CN116833998A - Inspection method and device of robot, storage medium and electronic equipment - Google Patents
Inspection method and device of robot, storage medium and electronic equipment Download PDFInfo
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- CN116833998A CN116833998A CN202310587535.2A CN202310587535A CN116833998A CN 116833998 A CN116833998 A CN 116833998A CN 202310587535 A CN202310587535 A CN 202310587535A CN 116833998 A CN116833998 A CN 116833998A
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- 238000007689 inspection Methods 0.000 title claims abstract description 385
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- 238000001514 detection method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
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- 238000013473 artificial intelligence Methods 0.000 abstract description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a robot inspection method, a robot inspection device, a storage medium and electronic equipment. Relates to the technical field of artificial intelligence. Wherein the method comprises the following steps: obtaining a patrol task, wherein the patrol task comprises: the number of devices to be inspected; determining a target robot for executing the inspection task based on the number of devices; on a target guide rail, carrying out inspection on equipment to be inspected through a target robot executing an inspection task to obtain a first inspection result set, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected; and under the condition that the first inspection result set indicates that the equipment is abnormal, rechecking the equipment to be inspected, which is associated with the inspection result with abnormal equipment, to obtain a second inspection result set. The invention solves the technical problems that the robot in the related art adopts a single-thread inspection mode to execute inspection tasks and the inspection effect is poor.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a robot inspection method, a robot inspection device, a storage medium and electronic equipment.
Background
In the related art, a single track design is commonly adopted for a suspended track type robot for equipment inspection, and a track has a clear starting end and a clear finishing end. One robot is hung on a track, moves along the horizontal direction of the track, and moves in the vertical direction through the lifting mechanism of the robot, so that the equipment to be inspected is inspected sequentially according to program logic. Fig. 1 is a schematic view of inspection of a robot according to the prior art, as shown in fig. 1, an inspection robot 4 moves along a guide rail 5, sequentially inspects a monitored device 123 (i.e., an inspected device), returns to a guide rail starting point after completion, and in the inspection process, problems exist including:
(1) Single track single robot only can single-thread inspection, and a 500 square meter's distribution room single inspection is more than 1 hour, and speed is slow.
(2) If the robot fails, the inspection task cannot be executed at all, and the failure rate of the robot in the current market is high, so that the inspection process can be seriously influenced.
(3) If the guide rail is segmented, one robot is arranged on each guide rail, and the part of the monitored equipment covered by the guide rail of the section of the fault robot cannot be inspected.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for inspecting a robot, a storage medium and electronic equipment, which at least solve the technical problem that the inspection effect is poor because the robot performs an inspection task in a single-thread inspection mode in the related art.
According to an aspect of an embodiment of the present invention, there is provided a method for inspecting a robot, including: obtaining a patrol task, wherein the patrol task comprises: the number of devices to be inspected; determining a target robot for executing the inspection task based on the number of devices; on a target guide rail, the equipment to be inspected is inspected by a target robot executing the inspection task, and a first inspection result set is obtained, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected; and under the condition that the first inspection result set has inspection result indicating equipment abnormality, re-inspecting equipment to be inspected, which is associated with the equipment abnormality inspection result, to obtain a second inspection result set.
Further, the step of determining a target robot performing the inspection task based on the number of devices includes: obtaining a self-checking result of each robot on the target guide rail for self-checking; determining M normal robots on the target guide rail based on self-checking results of all robots on the target guide rail, wherein the self-checking result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and determining a target robot for executing the inspection task based on the equipment number and the M normal robots.
Further, the step of determining a target robot performing the inspection task based on the number of devices and the M normal robots, includes: taking the normal robots as target robots for executing the inspection task under the condition that the number M of the normal robots is 1; under the condition that the number of the equipment is a preset number, determining the target robot for executing the inspection task based on the distance between the equipment to be inspected and each normal robot; and under the condition that the number of the equipment is larger than the preset number, determining the target robot for executing the inspection task based on M normal robots.
Further, the step of determining the target robot performing the inspection task based on a distance between the equipment to be inspected and each normal robot in the case that the number of the equipment is 1, includes: under the condition that the number of the equipment to be inspected is 1, comparing the distance between the equipment to be inspected and each normal robot to obtain a comparison result; based on the comparison result, determining a normal robot closest to the equipment to be inspected from M normal robots; and taking the normal robot closest to the equipment to be inspected in M normal robots as the target robot for executing the inspection task, wherein the number of the target robots is 1 under the condition that the number of the equipment to be inspected is 1.
Further, on the target guide rail, the step of performing inspection on the equipment to be inspected by the target robot performing the inspection task to obtain a first inspection result includes: under the condition that the number M of the normal robots is 1 or the number of the equipment is 1, the target robot is used for carrying out inspection on the equipment to be inspected to obtain the first inspection result; and under the condition that the number of the equipment is larger than the preset number, carrying out inspection on equipment to be inspected by N target robots to obtain the first inspection result, wherein N is an integer larger than 1, and N is smaller than or equal to M.
Further, N is 2, and when the number of the devices is greater than the preset number, the step of inspecting the device to be inspected by the N target robots to obtain the first inspection result includes: the two target robots carry out inspection on the equipment to be inspected by proceeding in reverse directions on the target guide rail; step 1, moving two target robots on the target guide rail, and recording the inspection result of the equipment to be inspected when each target robot inspects one piece of equipment to be inspected; step 2, subtracting 1 from the number of the equipment to be inspected; repeating steps 1 to 2 until the number of the devices is 0; and forming the first inspection result set by the inspection result of each equipment to be inspected.
Further, the preset number is 1, and when the first inspection result set has an abnormal inspection result indicating device, the step of rechecking the to-be-inspected device associated with the abnormal inspection result of the device to obtain a second inspection result includes: under the condition that the number of the equipment is 1 and the number M of the normal robots is greater than 1, rechecking the equipment to be inspected, which is associated with abnormal inspection results of the equipment, by a first rechecking robot to determine a second inspection result set, wherein the first rechecking robot is a normal robot except for the target robot in M normal robots; and under the condition that the number of the equipment is greater than 1 and the number of the target robots is 2, rechecking the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, by a second rechecking robot, and determining a second inspection result set, wherein the second rechecking robot is the other target robot except the target robot which detects the abnormal detection result of the equipment in the two target robots.
Further, a power carrier mode is adopted to supply power and provide signal transmission service for the robot on the target guide rail.
According to another aspect of the embodiment of the present invention, there is also provided a patrol device for a robot, including: the acquisition unit is used for acquiring the inspection task, wherein the inspection task comprises the following steps: the number of devices to be inspected; a determining unit, configured to determine, based on the number of devices, a target robot that performs the inspection task; the inspection unit is used for inspecting the equipment to be inspected through the target robot executing the inspection task on the target guide rail to obtain a first inspection result set, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected; and the rechecking unit is used for rechecking the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, under the condition that the inspection result indicating equipment is abnormal in the first inspection result set, so as to obtain a second inspection result set.
Further, the determining unit includes: the acquisition subunit is used for acquiring a self-checking result of each robot on the target guide rail for self-checking; the first determination subunit is used for determining M normal robots on the target guide rail based on self-checking results of all robots on the target guide rail, wherein the self-checking result of each normal robot indicates that the state of the robot is normal, and M is a non-negative integer; and the second determination subunit is used for determining a target robot for executing the inspection task based on the equipment number and the M normal robots.
Further, the second determining subunit includes: a first processing module, configured to take the normal robot as a target robot for executing the inspection task when the number M of the normal robots is 1; the first determining module is used for determining the target robot for executing the inspection task based on the distance between the equipment to be inspected and each normal robot under the condition that the number of the equipment is a preset number; and the second determining module is used for determining the target robot for executing the inspection task based on M normal robots under the condition that the number of the equipment is larger than the preset number.
Further, the preset number is 1, and the first determining module includes: the comparison submodule is used for comparing the distance between the equipment to be inspected and each normal robot under the condition that the equipment number of the equipment to be inspected is 1, so as to obtain a comparison result; the determining submodule is used for determining a normal robot closest to the equipment to be inspected from M normal robots based on the comparison result; and the processing submodule is used for taking the normal robot closest to the equipment to be inspected in the M normal robots as the target robot for executing the inspection task, wherein the number of the target robots is 1 under the condition that the number of the equipment to be inspected is 1.
Further, the inspection unit includes: the first inspection subunit is configured to, when the number M of the normal robots is 1, or when the number of the devices is 1, inspect the device to be inspected by one target robot to obtain the first inspection result; and the second inspection subunit is used for inspecting the equipment to be inspected by N target robots under the condition that the number of the equipment is larger than the preset number to obtain the first inspection result, wherein N is an integer larger than 1 and is smaller than or equal to M.
Further, N is 2, and the second inspection subunit includes: the inspection module is used for inspecting the equipment to be inspected by reversing the directions of the two target robots on the target guide rail; the recording module is used for moving two target robots on the target guide rail, and recording the inspection result of the equipment to be inspected when each target robot inspects one piece of equipment to be inspected; the second processing module is used for reducing the equipment number of the equipment to be inspected by 1 in step 2; an execution module for repeatedly executing the steps 1 to 2 until the number of the devices is 0; and the third processing module is used for forming the first inspection result set by the inspection result of each equipment to be inspected.
Further, the preset number is 1, and the rechecking unit includes: the first rechecking subunit is used for rechecking equipment to be inspected, which is associated with abnormal inspection results of the equipment, through a first rechecking robot under the condition that the number of the equipment is 1 and the number M of the normal robots is greater than 1, and determining a second inspection result set, wherein the first rechecking robot is a normal robot except the target robot in M normal robots; and the second rechecking subunit is used for rechecking the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, through the second rechecking robot under the condition that the number of the equipment is greater than 1 and the number of the target robots is 2, and determining a second inspection result set, wherein the second rechecking robot is another target robot except for the target robots which detect the abnormal detection result of the equipment in the two target robots.
Further, the inspection device of the robot further includes: and the transmission unit is used for supplying power to the robot on the target guide rail in a power carrier mode and providing signal transmission service.
According to another aspect of the embodiment of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the inspection method of the robot of any one of the above via execution of the executable instructions.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium stores a computer program, where the apparatus where the computer readable storage medium is located is controlled to execute the inspection method of the robot according to any one of the above.
In the invention, a patrol task is acquired, wherein the patrol task comprises the following steps: the number of devices to be inspected; determining a target robot for executing the inspection task based on the number of devices; on a target guide rail, carrying out inspection on equipment to be inspected through a target robot executing an inspection task to obtain a first inspection result set, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected; and under the condition that the first inspection result set indicates that the equipment is abnormal, rechecking the equipment to be inspected, which is associated with the inspection result with abnormal equipment, to obtain a second inspection result set. The invention further solves the technical problems that in the related art, the robots adopt a single-thread inspection mode to execute inspection tasks and the inspection effect is poor, in the invention, according to the number of equipment to be inspected, which robot executes the inspection tasks on a target guide rail, and inspects the equipment to be inspected on a closed-loop track, and further carries out rechecking under the condition that abnormal equipment is inspected, thereby avoiding the conditions that in the related art, single robot adopts single-thread inspection, the accuracy rate is low and the efficiency is low, and further realizing the technical effects of improving the inspection efficiency of the robots and the accuracy rate of inspection results.
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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic illustration of a robot inspection according to the prior art;
FIG. 2 is a flow chart of an alternative robotic inspection method according to an embodiment of the application;
FIG. 3 is a schematic illustration of an alternative robot inspection according to an embodiment of the present application;
FIG. 4 is a flow chart of an alternative robot performing inspection tasks in accordance with an embodiment of the present application;
FIG. 5 is a schematic view of an alternative robotic inspection device according to an embodiment of the application;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which 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 those skilled in the art based on the embodiments of the present application 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 the claims of the present invention 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 such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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.
It should be noted that, the inspection method and the apparatus thereof of the robot in the present disclosure may be used in the case of inspecting equipment between power distribution areas in the field of artificial intelligence, and may also be used in any field other than the field of financial technology in the case of inspecting equipment between power distribution areas.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, displayed data, equipment data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region, and provide corresponding operation entries for the user to select authorization or rejection.
Example 1
According to an embodiment of the present application, an alternative method embodiment of a method for inspection of a robot is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that illustrated herein.
Fig. 2 is a flowchart of an alternative inspection method of a robot according to an embodiment of the present application, as shown in fig. 2, the method includes the steps of:
step S201, a patrol task is obtained, wherein the patrol task comprises: the number of devices to be inspected.
The above-mentioned task of patrolling and examining can be the task of patrolling and examining the equipment between the distribution room, and this mating electricity can be the distribution room of financial institution, can include the equipment quantity of equipment of waiting to patrol and examine in the task of patrolling and examining, wait to patrol and examine the point position (i.e. position) of equipment in the distribution room.
Step S202, determining a target robot performing a patrol task based on the number of devices.
The above-mentioned target robot performing the inspection task may be a robot that is subjected to self-inspection, where the self-inspection result indicates that the state of the robot is normal, and the number of target robots performing the inspection task may be determined by the number of devices, for example: under the condition that the number of the equipment to be inspected is 1, the number of target robots for executing the inspection task can be 1, the inspection task can be executed through the target robots, under the condition that the number of the equipment to be inspected is more than 1, the number of the target robots for executing the inspection task can be multiple, and the inspection task can be executed through the multiple target robots, so that the inspection efficiency of inspecting the equipment to be inspected is improved.
Step 203, inspecting the equipment to be inspected by the target robot performing the inspection task on the target guide rail to obtain a first inspection result set, where the target guide rail is a closed-loop track, and the first inspection result set includes: and (5) inspecting results of all the equipment to be inspected.
In order to avoid the situation that the inspection task is executed by a single-rail robot in the related art and the efficiency is low, in this embodiment, the target guide rail may be a guide rail for the robot to perform the inspection, the target guide rail may be a closed-loop track, multiple robots may be deployed on the target guide rail, and a target robot for executing the inspection task is selected from the multiple robots.
Fig. 3 is a schematic view of inspection of an alternative robot according to an embodiment of the present invention, where a target guide rail is shown as a guide rail 6 in fig. 3, a plurality of robots (only an inspection robot 4 and an inspection robot 5 are schematically shown in fig. 6) may be disposed on the guide rail 6, the guide rail 6 is a ring-shaped guide rail (corresponding to the above-mentioned closed-loop track), the whole guide rail is communicated to form a ring, the robots 4 and 5 are simultaneously hung on the guide rail, and each robot can freely move on the whole guide rail according to a program logic requirement. The inspection task of inspecting the monitored device 123 is performed by a target robot among the plurality of robots that performs the inspection task.
Step S204, rechecking the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, under the condition that the inspection result indicating equipment is abnormal in the first inspection result set, so as to obtain a second inspection result set.
In this embodiment, in order to avoid a situation that the inspection accuracy is low when a single robot performs inspection, in this embodiment, when the inspection result execution device is abnormal in the first inspection result set, the second inspection result set may be obtained by performing a review by another robot with a normal self-inspection result on the guide rail.
The second inspection result set may include all the inspection results, in this embodiment, after obtaining the inspection result again, whether the equipment is abnormal may be further determined based on the inspection result, where the inspection result of the equipment performing the inspection still indicates that the equipment is abnormal, the equipment performing the inspection may be determined to be the abnormal equipment, if the inspection result indicates that the equipment is normal, the inspection may be performed again, the equipment performing the inspection may be registered, so that the manager may perform verification, the equipment performing the inspection may be added to the next inspection task, the inspection may be performed again, and the inspection result may be directly used as the inspection result of the inspection equipment.
Through the steps, in the embodiment, according to the number of the devices of the device to be inspected, which robot on the target guide rail executes the inspection task is determined, inspection is performed on the device to be inspected on the closed-loop track, and rechecking is further performed under the condition that abnormal devices are inspected, so that the situations that a single robot in the related art adopts single-thread inspection, and the accuracy and the efficiency are low are avoided, and the technical effects of improving the inspection efficiency of the robot and the accuracy of inspection results are achieved. Further, the technical problem that the inspection effect is poor due to the fact that the inspection task is executed by the robot in the single-thread inspection mode in the related art is solved.
Optionally, the step of determining the target robot performing the inspection task based on the number of devices includes: obtaining a self-checking result of each robot on the target guide rail; determining M normal robots on the target guide rail based on self-checking results of all robots on the target guide rail, wherein the self-checking result of each normal robot indicates that the state of the robot is normal, and M is a non-negative integer; and determining a target robot for executing the inspection task based on the number of the devices and the M normal robots.
In order to ensure that the inspection task can be normally executed and avoid the accuracy of the inspection result of the fault response of the robot, in the embodiment, before the inspection task is executed, the self-inspection result of each robot on the target guide rail for self-inspection can be obtained, and in M normal robots with the self-inspection result indicating the normal state of the robot, the target robot for executing the inspection task is selected according to the number of the equipment to be inspected, so that the technical effect of improving the accuracy of the inspection result is realized.
Optionally, the step of determining the target robot performing the inspection task based on the number of devices and the M normal robots includes: in the case that the number M of normal robots is 1, the normal robots are taken as target robots for executing the inspection task; under the condition that the number of the equipment is the preset number, determining a target robot for executing the inspection task based on the distance between the equipment to be inspected and each normal robot; and under the condition that the number of the equipment is larger than the preset number, determining a target robot for executing the inspection task based on the M normal robots.
In this embodiment, if a robot with a normal robot state determined according to the self-inspection result executes one robot, that is, if the number M of normal robots is 1, the normal robot may be used as the target robot for executing the inspection task, and at this time, the number of target robots for executing the inspection task is 1.
If the number of the devices to be inspected is the preset number, a target robot for performing the inspection task may be selected from the M normal robots according to the distance between the device to be inspected and each normal robot, for example: if the preset number is 1, under the condition that the number of the equipment to be inspected is 1, the normal robot closest to the equipment to be inspected can be used as the target robot for executing the inspection task, and at the moment, the number of the target robots for executing the inspection task is also 1.
If the number of the equipment to be inspected is greater than the preset number, N normal robots can be directly selected from the M normal robots as target robots for performing the inspection task, for example: if the preset number is 1, under the condition that the number of the equipment to be inspected is greater than 1, all M normal equipment are used as target robots for executing the inspection task, wherein M can be 2, and the technical effect of improving the inspection efficiency is achieved.
Optionally, the step of determining the target robot performing the inspection task based on the distance between the equipment to be inspected and each normal robot in the case that the preset number of equipment is 1 includes: under the condition that the number of the equipment to be inspected is 1, comparing the distance between the equipment to be inspected and each normal robot to obtain a comparison result; based on the comparison result, determining the normal robot closest to the equipment to be inspected from the M normal robots; and taking the normal robot closest to the equipment to be inspected in the M normal robots as a target robot for executing the inspection task, wherein the number of the target robots is 1 when the number of the equipment to be inspected is 1.
Under the condition that the preset number is 1, if the number of the equipment to be inspected is also 1 and the number M of the normal machines is larger than 1, the distance between the equipment to be inspected and each normal robot can be compared, the robot closest to the equipment to be inspected is used as a target robot for executing the inspection task, the equipment to be inspected is inspected through the normal robot closest to the equipment to be inspected, and it is required to explain that the distance between the equipment to be inspected and each normal robot is the distance moved by the normal robot from the current position of the normal robot to the position of the equipment to be inspected along the target guide rail. The technical effect of improving the inspection efficiency is achieved.
Optionally, on the target guide rail, the step of performing inspection on the equipment to be inspected by the target robot performing the inspection task to obtain a first inspection result includes: under the condition that the number M of the normal robots is 1 or the number of the equipment is 1, a target robot is used for carrying out inspection on equipment to be inspected to obtain a first inspection result; and under the condition that the number of the equipment is larger than the preset number, carrying out inspection on the equipment to be inspected by N target robots to obtain a first inspection result, wherein N is an integer larger than 1, and N is smaller than or equal to M.
In the embodiment, if the self-checking result on the target guide rail is that only one normal robot with normal robot state is provided, the normal robot only executes the inspection task, and the equipment to be inspected is inspected to obtain a first inspection result; if the number of the equipment to be inspected is 1, that is, if only one piece of equipment to be inspected is provided, the equipment to be inspected can be inspected based on one target robot to obtain a first inspection result; if the number of the equipment to be inspected is greater than 1 and the number M of the normal robots is also greater than 1, the N target robots can inspect the equipment to be inspected to obtain a first inspection result.
FIG. 4 is a flow chart of an alternative robot performing inspection tasks according to an embodiment of the present invention, as illustrated in connection with FIG. 4 below:
case 1 (content of line where "system self-test normal" of fig. 4 is located): the robot system self-tests to find a single robot failure. And the other robot is used for whole-course inspection and outputting inspection results.
Case 2 (as "by distance, distribution of content on line by near robot start patrol" of fig. 4): and if the robot self-checking is normal, if the robot self-checking is a single-point checking task (namely, the number of equipment to be checked is 1), the near robot independently checks and outputs a checking result.
Case 3: (As shown in the figure 4, the line content of the inspection by two robots in two directions is that the inspection points are 1-N, for example, N points are distributed on a guide rail in sequence, the first robot performs inspection according to 1,2,3 and … … m, and the other robot performs inspection according to N, N-1, N-2 … … m+1, and finally all the points are completed.
After the inspection point position is completely inspected, the robot executing the inspection task can return to the original position and comb the 'problematic inspected point position'. And the other robot with normal self-inspection is used for inspecting the 'problem point position'. (such as rechecking inspection in fig. 4), the technical effects of improving inspection efficiency and accuracy of inspection results are achieved.
Optionally, N is 2, and when the number of the devices is greater than the preset number, the step of inspecting the device to be inspected by the N target robots to obtain a first inspection result includes: the two target robots reversely start on the target guide rail to patrol the equipment to be patrol; step 1, moving two target robots on a target guide rail, and recording a patrol result of one equipment to be patrol after each target robot patrol the equipment to be patrol; step 2, reducing the number of equipment to be inspected by 1; repeating the steps 1 to 2 until the number of the devices is 0; and the inspection result of each equipment to be inspected forms a first inspection result set.
As shown in the schematic view of inspection of the robot in fig. 3, the inspection robot 4 and the inspection robot 5 (corresponding to the two target robots) inspect the monitored device 123 (corresponding to the device to be inspected) on the rail 6 (corresponding to the target rail) in opposite directions.
If the inspection points are 1-N (the number of the equipment to be inspected is N), the total N points are distributed on the guide rail in sequence. The first robot performs inspection according to 1,2 and 3 … … m; the other robot is patrolled and examined according to N, N-1, N-2 … … m+1, finally accomplishes all positions, patrols and examines through two equipment, has realized the technical effect that improves the efficiency of patrolling and examining.
Optionally, the preset number is 1, and when the first inspection result set has an abnormal inspection result indicating device, the step of rechecking the to-be-inspected device associated with the abnormal inspection result to obtain a second inspection result includes: under the condition that the number of the equipment is 1 and the number M of the normal robots is greater than 1, rechecking the equipment to be inspected, which is associated with abnormal inspection results of the equipment, by a first rechecking robot to determine a second inspection result set, wherein the first rechecking robot is a normal robot except a target robot in M normal robots; and under the condition that the number of the equipment is greater than 1 and the number of the target robots is 2, rechecking the equipment to be inspected, which is associated with the equipment abnormal inspection result, by a second rechecking robot, and determining a second inspection result set, wherein the second rechecking robot is the other target robot except the target robot which detects the equipment abnormal inspection result in the two target robots.
In this embodiment, if the number of devices to be inspected is 1 and the number M of normal robots is greater than 1, if the target robot inspects that the detection result of the device to be inspected is that the device is abnormal, the abnormal device may be subjected to re-inspection by other normal robots to obtain a re-inspection result, where the re-inspection result of all the devices with abnormal devices for re-inspection may form the second inspection result set.
If the number of the equipment to be inspected is greater than 1 and the number of the target robots is 2, the equipment to be inspected with the equipment abnormality can be rechecked by the other target robot except for the target robot which detects the detection result of the equipment abnormality in the two target robots, and the rechecked result of the rechecked equipment with the equipment abnormality can form the second inspection result set, so that the technical effect of improving the accuracy of the detection result is realized.
Optionally, a power carrier mode is adopted to supply power to the robot on the target guide rail and provide signal transmission service.
In this embodiment, power supply and communication signal transmission between the guide rail and the robot may be performed by a PLC (power carrier) system, and no specific charging pile point and signal transmission connection position may be provided in the PLC (power carrier) system. The robot can be in a stagnation standby state at any point on the guide rail.
In the embodiment, an annular track (namely a closed-loop track corresponding to the target guide rail) is adopted, a plurality of robots are deployed on the annular track, and an inspection task is assisted to dispatch an efficient control strategy, so that the fault tolerance of the robot equipment and the guide rail equipment is realized; the inspection speed and the inspection efficiency are improved.
Specifically, the single-point faults of the guide rail and the faults of the single robot do not affect inspection, so that the fault tolerance of the robot equipment is improved, the accuracy of inspection results is enhanced, and the inspection accuracy is further improved through double-robot rechecking inspection.
Example two
The second embodiment of the application provides an optional inspection method for a robot, wherein each implementation unit in the inspection method corresponds to each implementation step in the first embodiment.
Fig. 5 is a schematic view of an alternative inspection device for a robot according to an embodiment of the present application, and as shown in fig. 5, the inspection device includes: an acquisition unit 51, a determination unit 52, a patrol unit 53, and a review unit 54.
Specifically, the obtaining unit 51 is configured to obtain a patrol task, where the patrol task includes: the number of devices to be inspected;
a determining unit 52 for determining a target robot performing a patrol task based on the number of devices;
the inspection unit 53 is configured to obtain a first inspection result set by inspecting, on a target guide rail, an apparatus to be inspected by a target robot that performs an inspection task, where the target guide rail is a closed-loop track, and the first inspection result set includes: inspection results of all the equipment to be inspected;
And the rechecking unit 54 is configured to recheck the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, to obtain a second inspection result set when the inspection result indicates that the equipment is abnormal in the first inspection result set.
In the inspection device of the robot provided in the second embodiment of the present application, an inspection task may be acquired by the acquisition unit 51, where the inspection task includes: the equipment number of the equipment to be inspected is determined by the determining unit 52 based on the equipment number, the target robot for executing the inspection task is determined by the inspecting unit 53 on the target guide rail, the equipment to be inspected is inspected by the target robot for executing the inspection task, and a first inspection result set is obtained, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: and (3) carrying out rechecking on the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, under the condition that the inspection result indicating equipment is abnormal in the first inspection result set through the rechecking unit 54, so as to obtain a second inspection result set. Further, the technical problems that in the related art, the robot performs the inspection task in a single-thread inspection mode, and the inspection effect is poor are solved, in the embodiment, according to the number of the equipment to be inspected, which robot performs the inspection task on the target guide rail, inspects the equipment to be inspected on the closed-loop track, and further performs the recheck under the condition that abnormal equipment is inspected, the situations that in the related art, the single robot adopts the single-thread inspection, the accuracy rate is low and the efficiency is low are avoided, and therefore the technical effects of improving the inspection efficiency of the robot and the accuracy rate of inspection results are achieved.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the determining unit includes: the acquisition subunit is used for acquiring a self-checking result of each robot on the target guide rail for self-checking; the first determination subunit is used for determining M normal robots on the target guide rail based on self-checking results of all robots on the target guide rail, wherein the self-checking result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer; and the second determination subunit is used for determining the target robot for executing the inspection task based on the equipment number and the M normal robots.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the second determining subunit includes: the first processing module is used for taking the normal robots as target robots for executing the inspection task under the condition that the number M of the normal robots is 1; the first determining module is used for determining a target robot for executing the inspection task based on the distance between the equipment to be inspected and each normal robot under the condition that the number of the equipment is the preset number; and the second determining module is used for determining a target robot for executing the inspection task based on M normal robots under the condition that the number of the devices is larger than the preset number.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the preset number is 1, and the first determining module includes: the comparison submodule is used for comparing the distance between the equipment to be inspected and each normal robot under the condition that the equipment number of the equipment to be inspected is 1, so as to obtain a comparison result; the determining submodule is used for determining a normal robot closest to equipment to be inspected from M normal robots based on a comparison result; and the processing submodule is used for taking the normal robot closest to the equipment to be inspected in the M normal robots as a target robot for executing the inspection task, wherein the number of the target robots is 1 under the condition that the number of the equipment to be inspected is 1.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the inspection unit includes: the first inspection subunit is used for inspecting the equipment to be inspected by one target robot under the condition that the number M of the normal robots is 1 or the number of the equipment is 1, so as to obtain a first inspection result; and the second inspection subunit is used for inspecting the equipment to be inspected by the N target robots under the condition that the number of the equipment is larger than the preset number to obtain a first inspection result, wherein N is an integer larger than 1 and is smaller than or equal to M.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, N is 2, and the second inspection subunit includes: the inspection module is used for inspecting equipment to be inspected by reversing the directions of the two target robots on the target guide rail; the recording module is used for moving two target robots on the target guide rail, and recording the inspection result of one equipment to be inspected when each target robot inspects the equipment to be inspected; the second processing module is used for reducing the equipment number of the equipment to be inspected by 1 in the step 2; the execution module is used for repeatedly executing the steps 1 to 2 until the number of the devices is 0; and the third processing module is used for forming a first inspection result set by the inspection result of each equipment to be inspected.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the preset number is 1, and the rechecking unit includes: the first rechecking subunit is used for rechecking equipment to be inspected, which is associated with abnormal inspection results of the equipment, through the first rechecking robot under the condition that the number of the equipment is 1 and the number M of the normal robots is greater than 1, and determining a second inspection result set, wherein the first rechecking robot is a normal robot except a target robot in M normal robots; and the second rechecking subunit is used for rechecking the equipment to be inspected, which is associated with the equipment abnormal inspection result, through the second rechecking robot under the condition that the equipment number is greater than 1 and the target robot number is 2, and determining a second inspection result set, wherein the second rechecking robot is the other target robot except the target robot which detects the equipment abnormal inspection result in the two target robots.
Optionally, in the inspection device for a robot provided in the second embodiment of the present application, the inspection device for a robot further includes: and the transmission unit is used for supplying power to the robot on the target guide rail in a power carrier mode and providing signal transmission service.
The inspection device of the robot may further include a processor and a memory, wherein the acquiring unit 51, the determining unit 52, the inspection unit 53, the review unit 54, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches a corresponding program unit from the memory. The kernel can be provided with one or more than one, the kernel parameter is adjusted to determine which robot on the target guide rail executes the inspection task according to the number of the equipment to be inspected, inspection is performed on the equipment to be inspected on the closed-loop track, and recheck is further performed under the condition that abnormal equipment is inspected, so that the situations of low accuracy and low efficiency caused by single-thread inspection adopted by a single robot in the related art are avoided, and the technical effects of improving the inspection efficiency of the robot and the accuracy of inspection results are realized.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), which includes at least one memory chip.
According to another aspect of the embodiment of the present invention, there is also provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the inspection method of the robot of any one of the above via execution of the executable instructions.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium stores a computer program, where the apparatus where the computer readable storage medium is located is controlled to execute the inspection method of the robot according to any one of the above.
Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, an embodiment of the present invention provides an electronic device 60, where the electronic device includes a processor, a memory, and a program stored on the memory and capable of running on the processor, and the processor implements a method for inspecting a robot according to any one of the above when executing the program.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (11)
1. The inspection method of the robot is characterized by comprising the following steps of:
obtaining a patrol task, wherein the patrol task comprises: the number of devices to be inspected;
determining a target robot for executing the inspection task based on the number of devices;
on a target guide rail, the equipment to be inspected is inspected by a target robot executing the inspection task, and a first inspection result set is obtained, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected;
and under the condition that the first inspection result set has inspection result indicating equipment abnormality, re-inspecting equipment to be inspected, which is associated with the equipment abnormality inspection result, to obtain a second inspection result set.
2. The inspection method of claim 1, wherein the step of determining a target robot to perform the inspection task based on the number of devices comprises:
Obtaining a self-checking result of each robot on the target guide rail for self-checking;
determining M normal robots on the target guide rail based on self-checking results of all robots on the target guide rail, wherein the self-checking result of each normal robot indicates that the robot is in a normal state, and M is a non-negative integer;
and determining a target robot for executing the inspection task based on the equipment number and the M normal robots.
3. The inspection method according to claim 2, wherein the step of determining a target robot performing the inspection task based on the number of devices and the M normal robots, comprises:
taking the normal robots as target robots for executing the inspection task under the condition that the number M of the normal robots is 1;
under the condition that the number of the equipment is a preset number, determining the target robot for executing the inspection task based on the distance between the equipment to be inspected and each normal robot;
and under the condition that the number of the equipment is larger than the preset number, determining the target robot for executing the inspection task based on M normal robots.
4. The inspection method according to claim 3, wherein the step of determining the target robot performing the inspection task based on a distance between the equipment to be inspected and each of the normal robots in the case where the number of the equipment is 1, comprises:
under the condition that the number of the equipment to be inspected is 1, comparing the distance between the equipment to be inspected and each normal robot to obtain a comparison result;
based on the comparison result, determining a normal robot closest to the equipment to be inspected from M normal robots;
and taking the normal robot closest to the equipment to be inspected in M normal robots as the target robot for executing the inspection task, wherein the number of the target robots is 1 under the condition that the number of the equipment to be inspected is 1.
5. The inspection method according to claim 4, wherein the step of inspecting the equipment to be inspected on the target guide rail by the target robot performing the inspection task to obtain a first inspection result includes:
Under the condition that the number M of the normal robots is 1 or the number of the equipment is 1, the target robot is used for carrying out inspection on the equipment to be inspected to obtain the first inspection result;
and under the condition that the number of the equipment is larger than the preset number, carrying out inspection on equipment to be inspected by N target robots to obtain the first inspection result, wherein N is an integer larger than 1, and N is smaller than or equal to M.
6. The inspection method according to claim 5, wherein N is 2, and the step of inspecting the equipment to be inspected by N target robots to obtain the first inspection result when the number of the equipment is greater than the preset number includes:
the two target robots carry out inspection on the equipment to be inspected by proceeding in reverse directions on the target guide rail;
step 1, moving two target robots on the target guide rail, and recording the inspection result of the equipment to be inspected when each target robot inspects one piece of equipment to be inspected;
step 2, subtracting 1 from the number of the equipment to be inspected;
repeating steps 1 to 2 until the number of the devices is 0;
And forming the first inspection result set by the inspection result of each equipment to be inspected.
7. The inspection method according to claim 3, wherein the preset number is 1, and the step of rechecking the equipment to be inspected associated with the inspection result with abnormal equipment to obtain a second inspection result when the inspection result indicates that the equipment is abnormal in the first inspection result set includes:
under the condition that the number of the equipment is 1 and the number M of the normal robots is greater than 1, rechecking the equipment to be inspected, which is associated with abnormal inspection results of the equipment, by a first rechecking robot to determine a second inspection result set, wherein the first rechecking robot is a normal robot except for the target robot in M normal robots;
and under the condition that the number of the equipment is greater than 1 and the number of the target robots is 2, rechecking the equipment to be inspected, which is related to the abnormal inspection result of the equipment, by a second rechecking robot, and determining a second inspection result set, wherein the second rechecking robot is another target robot except for the target robots, which detect the abnormal detection result of the equipment, in the two target robots.
8. The inspection method of claim 1, wherein a power carrier is used to power and provide signal transmission services for the robot on the target rail.
9. The utility model provides a device is patrolled and examined to robot which characterized in that includes:
the acquisition unit is used for acquiring the inspection task, wherein the inspection task comprises the following steps: the number of devices to be inspected;
a determining unit, configured to determine, based on the number of devices, a target robot that performs the inspection task;
the execution unit is used for carrying out inspection on the equipment to be inspected through the target robot executing the inspection task on the target guide rail to obtain a first inspection result set, wherein the target guide rail is a closed-loop track, and the first inspection result set comprises: inspection results of all the equipment to be inspected;
and the rechecking unit is used for rechecking the equipment to be inspected, which is associated with the abnormal inspection result of the equipment, under the condition that the inspection result indicating equipment is abnormal in the first inspection result set, so as to obtain a second inspection result set.
10. A computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and wherein the computer program, when executed, controls a device in which the computer readable storage medium is located to perform the inspection method of the robot according to any one of claims 1 to 8.
11. An electronic device comprising one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of inspection of a robot of any of claims 1-8.
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| CN117689187A (en) * | 2024-02-04 | 2024-03-12 | 天津三号线轨道交通运营有限公司 | Data supervision method and system for rail transit fault detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117689187A (en) * | 2024-02-04 | 2024-03-12 | 天津三号线轨道交通运营有限公司 | Data supervision method and system for rail transit fault detection |
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