CN117930831A - Robot inspection method and device, electronic equipment and storage medium - Google Patents

Abstract

The application provides a robot inspection method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: receiving a patrol task, wherein the patrol task comprises an initial patrol point queue; and under the hanging inspection mode, performing an inspection task according to a preset inspection strategy action tree, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from an initial inspection point position queue one by one and matching the target inspection points with a background to-be-inspected point position set updated based on a dynamic inspection map, and if the target inspection points are in the to-be-inspected point position set, navigating to the target inspection point positions and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed. The method is based on the dynamic inspection map, does not need to rely on visual navigation or sensor detection, reduces the influence of factors such as the actual environment on site and the gesture of the robot, can effectively reduce the obstacle avoidance difficulty of the robot, and improves the efficiency of the robot for executing inspection tasks.

Description

Robot inspection method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of intelligent robots, and in particular, to a method and apparatus for inspecting a robot, an electronic device, and a storage medium.

Background

With the rise of artificial intelligence technology, the application field of inspection robots is becoming wider and wider. The inspection robot is mainly used for automatically acquiring data along a planned path by utilizing service equipment, wherein the data comprise, but are not limited to, images, temperature, humidity, sound, harmful gas and the like, and can be applied to places such as huge enterprise factories, high and new parks and huge markets. The autonomous obstacle avoidance and path planning are important technologies for inspection robots to inspect, and currently, aiming at an inspection area in a field, the existing robot inspection method is generally to set obstacles around the inspection area or draw dynamic virtual walls, so that the inspection robot relies on visual navigation or sensor detection to realize the function of avoiding or bypassing the inspection area in the process of executing tasks. However, depending on visual navigation or sensor detection, the robot is easily influenced by factors such as on-site actual environment and the gesture of the robot, so that the recognition efficiency of the robot is reduced, the obstacle avoidance difficulty of the robot is increased, and the efficiency of the robot for executing the inspection task is greatly reduced.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for robot inspection, which can improve the efficiency of the robot in performing inspection tasks.

A first aspect of an embodiment of the present application provides a robot inspection method, including: receiving a patrol task, wherein the patrol task comprises an initial patrol point queue; and under a hanging inspection mode, executing the inspection task according to a preset inspection strategy action tree, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a background to-be-inspected point position set updated based on a dynamic inspection map, and if the target inspection points are positioned in the to-be-inspected point position set, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed.

In a possible implementation manner, in the card hanging inspection mode, the step of executing the inspection task according to a preset inspection policy behavior tree includes: acquiring a current updated dynamic patrol map of the background; comparing the current updated dynamic patrol map with the last updated dynamic patrol map, judging whether the current updated dynamic patrol map has a newly set and/or deleted listing area, and if so, updating the position set of points to be patrol according to the position of the newly set and/or deleted listing area in the dynamic patrol map.

In a possible implementation manner, the step of updating the set of points to be patrolled according to the position of the newly set and/or deleted listing area in the dynamic patrol map includes: comparing the position of the patrol point in the point position set to be patrol with the position of the newly-set listing area in the dynamic patrol map, and deleting the patrol point from the patrol point position set if the position of the patrol point in the point position set to be patrol is within the position range of the newly-set listing area in the dynamic patrol map; and/or comparing the position of the patrol point in the initial patrol point position queue with the position of the deleted tag area in the dynamic patrol map, and if the position of the patrol point in the initial patrol point position queue is within the position range of the deleted tag area in the dynamic patrol map, adding the patrol point position into the patrol point aggregation set.

In a possible implementation manner, after the step of updating the set of points to be patrolled, the method further includes: and reordering the patrol point bits in the initial patrol point bit queue according to the updated patrol point bit set.

In one possible implementation manner, the robot inspection method further includes: under a non-card-hanging inspection mode, sequentially acquiring target inspection points from the initial inspection point position queue; based on the dynamic routing inspection map, navigating to the target routing inspection point position, and executing a data acquisition task corresponding to the target routing inspection point position; and after the execution of the data acquisition task corresponding to the target inspection point position is finished, acquiring a next target inspection point position from the initial inspection point position queue, navigating to the next target inspection point position based on a dynamic inspection map, and executing the data acquisition task corresponding to the next target inspection point position until the inspection task is finished.

In one possible implementation manner, the robot inspection method further includes: and if a plurality of data acquisition tasks exist, executing the plurality of data acquisition tasks in parallel.

In one possible implementation manner, after the step of executing the multiple data acquisition tasks in parallel if the multiple data acquisition tasks exist, the method further includes: and if the data acquisition tasks with the preset number are determined to be acquired or all the data acquisition tasks are failed to acquire, executing the inspection task of the next target inspection point position.

A second aspect of an embodiment of the present application provides a robot inspection apparatus, including: the receiving module is used for receiving a patrol task, wherein the patrol task comprises an initial patrol point queue; and the execution module is used for executing the inspection task according to a preset inspection strategy action tree in a hanging inspection mode, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a to-be-inspected point position set updated by a background based on a dynamic inspection map, and if the target inspection points are positioned in the to-be-inspected point position set, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed.

A third aspect of an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the electronic device, where the processor implements the steps of the robot inspection method provided in the first aspect when the processor executes the computer program.

A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the robot inspection method provided in the first aspect.

The robot inspection method, the robot inspection device, the electronic equipment and the storage medium provided by the embodiment of the application have the following beneficial effects:

The application receives the inspection task, wherein the inspection task comprises an initial inspection point position queue; and under the hanging inspection mode, performing an inspection task according to a preset inspection strategy action tree, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from an initial inspection point position queue one by one and matching the target inspection points with a background to-be-inspected point position set updated based on a dynamic inspection map, and if the target inspection points are in the to-be-inspected point position set, navigating to the target inspection point positions and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed. The method is based on the dynamic inspection map, does not need to rely on visual navigation or sensor detection, reduces the influence of factors such as the actual environment on site and the gesture of the robot, can effectively reduce the obstacle avoidance difficulty of the robot, and improves the efficiency of the robot for executing inspection tasks.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of an implementation of a robot inspection method according to an embodiment of the present application;

FIG. 2 is a flowchart of a method for implementing a patrol task according to a patrol strategy behavior tree in a robot patrol method according to an embodiment of the present application;

FIG. 3 is a flowchart of a method for implementing a polling task in a non-card polling mode in a robot polling method according to an embodiment of the present application;

Fig. 4 is a basic structure block diagram of a robot inspection device according to an embodiment of the present application;

Fig. 5 is a basic structural block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a robot inspection method according to an embodiment of the present application. Specifically, the following steps S11 to S12 may be included.

S11: and receiving a patrol task, wherein the patrol task comprises an initial patrol point queue.

In this embodiment, the robot receives the inspection task by interacting with the background. Specifically, a background manager can send a patrol task to the robot through the background, an initial plurality of patrol points are arranged in the patrol task, and based on a current dynamic patrol map, the plurality of patrol points are calculated and ordered according to an optimal path planning algorithm to form an initial patrol point queue.

S12: and under a hanging inspection mode, executing the inspection task according to a preset inspection strategy action tree, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a background to-be-inspected point position set updated based on a dynamic inspection map, and if the target inspection points are positioned in the to-be-inspected point position set, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed.

In this embodiment, the modes of the robot for performing the inspection task are two, one is a card-hanging inspection mode and the other is a non-card-hanging inspection mode. It is understood that the listing refers to that a listing area, i.e. an area with marks, is arranged in the dynamic inspection map, and can be used for representing an inspection area. In a specific example, if the robot detects that the dynamic patrol map has a card-hanging area, the robot switches to a card-hanging patrol mode to execute the patrol task, so that the execution efficiency of the patrol task and the intelligence of the robot can be improved; if the robot does not detect that the dynamic patrol map has a card-hanging area, the robot is switched to a non-card-hanging patrol mode to execute patrol tasks, so that the increase of patrol time can be avoided.

In this embodiment, in the card-hanging inspection mode, the robot performs an inspection task through the inspection policy action tree. Behavior tree is a formalized graphical modeling language, mainly used for system and software engineering. The behavioral tree uses well-defined symbols to explicitly represent hundreds or even thousands of natural language requirements. The execution flow of the behavior tree is from top to bottom and from left to right, each node will have a corresponding return value true or false after execution, and after return, the control right is transferred to the parent node of the current node to determine the next execution. In this embodiment, the order of the inspection points in the initial inspection point queue is determined based on a dynamic inspection map before the robot performs the inspection task, and the dynamic inspection map is updated over time. If a background manager sets a new listing area on the dynamic inspection map or deletes the original part or all of the listing area on the dynamic inspection map during the period, the dynamic inspection map can change along with updating, and the order of inspection points in the initial inspection point position queue and whether the inspection point positions can be inspected normally also need to be determined again. In a specific example, when the robot executes the inspection task through the inspection policy action tree, the first inspection point position of the queue head can be sequentially obtained from the initial inspection point position queue as a target inspection point position, then the current latest dynamic inspection map of the background is read, and a to-be-inspected point set is obtained based on the current latest dynamic inspection map update, wherein the to-be-inspected point set comprises part or all of the inspection points in the initial inspection point position queue. Then, by matching the target inspection point with the set of positions of the points to be inspected, if the target inspection point is located in the set of positions of the points to be inspected, the robot can navigate to the target inspection point and execute a data acquisition task corresponding to the target inspection point. After the robot completes the data acquisition task corresponding to the target inspection point, the next inspection point can be sequentially acquired from the initial inspection point queue as the target inspection point for inspection. It can be understood that each time the robot performs inspection on one inspection point, the current latest dynamic inspection map of the background is read once, and the point set to be inspected is updated based on the current latest dynamic inspection map until the inspection task is completed. In a specific example, the completion of the inspection task may be represented as the completion of the inspection of the last inspection point bit capable of normal inspection in the initial inspection point bit queue, or as the completion of the inspection of the point bit set to be inspected as the empty set.

As can be seen from the above, in the robot inspection method provided by the embodiment of the present application, when the robot performs the inspection task through the inspection policy action tree in the hanging inspection mode, a set of point positions to be inspected is obtained by reading the current latest dynamic inspection map of the background and updating the current latest dynamic inspection map, and then, by matching the target inspection point position with the set of point positions to be inspected, if the target inspection point position is in the set of point positions to be inspected, the robot can navigate to the target inspection point position and perform the data acquisition task corresponding to the target inspection point position. Every time the robot performs inspection on one inspection point, the current latest dynamic inspection map of the background is read once, and the point position set to be inspected is updated based on the current latest dynamic inspection map until the inspection task is completed. The method is based on the dynamic inspection map, does not need to rely on visual navigation or sensor detection, reduces the influence of factors such as the actual environment on site and the gesture of the robot, can effectively reduce the obstacle avoidance difficulty of the robot, and improves the efficiency of the robot in executing inspection tasks.

In some embodiments of the present application, referring to fig. 2, fig. 2 is a flowchart of a method implementation of a robot inspection method according to an inspection policy action tree when performing an inspection task according to an embodiment of the present application. As shown in fig. 2, the following steps S21 to S22 may be specifically included.

S21: acquiring a current updated dynamic patrol map of the background;

S22: comparing the current updated dynamic patrol map with the last updated dynamic patrol map, judging whether the current updated dynamic patrol map has a newly set and/or deleted listing area, and if so, updating the position set of points to be patrol according to the position of the newly set and/or deleted listing area in the dynamic patrol map.

In this embodiment, the background manager may set and delete the listing area at any time in the background based on the dynamic patrol map, and the dynamic patrol map in the background may be set to be updated at a fixed time or updated by the background manager. The robot acquires the current updated dynamic inspection map of the background through communication with the background, and it can be understood that the robot acquires the latest dynamic inspection map of the background each time. In a specific example, the background manager may generate a listing area on the dynamic patrol map of the background by dragging a mouse or the like, where the shape of the listing area includes, but is not limited to, rectangular, circular, oval, and the like. It can be understood that when a background manager generates a listing area, the background manager can adjust the size of the area range, and when the area range is determined and the area is named and stored, the listing area can be generated. For naming of a region, an upper limit of naming characters may be set to 30 characters. For the dynamic patrol map, the upper limit of the number of the listing areas can be set to be 10.

The robot may save the dynamic patrol map obtained from the background in a local database, it being understood that in one specific example, the robot may record and save all dynamic patrol maps obtained from the background in chronological order. In another specific example, the robot may use a first-in first-out queue to store the dynamic inspection map, that is, the local database of the robot only stores one dynamic inspection map, when a new dynamic inspection map is to be stored in the local database, the dynamic inspection map stored in the local database is deleted, so that the data storage space of the robot can be effectively saved. In this embodiment, after the robot obtains the current updated dynamic inspection map of the background, the current updated dynamic inspection map may be compared with the last updated dynamic inspection map, where the last updated dynamic inspection map is the dynamic inspection map that is newly stored in the local database of the robot. And judging whether the current updated dynamic patrol map has a newly set and/or deleted listing area or not by comparing whether the current updated dynamic patrol map and the last updated dynamic patrol map have the difference, and updating the point position set to be patrol according to the position of the newly set and/or deleted listing area in the current updated dynamic patrol map if the current updated dynamic patrol map has the newly set and/or deleted listing area.

In some embodiments of the present application, if the newly set listing area in the currently updated dynamic patrol map, at this time, the position of the patrol point in the set of points to be patrol can be compared with the position of the newly set listing area in the dynamic patrol map, and if the position of the patrol point in the set of points to be patrol is within the position range of the newly set listing area in the dynamic patrol map, the patrol point is deleted from the set of points to be patrol. It can be understood that when the robot does not generate the point set to be inspected, the position of the inspection point in the initial inspection point position queue is compared with the position of the newly set registration area in the dynamic inspection map, so as to obtain a new point set to be inspected.

In some embodiments of the present application, if the currently updated dynamic patrol map has a deleted tab area, then the position of the patrol point in the initial patrol point bit queue may be compared with the position of the deleted tab area in the dynamic patrol map, and if the position of the patrol point in the initial patrol point bit queue is within the position range of the deleted tab area in the dynamic patrol map, then the patrol point bit is added to the patrol point set, so as to obtain a new set of positions of points to be patrol.

In some embodiments of the present application, after the robot completes the inspection of one inspection point, the optimal inspection path is recalculated according to the built-in optimal path planning algorithm of the robot. Specifically, after updating the set of positions of points to be inspected, the robot may reorder the positions of the inspection points in the initial inspection point position queue based on the updated set of positions of points to be inspected according to a result recalculated by the optimal path planning algorithm. It should be noted that, the patrol points not existing in the updated set of the positions of the points to be patrol points in the initial patrol point bit queue do not participate in the sorting.

In some embodiments of the present application, referring to fig. 3, fig. 3 is a flowchart of a method implementation of a robot inspection method according to an embodiment of the present application when an inspection task is performed in a non-card inspection mode. As shown in fig. 3, steps S31 to S33 may be specifically included.

S31: under a non-card-hanging inspection mode, sequentially acquiring target inspection points from the initial inspection point position queue;

s32: based on the dynamic routing inspection map, navigating to the target routing inspection point position, and executing a data acquisition task corresponding to the target routing inspection point position;

s33: and after the execution of the data acquisition task corresponding to the target inspection point position is finished, acquiring a next target inspection point position from the initial inspection point position queue, navigating to the next target inspection point position based on a dynamic inspection map, and executing the data acquisition task corresponding to the next target inspection point position until the inspection task is finished.

In this embodiment, the non-tag inspection mode indicates that there is no area needing to be avoided or bypassed in the dynamic inspection map, i.e. there is no inspection area or the inspection area is ignored. In the non-listing inspection mode, the dynamic inspection map does not need to be updated, and the sorting of inspection points in the initial inspection point position queue does not need to be updated. At this time, the robot can acquire the inspection point positions in the initial inspection point position queue one by one in sequence to serve as target inspection points, navigate to the target inspection point positions through the dynamic inspection map, and then execute the data acquisition task corresponding to the target inspection point positions. After each data acquisition task corresponding to one target inspection point is executed, acquiring the next target inspection point from the initial inspection point queue, and navigating to the next target inspection point based on the dynamic inspection map, so as to execute the data acquisition task corresponding to the next target inspection point until all the data acquisition tasks corresponding to all the inspection points in the initial inspection point queue are executed, thereby completing the inspection task.

In some embodiments of the present application, the data acquisition task may include a plurality of items, such as an image acquisition task, a temperature and humidity measurement task, a sound acquisition task, a harmful gas content acquisition task, and the like. Aiming at each target inspection point, if the data acquisition task set by the target inspection point position comprises a plurality of data acquisition tasks, the robot can execute the data acquisition tasks in parallel, so that the inspection time of the robot can be saved.

In some embodiments of the present application, when the robot performs the data acquisition task in parallel, the inspection result of the target inspection point and the time for performing the inspection of the next target inspection point position may be determined by the number of items completed by the data acquisition task or the acquisition result of the data acquisition task. Specifically, if it is determined that the data acquisition tasks with the preset number are acquired or all the data acquisition tasks are failed to acquire in the plurality of data acquisition tasks, executing the inspection task of the next target inspection point position. It should be noted that, any value between the preset number 1 and the total number of the data acquisition tasks of the target inspection point may be preset by a background manager. In this embodiment, after the robot determines the inspection result of the target inspection point, the inspection result of the target inspection point may be fed back to the background, and if an intervention instruction fed back by the background is received within a specified time, execution of the inspection task of the next target inspection point is suspended based on the intervention instruction.

It should be understood that, the sequence number of each step in the foregoing embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

In some embodiments of the present application, referring to fig. 4, fig. 4 is a block diagram of an infrastructure of a robot inspection device according to an embodiment of the present application. The apparatus in this embodiment includes units for performing the steps in the method embodiments described above. Refer to the related description in the above method embodiment. For convenience of explanation, only the portions related to the present embodiment are shown. As shown in fig. 4, the robot inspection apparatus includes: a receiving module 41 and an executing module 42. Wherein: the receiving module 41 is configured to receive a patrol task, where the patrol task includes an initial patrol point queue. The execution module 42 is configured to execute the inspection task according to a preset inspection policy action tree in a hanging inspection mode, where the preset inspection policy action tree includes sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a set of points to be inspected, updated by a background based on a dynamic inspection map, until the inspection task is completed, if the target inspection points are located in the set of points to be inspected, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection points.

It should be understood that the above-mentioned robot inspection device corresponds to the above-mentioned robot inspection method one by one, and will not be described herein.

In some embodiments of the present application, please refer to fig. 5, fig. 5 is a basic block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 51, a memory 52 and a computer program 53 stored in the memory 52 and executable on the processor 51, such as a program of a robot inspection method. The steps of the various embodiments of the robot inspection method described above are implemented when the processor 51 executes the computer program 53. Or the processor 51 executes the computer program 53 to implement the functions of the modules in the embodiment corresponding to the robot inspection device. Please refer to the related description in the embodiments, which is not repeated here.

By way of example, the computer program 53 may be divided into one or more modules (units) stored in the memory 52 and executed by the processor 51 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of performing the specified functions for describing the execution of the computer program 53 in the electronic device 5. For example, the computer program 53 may be divided into a receiving module and an executing module, each module having a specific function as described above.

The electronic device may include, but is not limited to, a processor 51, a memory 52. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not meant to be limiting as the electronic device 5 may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.

The Processor 51 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 52 may be an internal storage unit of the electronic device 5, such as a hard disk or a memory of the electronic device 5. The memory 52 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the electronic device 5. Further, the memory 52 may also include both an internal storage unit and an external storage device of the electronic device 5. The memory 52 is used to store the computer program as well as other programs and data required by the electronic device. The memory 52 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above. In this embodiment, the computer-readable storage medium may be nonvolatile or may be volatile.

Embodiments of the present application provide a computer program product enabling a mobile terminal to carry out the steps of the method embodiments described above when the computer program product is run on the mobile terminal.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The integrated modules/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 present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

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

Receiving a patrol task, wherein the patrol task comprises an initial patrol point queue;

And under a hanging inspection mode, executing the inspection task according to a preset inspection strategy action tree, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a background to-be-inspected point position set updated based on a dynamic inspection map, and if the target inspection points are positioned in the to-be-inspected point position set, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed.

2. The robot inspection method according to claim 1, wherein the step of performing the inspection task according to a preset inspection policy action tree in the hanging inspection mode includes:

acquiring a current updated dynamic patrol map of the background;

Comparing the current updated dynamic patrol map with the last updated dynamic patrol map, judging whether the current updated dynamic patrol map has a newly set and/or deleted listing area, and if so, updating the position set of points to be patrol according to the position of the newly set and/or deleted listing area in the dynamic patrol map.

3. The robotic inspection method of claim 2, wherein the step of updating the set of point-to-be-inspected positions based on the newly set and/or deleted positions of the branding areas in the dynamic inspection map comprises:

Comparing the position of the patrol point in the point position set to be patrol with the position of the newly-set listing area in the dynamic patrol map, and deleting the patrol point from the patrol point position set if the position of the patrol point in the point position set to be patrol is within the position range of the newly-set listing area in the dynamic patrol map; and/or

Comparing the position of the patrol point in the initial patrol point position queue with the position of the deleted tag area in the dynamic patrol map, and adding the patrol point position into the patrol point aggregation set if the position of the patrol point in the initial patrol point position queue is within the position range of the deleted tag area in the dynamic patrol map.

4. The robotic inspection method of claim 2, wherein after the step of updating the set of points to be inspected, further comprising:

and reordering the patrol point bits in the initial patrol point bit queue according to the updated patrol point bit set.

5. The robotic inspection method of claim 1, further comprising:

Under a non-card-hanging inspection mode, sequentially acquiring target inspection points from the initial inspection point position queue;

Based on the dynamic routing inspection map, navigating to the target routing inspection point position, and executing a data acquisition task corresponding to the target routing inspection point position;

and after the execution of the data acquisition task corresponding to the target inspection point position is finished, acquiring a next target inspection point position from the initial inspection point position queue, navigating to the next target inspection point position based on a dynamic inspection map, and executing the data acquisition task corresponding to the next target inspection point position until the inspection task is finished.

6. The robotic inspection method of any one of claims 1-5, further comprising:

And if a plurality of data acquisition tasks exist, executing the plurality of data acquisition tasks in parallel.

7. The method according to claim 6, wherein after the step of executing the plurality of data acquisition tasks in parallel if the plurality of data acquisition tasks exist, further comprising:

And if the data acquisition tasks with the preset number are determined to be acquired or all the data acquisition tasks are failed to acquire, executing the inspection task of the next target inspection point position.

8. The utility model provides a robot inspection device which characterized in that includes:

The receiving module is used for receiving a patrol task, wherein the patrol task comprises an initial patrol point queue;

and the execution module is used for executing the inspection task according to a preset inspection strategy action tree in a hanging inspection mode, wherein the preset inspection strategy action tree comprises the steps of sequentially acquiring target inspection points from the initial inspection point position queue one by one and matching the target inspection points with a to-be-inspected point position set updated by a background based on a dynamic inspection map, and if the target inspection points are positioned in the to-be-inspected point position set, navigating to the target inspection points and executing a data acquisition task corresponding to the target inspection point positions until the inspection task is completed.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.