accumulating the running distance of the current time and the running distance of the last time, and the running distance of the current time is obtained according to a distance between the positioning information at a first time and the positioning information at a second time, and the first time is earlier than the second time;

the second determining unit is used for determining the consumed electric quantity after the inspection robot walks according to at least the travelling distance of the inspection robot, wherein the consumed electric quantity is the electric quantity consumed by the inspection robot after travelling a certain distance;

the first control unit is used for determining the residual electric quantity of the battery of the inspection robot according to the consumed electric quantity, controlling the inspection robot to stop inspection and controlling the inspection robot to return to a charging station under the condition that the difference value between the residual electric quantity and an electric quantity threshold value is smaller than or equal to the difference value threshold value, wherein the electric quantity threshold value is the minimum electric quantity for supporting the inspection robot to return to the charging station from the current position.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to execute the control method of the inspection robot according to any one of claims 1 to 7.

10. A control system for a patrol robot, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising a control method for performing the inspection robot of any of claims 1-7.