WO2020233155A1 - 一种巡检设备的方法及装置 - Google Patents

一种巡检设备的方法及装置 Download PDF

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Publication number
WO2020233155A1
WO2020233155A1 PCT/CN2020/072083 CN2020072083W WO2020233155A1 WO 2020233155 A1 WO2020233155 A1 WO 2020233155A1 CN 2020072083 W CN2020072083 W CN 2020072083W WO 2020233155 A1 WO2020233155 A1 WO 2020233155A1
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WIPO (PCT)
Prior art keywords
path
point
mobile device
preset
location point
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PCT/CN2020/072083
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English (en)
French (fr)
Inventor
杨洁
何东杰
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中国银联股份有限公司
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Publication of WO2020233155A1 publication Critical patent/WO2020233155A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Definitions

  • the present invention relates to the technical field of intelligent technology, in particular to a method and device for inspection equipment.
  • the Internet Data Center (IDC) computer room is a standardized computer room environment established on the basis of Internet communication lines and bandwidth resources.
  • the IDC computer room can accommodate various types of equipment, such as servers, monitoring equipment, management equipment, and security equipment. Wait. Since these devices have the same requirements for environment and physical security, they can be placed in the IDC computer room at the same time for easy maintenance. However, in actual operation, due to the large number and types of equipment placed in the IDC computer room, how to quickly and effectively implement inspections on a large number of equipment is very important for monitoring the operating status of the equipment and troubleshooting in time. .
  • mobile devices such as robots, mobile carts, etc.
  • the mobile device can complete the inspection task autonomously. Specifically, the mobile device can start from the starting point of the IDC computer room and inspect the equipment on the route it passes. When it is determined that all the devices in the IDC computer room have been inspected, the mobile device can return to the starting point.
  • the mobile device may be provided with a camera device, and the camera device can take a three-dimensional image of the IDC computer room during the movement of the mobile device. Further, the mobile device can construct an IDC computer room corresponding to the three-dimensional image.
  • the patrol route can be planned based on the map.
  • the embodiment of the present invention provides a method and a device for inspecting equipment to improve the inspection efficiency of a mobile device when inspecting equipment.
  • an embodiment of the present invention provides a method for inspecting equipment.
  • the method is applied to a mobile device, and the mobile device is used to inspect multiple devices in a preset area. It includes multiple location points, and the multiple location points are set according to the locations of the multiple devices; the method includes:
  • the mobile device obtains the path corresponding to the first location point where the mobile device is located according to the map corresponding to the preset area, and if it is determined that the path corresponding to the first location point includes a path with a weight greater than a first preset threshold At least one critical path, the device on the at least one critical path is inspected; wherein the map corresponding to the preset area is marked with the path corresponding to the multiple location points and the weight of the path;
  • the first path corresponding to the first location point includes the first location point and a second location point, the first location point is the starting point of the first path, and the second location point is the first location point.
  • the end point of a path; the first location point and the second location point are two location points of the multiple location points.
  • the map of the preset area is composed of paths corresponding to multiple location points, that is, the map of the preset area includes multiple location points and lines (ie paths) between multiple location points, so,
  • the time complexity and space complexity of the map of the preset area can be made lower.
  • the route planning based on the map of the simple preset area can enable the mobile device to quickly plan the target path, thereby improving the mobile device inspection equipment.
  • Efficiency Moreover, by setting the weight of the route in the map of the preset area, the complex inspection task can be transformed into the inspection task of the equipment on the route with the weight greater than the first preset threshold, thereby reducing the mobile device inspection The complexity of the equipment further improves the efficiency of the mobile device inspection equipment.
  • the mobile device patrols the equipment on the at least one critical path, including: if the mobile device determines that there is a path that is not marked as a selected path in the at least one critical path For the candidate path, the device on the candidate path is inspected, and the candidate path is marked as the selected path.
  • the mobile device can select the path that has not been inspected for inspection, thereby avoiding the mobile device from inspecting the equipment on the repeated path and improving the movement Equipment inspection equipment efficiency.
  • the method further includes: after the mobile device determines that the at least one critical path is marked as a selected path, if it is determined that the end point of the second path corresponding to the first position point corresponds to If there is a critical path that is not marked as a selected path in the path, then move from the first position point to the end of the second path according to the second path.
  • the mobile device can patrol critical routes as much as possible, avoid patrolling useless non-critical routes, and improve the efficiency of the mobile device patrol equipment.
  • the map corresponding to the preset area is obtained in the following manner: the mobile device generates an initial map corresponding to the preset area, and the initial map is a blank map; further, The mobile device traverses a plurality of position points in the preset area, and for any two adjacent third position points and fourth position points among the plurality of position points, if the third position point is moved from the third position point Moving along the third path corresponding to the third position point to the fourth position point, the mobile device will move according to the third position point, the fourth position point, the third path, and the movement
  • the detection state of the device updates the initial map corresponding to the preset area to obtain the map corresponding to the preset area.
  • the mobile device detects the equipment according to the third location point, the fourth location point, the third path, and the device when the mobile device moves along the third path
  • the state updating the initial map corresponding to the preset area includes: the mobile device stores the third location point, the fourth location point, and the third path in the initial map corresponding to the preset area And, if the device is successfully detected when the mobile device moves along the third path, the weight of the third path is set to be greater than the first preset threshold; if the device is not successfully detected, the first The weight of the three paths is less than or equal to the second preset threshold.
  • the mobile device when constructing the map of the preset area, by setting the path where the device can be detected as the critical path, and setting the path where the device cannot be detected as the non-critical path, the mobile device can be based on the preset area.
  • the map patrols critical paths; that is, by setting to distinguish between critical paths and non-critical paths, the mobile device can complete inspections on all devices through the least path, thereby improving the efficiency of mobile device inspection equipment.
  • the method further includes: if the mobile device determines that the device inspection on all key routes with a weight greater than the first preset threshold in the map corresponding to the preset area is completed, Then stop the inspection.
  • the mobile device can end the inspection after determining that the inspection of all critical paths is completed, so that the mobile device can inspect all the equipment through the least path, reduce the time for the mobile device to inspect the equipment, and improve the mobile device The efficiency of inspection equipment.
  • an embodiment of the present invention provides a device for patrolling equipment.
  • the device is used to patrol multiple devices in a preset area.
  • the preset area includes multiple location points.
  • the location points are set according to the locations of the multiple devices; the device includes:
  • An acquiring module configured to acquire a path corresponding to the first location point where the mobile device is located according to the map corresponding to the preset area
  • a patrol inspection module configured to perform patrol inspection on devices on the at least one critical path if it is determined that the path corresponding to the first location point includes at least one critical path with a weight greater than a first preset threshold
  • the map corresponding to the preset area is marked with the path corresponding to the multiple location points and the weight of the path;
  • the first path corresponding to the first location point includes the first location point and The second location point, the first location point is the starting point of the first path, the second location point is the end point of the first path; the first location point and the second location point are Two of the multiple location points.
  • the inspection module is configured to: if it is determined that there is an alternative path that is not marked as a selected path in the at least one critical path, then perform an inspection on the devices on the alternative path. Check and mark the candidate path as the selected path.
  • the inspection module is further configured to: after the mobile device determines that the at least one critical path is marked as a selected path, if the second path corresponding to the first position point is determined If there is a critical path that is not marked as a selected path in the path corresponding to the end point of, then move from the first position point to the end point of the second path according to the second path.
  • the device further includes a generating module that generates a map corresponding to the preset area by: generating an initial map corresponding to the preset area, and the initial map is blank Map; further, traverse multiple location points in the preset area, for any two adjacent third location points and fourth location points in the multiple location points, if from the third location The point moves along the third path corresponding to the third position point to the fourth position point, then according to the third position point, the fourth position point, the third path and the moving device along When moving along the third path, the detection state of the device is updated to the initial map corresponding to the preset area to obtain the map corresponding to the preset area.
  • a generating module that generates a map corresponding to the preset area by: generating an initial map corresponding to the preset area, and the initial map is blank Map; further, traverse multiple location points in the preset area, for any two adjacent third location points and fourth location points in the multiple location points, if from the third location The point moves along the third path corresponding to the third position point to
  • the generating module is specifically configured to: store the third location point, the fourth location point, and the third route in an initial map corresponding to the preset area; and If the device is successfully detected when moving along the third path, the weight of the third path is set to be greater than the first preset threshold; if the device is not successfully detected, the weight of the third path is set to be less than or Equal to the second preset threshold.
  • the inspection module is also used for:
  • the inspection is stopped.
  • a computer-readable storage medium provided by an embodiment of the present invention includes instructions, which when run on a processor of a computer, cause the processor of the computer to execute any of the above-mentioned first or first aspects.
  • a computer program product provided by an embodiment of the present invention, when it is run on a computer, causes the computer to execute the method described in the first aspect or any of the first aspects.
  • FIG. 1 is a schematic structural diagram of an IDC computer room provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a possible inspection route provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart corresponding to a method for inspecting equipment according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a map corresponding to an IDC computer room provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another map corresponding to an IDC computer room provided by an embodiment of the present invention.
  • Figure 6 is a schematic diagram of a patrol route provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a device for inspection equipment provided by an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of an IDC computer room provided by an embodiment of the present invention.
  • at least one row of cabinets such as cabinet 101 to cabinet 106, may be provided in the IDC computer room.
  • the cabinet 101 to the cabinet 104 can be arranged in parallel, and the cabinet 105 and the cabinet 106 can be arranged in parallel.
  • Each row of cabinets can be equipped with multiple devices, such as servers, data acquisition equipment, monitoring equipment, and temperature control equipment.
  • the cabinet 101 can be a single-layer structure, and multiple devices can be placed on the single-layer structure; in another example, the cabinet 101 can be a multi-layer structure, and each layer in the multi-layer structure The structure can place multiple devices.
  • the same type of equipment may be placed on a row of cabinets, or different types of equipment may also be placed, which is not specifically limited.
  • the functional components of the equipment can usually be arranged on the same side of the equipment. In this way, it is convenient for the equipment to perform multiple functions at the same time.
  • the functional components of the equipment can include wiring ports, signal lights, Model identification of the equipment, etc.
  • the side where the functional components are arranged on the equipment can be patrolled.
  • testing the wiring ports on that surface can determine whether the device has a risk of leakage, and detect the signal lights on the surface It can be determined whether the device currently has an alarm, and the model identification of the device set on the surface can be detected to determine the model information of the device; that is to say, by inspecting the surface of the device, the security status of the device can be obtained at the same time.
  • the operating status of the device and the model information of the device can be obtained at the same time.
  • the surface of the device that needs to be inspected is called the front of the device, and the surface that does not need to be inspected is called the back of the device.
  • the devices placed on any two adjacent rows of cabinets in the cabinet 101 to the cabinet 106 may be front-to-front and back-to-back.
  • the device is placed W 1, W 2 placed equipment, apparatus W 3 is placed 103 on the cabinet 101 of the cabinet the cabinet 102; thus, if the device 1 and W is W 2 opposite side of the device for the back of the device W. 1, the device W 2 device W. 1 opposite side of the device a W rear surface 2; accordingly, the device W 2 and apparatus W 3 opposite side may face of the device W 2, and the device W 3 The side opposite to the device W 2 may be the front side of the device W 3 .
  • the inspection can be away from the side of the cabinet 101 of the enclosure 102 (FIG. 1 schematically T 1 of the surface) is performed on the inspection apparatus, with respect to the cabinet 102 equipment cabinet 103 and the cabinet side 103 (FIG. 1 schematically T 2 of surface) with respect to one side of the cabinet 102 (FIG. 1 schematically T 3 of the face) is performed on the inspection apparatus.
  • FIG. 2 is a schematic diagram of a patrol route obtained in this way.
  • the patrol process can be: starting from point A and going through the path AB-BD-DC-CA-AP-PE-ED- DF-FH-HF-FG-GI-IG-GO-ON-NO-OL-LM-ML-LK-KJ, reach point J; in this way, the inspection process can be completed.
  • the front, back, and sides of the cabinet 101 to the cabinet 106 can be inspected separately; however, the inspection route corresponding to this method includes a large number of useless paths, that is, even on many passing paths.
  • the equipment cannot be inspected. Therefore, the efficiency of inspection is low by adopting this method.
  • the present invention provides a method for inspecting equipment to improve the efficiency of inspection.
  • FIG. 3 is a schematic flowchart corresponding to a method for inspecting equipment according to an embodiment of the present invention, and the method includes:
  • Step 301 The mobile device obtains the path corresponding to the first location point where the mobile device is located according to the map of the preset area.
  • the preset area can be the area where cabinet 101 to cabinet 103 are located; if it is necessary to check the cabinet 101 to cabinet in IDC computer room 106 performs a patrol inspection, and the preset area may be all areas in the IDC computer room.
  • the following embodiments of the present invention are described by taking the preset area as all areas in the IDC computer room as an example. It is understandable that the following embodiments can also be applied to a scenario where the preset area is a part of the IDC computer room.
  • the map of the preset area may be obtained in the following manner:
  • Step a Set multiple preset locations in the IDC computer room.
  • the multiple preset location points may be preset location points that must be passed through for patrol inspection of the cabinet 101 to the cabinet 106.
  • point A to point P in FIG. 2 since the surface of the cabinet 101 facing away from the cabinet 102 is the front side, the inspection of the cabinet 101 must go through the path AB corresponding to the surface of the cabinet 101 facing away from the cabinet 102, so, Points A and B can be regarded as two preset position points (called preset position point A and preset position point B) that must be passed; correspondingly, the opposite side of the cabinet 102 and the cabinet 103 is the front side.
  • the patrol inspection of the cabinet 102 and the cabinet 103 must pass through the path PE.
  • points P and E can be regarded as two preset location points (called preset location point P and preset location point E) that must be passed;
  • the same principle can determine that point I, point G, point L, and point M correspond to preset location point I, preset location point G, preset location point L, and preset location point M, respectively. It can be seen that when the cabinets 101 to 106 are inspected, the preset location point A, preset location point B, preset location point P, preset location point E, preset location point I, preset location point G.
  • the preset location point L and the preset location point M may be 8 preset location points that must be passed.
  • the identification marks can be pasted at multiple preset positions in the ODC machine room. Taking the preset position point A as an example, the identification marks pasted at the preset position point A can be set with the preset position point A Location information, such as latitude and longitude information and/or world coordinate information. Among them, the identification mark can be a QR code, or it can be a barcode, or it can also be an identification line; the identification mark can be pasted on the ground of the ODC computer room, or can be pasted on the cabinet, or can also be pasted on the equipment, The details are not limited.
  • the top of the mobile device can be provided with a scanning component (such as a camera), and the mobile device can control the scanning component when it moves in the ODC room Scan the ground of the ODC machine room to obtain the location information corresponding to the 8 preset locations.
  • a scanning component such as a camera
  • the scanning component can scan the two-dimensional code pasted on the ground at the preset location point A to obtain the location information of the preset location point A.
  • Step b The mobile device moves in the IDC computer room, and generates a map corresponding to the IDC computer room based on the scanned position information of multiple preset locations and the detection status of the equipment when moving between multiple preset locations .
  • the mobile device can pre-generate the initial map corresponding to the IDC computer room, and the initial map corresponding to the IDC computer room can be a blank map; further, the mobile device can be based on the movement path and the scan obtained during the movement.
  • Location information construct 8 preset location points and 8 preset location points on the initial map corresponding to the IDC computer room in turn, and set the weight of the path according to the detection status of the device during the movement on the path , So get the map corresponding to the IDC room. For example, if the device can be successfully detected when moving along a certain path, the mobile device can set the weight of the path to be greater than the first preset threshold. If the device cannot be successfully detected when moving along a certain path, it can be set The weight of the path is less than or equal to the second preset threshold. Wherein, the first preset threshold may be a value greater than or equal to the second preset threshold.
  • the mobile device can scan to obtain the location information of the location point A; further, if the mobile device is moved After the device departs from the preset location point A, the next scanned location information is the location information of the preset location point P, then the mobile device can correspond in the IPC room according to the location information of the preset location point A and the preset location point P Add a preset location point A, a preset location point P, and a path AP to the initial map; and, when the mobile device moves along the path AP, it can perform operations on the equipment on the cabinets around the path AP (ie, cabinet 101 and cabinet 102).
  • the mobile device In the patrol inspection, since the cabinet 101 and the cabinet 102 are not front on the side of the path AP, the mobile device cannot successfully detect the equipment. In this way, the mobile device can set the weight corresponding to the path AP to 1.
  • the mobile device can use the location information of the preset location point P and the preset location point E , Add the preset location point E and the path PE to the initial map corresponding to the IPC computer room; and the mobile device can patrol the equipment on the cabinets (ie cabinet 102 and cabinet 103) around the path PE when moving along the path PE Check that, since the cabinet 102 and the cabinet 103 are front on the side of the path PE, the mobile device can successfully detect the equipment.
  • the mobile device can set the weight corresponding to the path PE to 10.
  • the map corresponding to the IPC computer room includes a preset location point A, a preset location point P, a preset location point E, a path AP and weight, and a path PE and weight. It is understandable that the mobile device can add other preset location points, other paths, and weights to the map corresponding to the IPC machine room in the above-mentioned manner, which will not be repeated here.
  • the weights of the path AP and the path PE listed are only for the convenience of explaining the solution, and do not constitute a limitation on the solution.
  • the weight of the path AP can be any value greater than 5, such as 6, 15, and the weight of the path PE can be any value less than or equal to 5.
  • Numerical values, such as 2,5, are not specifically limited.
  • Fig. 4 is a schematic diagram of a map corresponding to an IDC computer room obtained by using the above method.
  • the map corresponding to the IDC room can include 8 preset location points, which are preset location point A, preset location point B, preset location point P, preset location point E, preset location Point I, preset location point G, preset location point L, and preset location point M.
  • the map corresponding to the IDC computer room may also include the paths corresponding to the eight preset location points and the weights of the paths.
  • the path corresponding to the preset location point A may include a path AB with a weight of 10 and a weight of Path AP of 1
  • the path corresponding to the preset location point P may include a path PA with a weight of 1 and a path PE with a weight of 10
  • the path corresponding to the preset location point E may include a path EP with a weight of 10 and a path with a weight of 1.
  • the path corresponding to the preset location point B may include a path BA with a weight of 10 and a path BL with a weight of 1
  • the path corresponding to the preset location point G may include a path GE with a weight of 1.
  • the path corresponding to the preset location point I may include a path IG with a weight of 10
  • the path corresponding to the preset location point L may include a path LM with a weight of 10
  • the path corresponding to the preset location point M A path ML with a weight of 10 may be included.
  • FIG. 4 is only an exemplary simple description, and the weights of multiple paths listed therein are only for the convenience of explaining the solution, and do not constitute a limitation on the solution.
  • the weights of the path AB (or BA), the path PE (or EP), the path IG (or GI) and the path LM (or ML) can be the same or different; accordingly, the path AP (or PA ), the weights of the path BL (or LB) and the path LG (or GL) may be the same or different, which is not specifically limited.
  • the mobile device after the mobile device obtains the map corresponding to the IDC computer room, it can use the map to perform the subsequent inspection process.
  • the mobile device may also perform pruning operations on multiple preset locations included in the map, and then may use the pruned map to perform subsequent inspection processes; Specifically, as shown in FIG. 4, for any two adjacent preset position points (such as the preset position point L and the preset position point E) among the plurality of preset position points, the preset position point The position information of L and the preset position point E calculates the distance between the preset position point L and the preset position point E.
  • Figure 5 is a schematic diagram of a map corresponding to a pruned IDC room. Since the distance between the preset location point L and the preset location point E is less than the preset distance, the preset location point E and the path PE can be changed from Delete from the map corresponding to the IDC computer room, and add the path PL to obtain the map corresponding to the IDC computer room as shown in FIG. 5. As shown in FIG. 5, the map corresponding to the IDC computer room may include 7 preset location points and paths corresponding to the 7 preset location points respectively.
  • the 7 preset location points can be preset location point A, preset location point B, preset location point P, preset location point E, preset location point I, preset location point G and preset Location point M
  • the path corresponding to the preset location point A may include a path AB with a weight of 10 and a path AP with a weight of 1
  • the path corresponding to the preset location point B may include a path BA with a weight of 10 and a path with a weight of 1.
  • the path corresponding to the preset location point E may include a path EP with a weight of 10, a path EM with a weight of 10, a path EB with a weight of 1, and a path EG with a weight of 1, and the path corresponding to the preset location point P may include A path PE with a weight of 10 and a path PA with a weight of 1.
  • the path corresponding to the preset location point G may include a path GI with a weight of 10 and a path GE with a weight of 1, and the path corresponding to the preset location point I may include a path with a weight of
  • the path IG of 10 the path corresponding to the preset location point M may include a path ME with a weight of 10.
  • a path with a weight greater than 5 may be called a critical path
  • a path with a weight less than 5 may be called a non-critical path.
  • the map of the IDC computer room shown in Figure 5 can include 4 critical paths and 3 non-critical paths.
  • the 4 critical paths are path AB, path PE, path IG, and path EM
  • the 3 non-critical paths are respectively Path AP, path BC, and path EG.
  • the critical path corresponds to the front of the cabinet. Therefore, the mobile device can inspect the equipment when it moves on the critical path, but cannot inspect the equipment when it moves on the non-critical path; in this way, the mobile device can complete the alignment as long as it passes through 4 critical paths. Inspection of the equipment on the cabinet 101 to the cabinet 106.
  • the mobile device can store the map corresponding to the IDC computer room in the form of a dot-line graph.
  • the dot-line graph can include the 7 preset location points shown in FIG. 5, the path corresponding to each preset location point, and each location.
  • the coordinate information of a preset location point; for example, the path corresponding to the preset location point A may include a path AB with a weight of 10 and a path AP with a weight of 1.
  • storing the map of the IDC computer room through the point and line graph can make the map more intuitive and the processing more convenient.
  • the mobile device may store the map corresponding to the IDC computer room in a matrix manner. For example, after the mobile device obtains the map shown in FIG. 5, it can generate the sparse matrix shown below:
  • the mobile device can convert the path in the map into points in the sparse matrix according to the map corresponding to the IDC computer room.
  • path AB can be converted into points in the second row and third column of the sparse matrix, and accordingly, path BA can be converted It is the point in the third row and second column of the sparse matrix; further, the mobile device may also record the length of the path into the corresponding point.
  • the processing efficiency of the map can be improved.
  • the mobile device may also store the map corresponding to the IDC computer room in the form of a table.
  • Table 1 is a schematic table for storing the map corresponding to the IDC computer room in the form of a table.
  • Table 1 A schematic diagram of storing the map corresponding to the IDC computer room in a table
  • Table 1 is only an exemplary simple description, and the structure of the table listed is only for the convenience of explaining the scheme, and does not constitute a limitation on the scheme. In the specific implementation, the structure of Table 1 can be modified from this Those skilled in the art can set according to actual needs, for example, the length of the path may be included, or the weight of the path may also be included, which is not specifically limited.
  • the above content specifically describes the process of the mobile device constructing the map corresponding to the IDC computer room.
  • the following describes the implementation process of the mobile device performing the inspection of the equipment on the cabinet 101 to the cabinet 106 according to the map corresponding to the IDC computer room.
  • the mobile device when it moves in the IDC computer room, it can use the camera component to scan the QR code pasted on the floor of the IDC computer room to obtain the current location information; for example, if the camera component scans the QR code to obtain the location information If it is (x A , y A ), the mobile device can determine that the current location is the preset location point A according to the map corresponding to the IDC computer room. Further, the mobile device may obtain the path corresponding to the preset location point A from the map corresponding to the IDC computer room, that is, the critical path AB with a weight of 10 and the non-critical path AP with the weight of 1.
  • the mobile device when constructing a map of a preset area, by setting the path where the device can be detected as a critical path, and setting the path where the device cannot be detected as a non-critical path, the mobile device can be based on the preset area.
  • the map performs inspections on critical paths; that is to say, by setting to distinguish between critical paths and non-critical paths, the mobile device can complete inspections on all equipment through the least paths, thereby improving the efficiency of inspections.
  • Step 302 If the mobile device determines that the path corresponding to the first position point includes at least one critical path with a weight greater than the first preset threshold, then the mobile device performs a patrol inspection on the equipment on the at least one critical path.
  • the mobile device can determine that it is currently located at the preset position point A, and
  • the path corresponding to the preset location point A may include a critical path AB with a weight of 10 and a non-critical path AP with a weight of 1. In this way, the mobile device can move along the critical path AB, and can move on the cabinet 101 during the movement. The equipment is inspected.
  • the mobile device may also mark the path corresponding to the device that has been inspected as the selected path.
  • the mobile device may also mark the path corresponding to the device that has been inspected as the selected path.
  • the equipment on the critical path can be inspected; if the preset location is determined
  • the critical path corresponding to the location point has been marked as a selected path, then the critical path and non-critical path corresponding to the preset location point can be obtained.
  • the target critical path a critical path (called the target critical path) or a non-critical path is determined (Referred to as the target non-critical path) the critical path corresponding to another preset location point is not marked as a selected path, the target critical path or the target non-critical path can be moved to another preset location.
  • the starting point of the mobile device in the IDC room is the preset location A.
  • the mobile device can obtain the critical path AB and the non-critical path AP at the preset position A. Since the critical path AB is not marked as the selected path, the mobile device can patrol the equipment on the critical path AB. Check. If the mobile device scans and obtains location information (x B , y B ), it is determined that the device currently located at the preset location B, that is, the equipment on the cabinet 101 has been inspected; in this way, the mobile device can combine the critical path AB and the critical path BA Mark as the selected path. Further, the mobile device can obtain the path corresponding to the preset location point B from the map corresponding to the IDC computer room, that is, the critical path BA with a weight of 10 and the non-critical path BE with a weight of 1.
  • the mobile device can obtain another preset location point A on the critical path BA and another preset location point E on the non-critical path BE; because the critical path AB corresponding to the preset location point A has been marked Is a selected path, and the critical path EP and critical path EM corresponding to the preset location point E are not marked as selected paths. Therefore, the mobile device can use the non-critical path BE as the target path and can follow the non-critical path BE movement.
  • the mobile device scans and obtains location information (x E , y E ), it is determined that it is currently located at the preset location point E. In this way, the mobile device can obtain the path corresponding to the preset location point E from the map corresponding to the IDC computer room, that is, the weight is The critical path EP and critical path EM of 10, the non-critical path EB and the non-critical path EG with a weight of 1. Since the critical path EP and the critical path EM are both marked as selected paths, the mobile device can randomly select a critical path as the target path. In an example, if the mobile device selects the critical path EP as the target path, the mobile device can perform inspections on the devices on the critical path EP.
  • the mobile device scans and obtains the location information (x P , y P ), it is determined that the device currently located at the preset location P, that is, the equipment on the cabinet 102 and the cabinet 103 has been inspected; in this way, the mobile device can determine the key Path EP and critical path PE are marked as selected paths.
  • the mobile device can obtain the path corresponding to the preset location point P from the map corresponding to the IDC computer room, that is, the critical path PE with a weight of 10 and the non-critical path PA with a weight of 1; since the critical path PE has been marked Select the path, so the mobile device can obtain another preset location point E on the critical path PE and another preset location point A on the non-critical path PA; because the critical path AB corresponding to the preset location point A has been marked as Selected path, and the critical path EP corresponding to the preset location point E has been marked as the selected path, and none of the critical path EM corresponding to the preset location point E is marked as the selected path. Therefore, the mobile device can The path PE serves as the target path and can move along the non-critical path PE.
  • the mobile device can inspect the equipment on the critical route EM, and patrol the equipment on the cabinet 105 and the cabinet 106. After the inspection is completed, mark the key route EM and the key route ME as the selected route; further, the mobile device can return to the preset position point E along the key path ME, because the key path EP and the key path corresponding to the preset position point E The path EM has been marked as a selected path, and the critical path GI corresponding to another preset location point G of the non-critical path EG is not marked as a selected path. Therefore, the mobile device can move along the non-critical path EG.
  • the equipment on the critical path GI can be inspected. If the scanned location information of the mobile device is (x I , y I ), it is determined that the device currently located at the preset location I, that is, the equipment on the cabinet 104 has been inspected. In this way, the mobile device can compare the critical path GI and the critical path IG is marked as the selected path.
  • the mobile device determines that the key route IG corresponding to the preset location point I has been marked as the selected route, and determines another preset location point of the key route IG
  • the critical path GI corresponding to G has been marked as a selected path, and the mobile device can determine whether the four critical paths in the map corresponding to the IDC computer room have all been marked as selected paths. If all 4 critical paths have been marked as selected paths, it means that the mobile device has completed the inspection of the equipment on the cabinet 101 to the cabinet 106. In this way, the mobile device can return to the starting point; for example, the mobile device can correspond to the IDC computer room.
  • the distance between 4 critical paths and 3 non-critical paths stored in the map is determined according to the positional relationship of 7 preset location points, and can be selected from 4 critical paths and 3 non-critical paths to make the preset location point I
  • the mobile device can continue to trace the path; specifically, it is determined that the path corresponding to the preset position I (ie, the critical path IG) is not If there is another key path corresponding to another preset location point (ie preset location point G) that is not marked as a selected path, it can be determined whether there is another path (GE or GI) corresponding to the preset location point G.
  • the critical path corresponding to the preset location point ie, the preset location point E or the preset location point I
  • the preset location point E has a critical path that is not marked as a selected path
  • Fig. 6 is a schematic diagram of a patrol route obtained by using the method illustrated in scenario 1.
  • the mobile device can patrol the equipment on the cabinet 101 to the cabinet 106 through the following path in turn: critical path AB- Non-critical path BE-critical path EP-critical path PE-critical path EM-critical path ME-non-critical path EG-critical path GI.
  • the mobile device can also go through the following paths to cabinet 101 to cabinet 106 in sequence
  • the equipment is inspected: critical path AB-non-critical path BE-critical path EM-critical path ME-critical path MP-critical path PM-non-critical path EG-critical path GI.
  • the starting point of the mobile device in the IDC room is the preset position E.
  • the mobile device can obtain the critical path EP, critical path EM, non-critical path EB, and non-critical path EG corresponding to the preset position E at the preset position point E; since neither the critical path EP nor the critical path EM is It is marked as a selected path. Therefore, the mobile device can randomly select a critical path (such as the critical path EM) as the target path, and can perform inspections on the equipment on the critical path EM.
  • a critical path such as the critical path EM
  • the mobile device If the mobile device reaches the preset position point M along the critical path EM, it is determined that the inspection of the equipment on the cabinet 105 and the cabinet 106 has been completed. In this way, the mobile device can mark the critical path EM and the critical path ME as the selected path. Further, the mobile device determines that the critical path ME corresponding to the preset location point M has been marked as a selected path, and the critical path EP corresponding to the preset location point E is not marked as a selected path, therefore, the mobile device can follow The critical path ME moves to the preset position point E, and the equipment on the critical path EP can be inspected.
  • the mobile device can mark the critical path EP and the critical path PE as the selected path. Further, the mobile device determines that the critical path PE corresponding to the preset location point P has been marked as the selected path, and the critical path EP and the critical path EM corresponding to the preset location point E have been marked as the selected path, and the preset The critical path AB corresponding to the location point A is not marked as a selected path. Therefore, the mobile device can move to the preset location point A along the non-critical path PA, and can inspect the equipment on the critical path AB.
  • the mobile device can mark the critical path AB and the critical path BA as selected paths. Further, the mobile device determines that the critical path AB corresponding to the preset location point B has been marked as the selected path, and the critical path EP and the critical path EM corresponding to the preset location point E have been marked as the selected path, and the preset The critical path AB corresponding to the location point A has also been marked as a selected path; therefore, the mobile device can determine whether the four critical paths corresponding to the IDC computer room have all been marked as selected paths. Since the critical path EF is not marked as the selected path, the mobile device can determine that the equipment on the cabinet 101 to the cabinet 106 has not been inspected; therefore, the mobile device needs to continue the inspection process.
  • the mobile device can return to the preset location point A along the critical path BA, and can return to the preset location point P along the non-critical path AP, and then back to the preset location point E along the critical path PE. . Further, since the preset location point E, the preset location point B connected to the preset location point E, the preset location point P, and the preset location point M respectively correspond to the critical paths (path EP, path EM, path PE, Path ME, path BA) are both marked as selected paths, and the critical path GI corresponding to the preset position point G connected to the preset position point E is not marked as the selected path. Therefore, the mobile device can follow the non-critical path. The path EG reaches the preset position point G, and the equipment on the critical path GI can be inspected.
  • the mobile device may perform a second path traceback on the preset location point P connected to the preset location point A, the preset location point M and the preset location point G connected to the preset location point E, respectively.
  • the mobile device can determine that the key path PE corresponding to the preset location point P has been marked as a selected path; for the preset location point M, the mobile device can determine the key corresponding to the preset location point M The path ME is not marked as a selected path; for the preset location point G, the mobile device can determine that the critical path GI corresponding to the preset location point G is not marked as a selected path, so the mobile device can follow a non-critical path BE arrives at the preset position point E, and can reach the preset position point G along the non-critical path EG, and then performs inspection on the equipment on the critical path GI.
  • the mobile device can mark the critical path GI as the selected path. Furthermore, since the four critical paths in the map corresponding to the IDC computer room have been marked as selected paths, it indicates that the mobile device has completed inspections of the equipment on the cabinet 101 to the cabinet 106. In this way, the mobile device can follow the four critical paths Select a shortest path combination from the three non-critical paths, and then return to the preset position point E along the shortest path combination.
  • the mobile device can patrol the equipment on the cabinet 101 to the cabinet 106 through the following paths: critical path EM-critical path ME-critical path EP-non-critical path PA-critical path AB-critical path BA- Non-critical path AP-critical path PE-non-critical path EG-critical path IG; or, critical path EM-critical path ME-critical path EP-non-critical path PA-critical path AB-critical path BE-non-critical path EG- Critical path GI; or, critical path EP-critical path PE-critical path EM-non-critical path ME-non-critical path EB-critical path BA-critical path AB-non-critical path BE-critical path IG; or, critical path EP -Non-critical path PA- Critical path AB- Non-critical path BE- Critical path EM- Critical path ME- Non-critical path EG- Critical path IG; etc.
  • the mobile device obtains the path corresponding to the first location point where the mobile device is located according to the map of the preset area, if it is determined that the path corresponding to the first location point includes at least one critical path with a weight greater than the first preset threshold , The device on at least one critical path is inspected; wherein, the map of the preset area is marked with the path corresponding to multiple location points and the weight of the path, and the first path corresponding to the first location point includes the first path The location point and the second location point, the first location point is the starting point of the first path, and the second location point is the end point of the first path.
  • a map of a preset area is set by multiple location points and paths between multiple location points, which can reduce the time complexity and space complexity of the map of the preset area, so that the mobile device can be based on the preset Set the regional map to quickly plan the inspection path and improve the efficiency of the mobile device inspection equipment; and by setting the weight of the route in the map of the preset area, the complex inspection task can be transformed into a weight greater than the first The inspection task of the equipment on the route with the preset threshold value, thereby reducing the complexity of the mobile device inspection equipment, and further improving the efficiency of the mobile device inspection equipment.
  • an embodiment of the present invention also provides a device for inspecting equipment, and the specific content of the device can be implemented with reference to the foregoing method.
  • FIG. 7 is a schematic structural diagram of a device for inspecting equipment according to an embodiment of the present invention.
  • the device is used to inspect multiple devices in a preset area, and the preset area includes multiple location points.
  • the multiple location points are set according to the locations of the multiple devices; the device includes:
  • the obtaining module 701 is configured to obtain the path corresponding to the first location point where the mobile device is located according to the map corresponding to the preset area;
  • the inspection module 702 is configured to, if it is determined that the path corresponding to the first location point includes at least one critical path with a weight greater than a first preset threshold, perform inspection on the devices on the at least one critical path;
  • the map corresponding to the preset area is marked with the path corresponding to the multiple location points and the weight of the path;
  • the first path corresponding to the first location point includes the first location point and The second location point, the first location point is the starting point of the first path, the second location point is the end point of the first path; the first location point and the second location point are Two of the multiple location points.
  • the inspection module 702 is used to:
  • the device on the candidate path is inspected, and the candidate path is marked as a selected path.
  • the inspection module 702 is also used to:
  • the mobile device determines that the at least one critical path is marked as a selected path, if it is determined that there is a critical path that is not marked as a selected path in the path corresponding to the end point of the second path corresponding to the first position point , Then move from the first position point to the end of the second path according to the second path.
  • the device further includes a generating module 703, and the generating module 703 generates a map corresponding to the preset area in the following manner:
  • the generating module 703 is specifically configured to:
  • the weight of the third path is set to be greater than the first preset threshold; if the device is not successfully detected, the weight of the third path is set to be less than or equal to The second preset threshold.
  • the inspection module 702 is also used to:
  • the inspection is stopped.
  • the mobile device obtains the path corresponding to the first location point where the mobile device is located according to the map of the preset area. If it is determined that the path corresponding to the first location point includes a weight greater than the first At least one critical path with a preset threshold is inspected for devices on at least one critical path; wherein the map of the preset area is marked with paths corresponding to multiple location points and the weight of the path, the first location point
  • the corresponding first path includes a first position point and a second position point, the first position point is the start point of the first path, and the second position point is the end point of the first path.
  • a map of a preset area is set by multiple location points and paths between multiple location points, which can reduce the time complexity and space complexity of the map of the preset area, so that the mobile device can be based on the preset Set the regional map to quickly plan the inspection path and improve the efficiency of the mobile device inspection equipment; and by setting the weight of the route in the map of the preset area, the complex inspection task can be transformed into a weight greater than the first The inspection task of the equipment on the route with the preset threshold value, thereby reducing the complexity of the mobile device inspection equipment, and further improving the efficiency of the mobile device inspection equipment.
  • the embodiment of the present invention also provides a computer-readable storage medium, including instructions, which when run on the processor of the computer, cause the processor of the computer to execute any of the steps described in FIG. 3 or FIG. 3 Method of inspecting equipment.
  • the embodiments of the present invention also provide a computer program product, which when running on a computer, causes the computer to execute the method of inspecting equipment as described in any of FIG. 3 or FIG. 3.
  • the embodiments of the present invention may be provided as a method or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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Abstract

一种巡检设备的方法及装置，其中方法包括：移动装置根据预设区域的地图获取移动装置所在的第一位置点对应的路径(301)，若确定第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对至少一条关键路径上的设备进行巡检(302)。采用多个位置点和多个位置点之间的路径设置预设区域的地图，可以降低预设区域的地图的时间复杂度和空间复杂度，使得移动装置可以基于预设区域的地图快速地规划出巡检路径，从而提高移动装置巡检设备的效率；且，通过将复杂的巡检任务转化为对权重大于第一预设阈值的路线上的设备的巡检任务，可以降低移动装置巡检设备的复杂度，进一步提高移动装置巡检设备的效率。

Description

一种巡检设备的方法及装置
相关申请的交叉引用
本申请要求在2019年05月23日提交中国专利局、申请号为201910432098.0、申请名称为“一种巡检设备的方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及智能科技技术领域，尤其涉及一种巡检设备的方法及装置。
背景技术
互联网数据中心(Internet Data Center，IDC)机房是在互联网通信线路和带宽资源的基础上建立的标准化的机房环境，IDC机房可以容纳多种类型的设备，比如服务器、监控设备、管理设备、安全设备等。由于这些设备对环境和物理安全具有相同的需求，因此可以将这些设备同时放置在IDC机房中，便于维护。然而，在实际操作中，由于IDC机房中放置的设备的数量和种类均较多，因此，如何快速有效地实现对大量设备的巡检，对于监控设备的运行状态、及时排查故障是非常重要的。
目前，通常可以使用移动装置(比如机器人、移动小车等)对IDC机房中的设备进行巡检，通过控制移动装置在IDC机房中运动使得移动装置自主地完成巡检任务。具体地说，移动装置可以从IDC机房的起始点出发，对所经过的路线上的设备进行巡检，当确定巡检完IDC机房中的所有设备后，移动装置可以回到起始点。在一种现有的实现方式中，移动装置上可以设置有摄像装置，摄像装置可以在移动装置运动的过程中拍摄IDC机房的三维图像，进一步地，移动装置可以根据三维图像来构建IDC机房对应的地图，进而可以基于地图规划巡检路径。然而，由于上述方式需要基于大量的图像来构建较为精确的地图，从而导致构建的得到的地图较为复杂；相应地，基于复杂 的地图进行规划，可能会导致移动装置规划路径的速度较慢，使得移动装置对设备巡检的效率较低。
综上，目前亟需一种巡检设备的方法，用以提高移动装置巡检设备时的巡检效率。
发明内容
本发明实施例提供一种巡检设备的方法及装置，用以提高移动装置巡检设备时的巡检效率。
第一方面，本发明实施例提供的一种巡检设备的方法，所述方法应用于移动装置，所述移动装置用于对预设区域内的多个设备进行巡检，所述预设区域内包括多个位置点，所述多个位置点是根据所述多个设备的位置设置的；所述方法包括：
所述移动装置根据所述预设区域对应的地图，获取所述移动装置所在的第一位置点对应的路径，若确定所述第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对所述至少一条关键路径上的设备进行巡检；其中，所述预设区域对应的地图中标注有所述多个位置点分别对应的路径以及所述路径的权重；所述第一位置点对应的第一路径上包括所述第一位置点和第二位置点，所述第一位置点为所述第一路径的起点，所述第二位置点为所述第一路径的终点；所述第一位置点和所述第二位置点为所述多个位置点中的两个位置点。
上述设计中，预设区域的地图是由多个位置点对应的路径构成的，即预设区域的地图中包括多个位置点以及多个位置点之间的连线(即路径)，如此，可以使得预设区域的地图的时间复杂度和空间复杂度较低，相应地，基于简单的预设区域的地图规划路径，可以使得移动装置快速规划出目标路径，从而提高移动装置巡检设备的效率；且，通过在预设区域的地图中设置路线的权重，可以将复杂的巡检任务转化为对权重大于第一预设阈值的路线上的设备的巡检任务，从而降低移动装置巡检设备的复杂度，进一步地提高移动装 置巡检设备的效率。
在一种可能的设计中，所述移动装置对所述至少一条关键路径上的设备进行巡检，包括：所述移动装置若确定所述至少一条关键路径中存在未被标注为已选路径的备选路径，则对所述备选路径上的设备进行巡检，并将所述备选路径标注为已选路径。
上述设计中，通过将已巡检过的路径标注为已选路径，可以使得移动装置选择未巡检过的路径进行巡检，从而可以避免移动装置对重复路径上的设备进行巡检，提高移动装置巡检设备的效率。
在一种可能的设计中，所述方法还包括：所述移动装置确定所述至少一条关键路径均被标注为已选路径后，若确定所述第一位置点对应的第二路径的终点对应的路径中存在未被标注为已选路径的关键路径，则从所述第一位置点按照所述第二路径运动至所述第二路径的终点。
在上述设计中，若移动装置当前所在的位置点对应的关键路径均已巡检完成，则可以从当前所在位置点对应的非关键路径中选择后续存在未巡检过的关键路线的非关键路线，从而可以使得移动装置尽可能地巡检关键路线，避免巡检无用的非关键路线，提高移动装置巡检设备的效率。
在一种可能的设计中，所述预设区域对应的地图是通过如下方式得到的：所述移动装置生成所述预设区域对应的初始地图，所述初始地图为空白地图；进一步地，所述移动装置遍历所述预设区域中的多个位置点，针对于所述多个位置点中任意两个相邻的第三位置点和第四位置点，若从所述第三位置点沿着所述第三位置点对应的第三路径运动至所述第四位置点，则所述移动装置根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，得到所述预设区域对应的地图。
在一种可能的设计中，所述移动装置根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，包括：所述移动装置将所述第三位 置点、所述第四位置点和所述第三路径存储在所述预设区域对应的初始地图中；且，所述移动装置沿着第三路径运动时若成功检测到设备，则设置所述第三路径的权重大于所述第一预设阈值；若未成功检测到设备，则设置所述第三路径的权重小于或等于所述第二预设阈值。
在上述设计中，在构建预设区域的地图时，通过将能够检测到设备的路径设置为关键路径，并将无法检测到设备的路径设置为非关键路径，可以使得移动装置基于预设区域的地图对关键路径进行巡检；也就是说，通过设置区分关键路径和非关键路径，可以使得移动装置可以经过最少的路径对所有设备完成巡检，从而提高移动装置巡检设备的效率。
在一种可能的设计中，所述方法还包括：所述移动装置若确定对所述预设区域对应的地图中权重大于所述第一预设阈值的所有关键路线上的设备巡检完成，则停止进行巡检。
在上述设计中，移动装置确定对所有关键路径巡检完成后，即可结束巡检，从而使得移动装置通过最少的路径巡检完所有的设备，减少移动装置巡检设备的时间，提高移动装置巡检设备的效率。
第二方面，本发明实施例提供一种巡检设备的装置，所述装置用于对预设区域内的多个设备进行巡检，所述预设区域内包括多个位置点，所述多个位置点是根据所述多个设备的位置设置的；所述装置包括：
获取模块，用于根据所述预设区域对应的地图，获取移动装置所在的第一位置点对应的路径；
巡检模块，用于若确定所述第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对所述至少一条关键路径上的设备进行巡检；
其中，所述预设区域对应的地图中标注有所述多个位置点分别对应的路径以及所述路径的权重；所述第一位置点对应的第一路径上包括所述第一位置点和第二位置点，所述第一位置点为所述第一路径的起点，所述第二位置点为所述第一路径的终点；所述第一位置点和所述第二位置点为所述多个位 置点中的两个位置点。
在一种可能的设计中，所述巡检模块用于：若确定所述至少一条关键路径中存在未被标注为已选路径的备选路径，则对所述备选路径上的设备进行巡检，并将所述备选路径标注为已选路径。
在一种可能的设计中，所述巡检模块还用于：所述移动装置确定所述至少一条关键路径均被标注为已选路径后，若确定所述第一位置点对应的第二路径的终点对应的路径中存在未被标注为已选路径的关键路径，则从所述第一位置点按照所述第二路径运动至所述第二路径的终点。
在一种可能的设计中，所述装置还包括生成模块，所述生成模块通过如下方式生成所述预设区域对应的地图：生成所述预设区域对应的初始地图，所述初始地图为空白地图；进一步地，遍历所述预设区域中的多个位置点，针对于所述多个位置点中任意两个相邻的第三位置点和第四位置点，若从所述第三位置点沿着所述第三位置点对应的第三路径运动至所述第四位置点，则根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，得到所述预设区域对应的地图。
在一种可能的设计中，所述生成模块具体用于：将所述第三位置点、所述第四位置点和所述第三路径存储在所述预设区域对应的初始地图中；且，沿着第三路径运动时若成功检测到设备，则设置所述第三路径的权重大于所述第一预设阈值，若未成功检测到设备，则设置所述第三路径的权重小于或等于所述第二预设阈值。
在一种可能的设计中，所述巡检模块还用于：
若确定对所述预设区域对应的地图中权重大于所述第一预设阈值的所有关键路线上的设备巡检完成，则停止进行巡检。
第三方面，本发明实施例提供的一种计算机可读存储介质，包括指令，当其在计算机的处理器上运行时，使得计算机的处理器执行如上述第一方面或第一方面任意所述的方法。
第四方面，本发明实施例提供的一种计算机程序产品，当其在计算机上运行时，使得计算机执行如上述第一方面或第一方面任意所述的方法。
本发明的这些实现方式或其他实现方式在以下实施例的描述中会更加简明易懂。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种IDC机房的结构示意图；
图2为本发明实施例提供的一种可能的巡检路线示意图；
图3为本发明实施例提供的一种巡检设备的方法对应的流程示意图；
图4为本发明实施例提供的一种IDC机房对应的地图的示意图；
图5为本发明实施例提供的另一种IDC机房对应的地图的示意图；
图6为本发明实施例提供的一种巡检路线的示意图；
图7为本发明实施例提供的一种巡检设备的装置的结构示意图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
图1为本发明实施例提供的一种IDC机房的结构示意图，如图1所示，IDC机房中可以设置有至少一排机柜，比如机柜101～机柜106。其中，机柜101～机柜104可以并列设置，机柜105和机柜106可以并列设置，每排机柜 上可以设置有多台设备，比如服务器、数据采集设备、监控设备、温控设备等。以机柜101为例，在一个示例中，机柜101可以为单层结构，单层结构上可以放置多台设备；在另一个示例中，机柜101可以为多层结构，多层结构中的每层结构可以放置多台设备。本发明实施例中，一排机柜上可以放置同一类型的设备，或者也可以放置不同类型的设备，具体不作限定。
一般来说，工厂在生产设备时，通常可以将设备的功能部件设置在设备的同一个侧面上，如此，可以便于设备同时执行多种功能；其中，设备的功能部件可以包括接线端口、信号灯、设备的型号标识等。相应地，在对IDC机房中的设备进行巡检时，可以对设备上设置有功能部件的一面进行巡检。举例来说，若设备的某一面上设置有接线端口、信号灯、设备的型号标识，则对该面上设置的接线端口进行检测可以确定设备是否存在漏电风险，对该面上设置的信号灯进行检测可以确定设备当前是否存在告警，对该面上设置的设备的型号标识进行检测可以确定设备的型号信息；也就是说，通过对设备的该面进行巡检，可以同时获取到设备的安全状态、设备的运行状态以及设备的型号信息。
需要说明的是，本发明实施例中将设备上需要巡检的面称为设备的正面，将无需巡检的面称为设备的背面。
具体实施中，机柜101～机柜106中任意两排相邻的机柜上放置的设备可以正面对正面、背面对背面。举例来说，如图1所示，机柜101上放置有设备W 1，机柜102上放置有设备W 2，机柜103上放置有设备W 3；如此，若设备W 1与设备W 2相对的一面为设备W 1的背面，则设备W 2与设备W 1相对的一面可以为设备W 2的背面；相应地，设备W 2与设备W 3相对的一面可以为设备W 2的正面，且设备W 3与设备W 2相对的一面可以为设备W 3的正面。相应地，在对机柜101～机柜103上的设备进行巡检时，可以对机柜101背离机柜102的一面(如图1所示意的T 1面)上的设备进行巡检、对机柜102相对于机柜103的一面(如图1所示意的T 2面)上的设备以及机柜103相对于机柜102的一面(如图1所示意的T 3面)上的设备进行巡检。
为了实现对IDC机房中的设备进行巡检，在一种可能的实现方式中，可以对IDC机房中的所有路径进行巡检。图2为采用该种方式得到的一种巡检路线示意图，如图2所示，巡检过程可以为：从A点出发，分别经由路径AB-BD-DC-CA-AP-PE-ED-DF-FH-HF-FG-GI-IG-GO-ON-NO-OL-LM-ML-LK-KJ，到达J点；如此，巡检过程可以执行完成。采用该种巡检方式，可以对机柜101～机柜106的正面、背面和侧面分别进行巡检；然而，该种方式对应的巡检路线中包括大量的无用路径，即在很多经过的路径上均无法巡检到设备，因此，采用该种方式使得巡检的效率较低。
基于此，本发明提供一种巡检设备的方法，用以提高巡检的效率。
基于图1所示意的IDC机房，图3为本发明实施例提供的一种巡检设备的方法对应的流程示意图，该方法包括：
步骤301，移动装置根据预设区域的地图，获取移动装置所在的第一位置点对应的路径。
此处，若需要对IDC机房中的部分机柜(比如机柜101～机柜103)进行巡检，则预设区域可以为机柜101～机柜103所在的区域；若需要对IDC机房中的机柜101～机柜106进行巡检，则预设区域可以为IDC机房中的全部区域。本发明的下列实施例中以预设区域为IDC机房中的全部区域为例进行描述，可以理解地，下列实施例也可以适用于预设区域为IDC机房中的部分区域的场景。
在一种可能的实现方式中，预设区域的地图可以为通过如下方式得到的：
步骤a，设置IDC机房中的多个预设位置点。
其中，多个预设位置点可以为对机柜101～机柜106进行巡检必须经过的预设位置点。以图2中的点A～点P为例，由于机柜101背离机柜102的面为正面，因此，对机柜101进行巡检必然需要经过机柜101背离机柜102的面对应的路径AB，如此，点A与点B即可以为两个必须经过的预设位置点(称为预设位置点A和预设位置点B)；相应地，机柜102与机柜103相对的面为正面，因此，对机柜102和机柜103进行巡检必然需要经过路径PE，如此，点P与点E即可以为两个必须经过的预设位置点(称为预设位置点P和预设位置点E)；基于同一原理 可以确定点I、点G、点L、点M分别对应为预设位置点I、预设位置点G、预设位置点L和预设位置点M。由此可知，在对机柜101～机柜106进行巡检时，预设位置点A、预设位置点B、预设位置点P、预设位置点E、预设位置点I、预设位置点G、预设位置点L和预设位置点M可以为必须经过的8个预设位置点。
在一个示例中，可以在ODC机房的多个预设位置点处分别粘贴识别标识，以预设位置点A为例，预设位置点A处粘贴的识别标识中可以设置有预设位置点A的位置信息，比如经纬度信息和/或世界坐标信息。其中，识别标识可以为二维码，或者也可以为条形码，或者还可以为识别线；识别标识可以粘贴在ODC机房的地面上，或者也可以粘贴在机柜上，或者还可以粘贴在设备上，具体不作限定。
具体实施中，若8个预设位置点处的地面上粘贴有二维码，则移动装置的顶部可以设置有扫描部件(比如摄像头)，移动装置在ODC机房中运动的过程中可以控制扫描部件对ODC机房的地面进行扫描，从而获取到8个预设位置点对应的位置信息。以预设位置点A为例，若移动装置到达预设位置点A，则扫描部件可以扫描预设位置点A处的地面上粘贴的二维码，得到预设位置点A的位置信息。
步骤b，移动装置在IDC机房中进行运动，根据扫描得到的多个预设位置点的位置信息和在多个预设位置点之间进行运动时对设备的检测状态，生成IDC机房对应的地图。
本发明实施例中，移动装置可以预先生成IDC机房对应的初始地图，IDC机房对应的初始地图可以为一张空白地图；进一步地，移动装置在运动的过程中，可以根据运动路径和扫描得到的位置信息，依次在IDC机房对应的初始地图上构建8个预设位置点和8个预设位置点分别对应的路径，并可以根据在路径上运动的过程中对设备的检测状态设置路径的权重，如此得到IDC机房对应的地图。比如，若沿着某一条路径运动时能够成功检测到设备，则移动装置可以设置该条路径的权重大于第一预设阈值，若沿着某一条路径运动时无法成功检测到设备，则可以设置该条路径的权重小于或等于第二预设阈值。 其中，第一预设阈值可以为大于或等于第二预设阈值的值。
以第一预设阈值与第二预设阈值均为5为例，若移动装置的起始位置为预设位置点A，则移动装置可以扫描得到位置点A的位置信息；进一步地，若移动装置从预设位置点A出发后下一个扫描得到的位置信息为预设位置点P的位置信息，则移动装置可以根据预设位置点A和预设位置点P的位置信息，在IPC机房对应的初始地图中添加预设位置点A、预设位置点P和路径AP；且，移动装置在沿着路径AP运动时可以对路径AP周围的机柜(即机柜101和机柜102)上的设备进行巡检，由于机柜101和机柜102在路径AP一侧不是正面，因此移动装置无法成功检测到设备，如此，移动装置可以将路径AP对应的权重设置为1。相应地，若移动装置从预设位置点P出发后下一个扫描得到的位置信息为预设位置点E的位置信息，则移动装置可以根据预设位置点P和预设位置点E的位置信息，在IPC机房对应的初始地图中添加预设位置点E和路径PE；且，移动装置在沿着路径PE运动时可以对路径PE周围的机柜(即机柜102和机柜103)上的设备进行巡检，由于机柜102和机柜103在路径PE一侧为正面，因此移动装置可以成功检测到设备，如此，移动装置可以将路径PE对应的权重设置为10。至此，IPC机房对应的地图中包括预设位置点A、预设位置点P、预设位置点E、路径AP及权重、路径PE及权重。可以理解地，移动装置可以采用上述方式在IPC机房对应的地图中依次添加其它的预设位置点、其它路径及权重，此处不再进行赘述。
需要说明的是，上述仅是一种示例性的简单说明，其所列举的路径AP、路径PE的权重仅是为了便于说明方案，并不构成对方案的限定。在具体实施中，若第一预设阈值与第二预设阈值均为5，则路径AP的权重可以为大于5的任意数值，比如6、15，路径PE的权重可以小于或等于5的任意数值，比如2,5，具体不作限定。
图4为采用上述方法得到的一种IDC机房对应的地图的示意图。如图4所示，IDC机房对应的地图中可以包括8个预设位置点，分别为预设位置点A、预设位置点B、预设位置点P、预设位置点E、预设位置点I、预设位置点G、预设位 置点L和预设位置点M。相应地，IDC机房对应的地图中还可以包括8个预设位置点分别对应的路径及路径的权重，具体地说，预设位置点A对应的路径可以包括权重为10的路径AB和权重为1的路径AP，预设位置点P对应的路径可以包括权重为1的路径PA和权重为10的路径PE，预设位置点E对应的路径可以包括权重为10的路径EP、权重为1的路径EB和权重为1的路径EG，预设位置点B对应的路径可以包括权重为10的路径BA和权重为1的路径BL，预设位置点G对应的路径可以包括权重为1的路径GE和权重为10的路径GI，预设位置点I对应的路径可以包括权重为10的路径IG，预设位置点L对应的路径可以包括权重为10的路径LM，预设位置点M对应的路径可以包括权重为10的路径ML。
需要说明的是，图4仅是一种示例性的简单说明，其所列举的多个路径的权重仅是为了便于说明方案，并不构成对方案的限定。在具体实施中，路径AB(或BA)、路径PE(或EP)、路径IG(或GI)和路径LM(或ML)的权重可以相同，或者也可以不同；相应地，路径AP(或PA)、路径BL(或LB)和路径LG(或GL)的权重可以相同，或者也可以不同，具体不作限定。
在一个示例中，移动装置得到IDC机房对应的地图后，可以使用该地图执行后续的巡检过程。在另一个示例中，移动装置在得到IDC对应的地图后，还可以对该地图中包括的多个预设位置点进行剪枝操作，进而可以使用剪枝后的地图执行后续的巡检过程；具体地说，如图4所示，针对于多个预设位置点中任意两个相邻的预设位置点(比如预设位置点L和预设位置点E)，可以根据预设位置点L和预设位置点E的位置信息计算预设位置点L和预设位置点E之间的距离，若确定预设位置点L和预设位置点E之间的距离小于预设距离，则将预设位置点E和预设位置点L进行合并，比如，可以将预设位置点E和路径PE从IDC机房对应的地图中删除，并添加路径PL，或者也可以将预设位置点L和路径LM从IDC机房对应的地图中删除，并添加路径ME。
图5为一种剪枝后的IDC机房对应的地图的示意图，由于预设位置点L和预设位置点E之间的距离小于预设距离，因此可以将预设位置点E和路径PE从IDC机房对应的地图中删除，并添加路径PL，得到图5所示的IDC机房对应的 地图。如图5所示，IDC机房对应的地图中可以包括7个预设位置点以及7个预设位置点分别对应的路径。具体地说，7个预设位置点可以为预设位置点A、预设位置点B、预设位置点P、预设位置点E、预设位置点I、预设位置点G和预设位置点M，预设位置点A对应的路径可以包括权重为10的路径AB和权重为1的路径AP，预设位置点B对应的路径可以包括权重为10的路径BA和权重为1的路径BE，预设位置点E对应的路径可以包括权重为10的路径EP、权重为10的路径EM、权重为1的路径EB和权重为1的路径EG，预设位置点P对应的路径可以包括权重为10的路径PE和权重为1的路径PA，预设位置点G对应的路径可以包括权重为10的路径GI和权重为1的路径GE，预设位置点I对应的路径可以包括权重为10的路径IG，预设位置点M对应的路径可以包括权重为10的路径ME。
本发明实施例中，可以将权重大于5的路径称为关键路径，权重小于5的路径称为非关键路径。如此，图5所示意的IDC机房的地图中可以包括4条关键路径和3条非关键路径，4条关键路径分别为路径AB、路径PE、路径IG和路径EM，3条非关键路径分别为路径AP、路径BC和路径EG。关键路径对应着机柜的正面，因此，移动装置在关键路径上运动时可以巡检设备，在非关键路径上运动时无法巡检设备；如此，移动装置只要经过4条关键路径，即可完成对机柜101～机柜106上的设备的巡检。
在一个示例中，移动装置可以通过点线图的方式存储IDC机房对应的地图，点线图中可以包括图5所示意的7个预设位置点、每个预设位置点对应的路径和每个预设位置点的坐标信息；举例来说，预设位置点A对应的路径可以包括权重为10的路径AB和权重为1的路径AP。在该示例中，通过点线图存储IDC机房的地图，可以使得地图较为直观，处理更加便捷。
在另一个示例中，移动装置可以通过矩阵的方式存储IDC机房对应的地图。举例来说，移动装置获取图5所示意的地图后，可以生成如下所示的稀疏矩阵：
Figure PCTCN2020072083-appb-000001
移动装置可以根据IDC机房对应的地图，将地图中的路径转化为稀疏矩阵中的点，比如路径AB可以被转化为稀疏矩阵中第二行第三列的点，相应地，路径BA可以被转化为稀疏矩阵中第三行第二列的点；进一步地，移动装置还可以将路径的长度记录到对应的点中。如此，通过将点少边多的地图转化为点多边少的矩阵，可以提高地图的处理效率。
在又一个示例中，移动装置还可以通过表格的方式存储IDC机房对应的地图，表1为一种以表格方式存储IDC机房对应的地图的示意表。
表1：一种以表格方式存储IDC机房对应的地图的示意
预设位置点 位置信息 关键路径 非关键路径
A (x A，y A) AB AP
B (x B，y B) BA BC
P (x P，y P) PE PA
E (x E，y E) EP、EM EB、EG
I (x I，y I) IG  
G (x G，y G) GI GE
M (x M，y M) ME  
需要说明的是，表1仅是一种示例性的简单说明，其所列举的表格的结构仅是为了便于说明方案，并不构成对方案的限定，在具体实施中，表1的结构可以由本领域技术人员根据实际需要进行设置，比如可以包括路径的长度，或者也可以包括路径的权重，具体不作限定。
上述内容具体描述了移动装置构建IDC机房对应的地图的过程，下面描述移动装置根据IDC机房对应的地图对机柜101～机柜106上的设备执行巡检的实现过程。
具体实施中，移动装置在IDC机房中运动时可以同步使用摄像部件扫描IDC机房的地面上粘贴的二维码，从而获取当前所在的位置信息；比如，若摄像部件扫描二维码得到的位置信息为(x A，y A)，则移动装置可以根据IDC机房对应的地图确定当前所在位置为预设位置点A。进一步地，移动装置可以从IDC机房对应的地图中获取预设位置点A对应的路径，即权重为10的关键路径AB和权重为1的非关键路径AP。
本发明实施例中，在构建预设区域的地图时，通过将能够检测到设备的路径设置为关键路径，并将无法检测到设备的路径设置为非关键路径，可以使得移动装置基于预设区域的地图对关键路径进行巡检；也就是说，通过设置区分关键路径和非关键路径，可以使得移动装置可以经过最少的路径对所有设备完成巡检，从而提高巡检的效率。
步骤302，移动装置若确定第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对至少一条关键路径上的设备进行巡检。
具体实施中，若运动装置从IDC机房中的某一点出发，运动的过程中首次扫描二维码得到位置信息(x A，y A)，则移动装置可以确定当前位于预设位置点A，且预设位置点A对应的路径可以包括权重为10的关键路径AB和权重为1的非关键路径AP；如此，移动装置可以沿着关键路径AB运动，并可以在运动的过程中对机柜101上的设备进行巡检。
在一种可能的实现方式中，移动装置还可以将已巡检过的设备对应的路径标注为已选路径。相应地，移动装置到达某一预设位置点后，若确定该预设位置点对应的关键路径未被标注为已选路径，则可以对关键路径上的设备进行巡检；若确定该预设位置点对应的关键路径已被标注为已选路径，则可以获取该预设位置点对应的关键路径和非关键路径，若确定某一关键路径(称为目标关键路径)或某一非关键路径(称为目标非关键路径)上的另一预设 位置点对应的关键路径未被标注为已选路径，则可以目标关键路径或目标非关键路径运动至另一预设位置点。
基于图5所示意的IDC机房对应的地图，描述移动装置在IDC机房中巡检设备的两种可能的情形。
情形一
在情形一中，移动装置在IDC机房中的起始点为预设位置点A。
具体实施中，移动装置在预设位置点A时可以获取关键路径AB和非关键路径AP，由于关键路径AB未被标注为已选路径，因此，移动装置可以对关键路径AB上的设备进行巡检。移动装置若扫描得到位置信息(x B，y B)，则确定当前位于预设位置点B，即机柜101上的设备已被巡检完成；如此，移动装置可以将关键路径AB和关键路径BA标注为已选路径。进一步地，移动装置可以从IDC机房对应的地图中获取预设位置点B对应的路径，即权重为10的关键路径BA和权重为1的非关键路径BE；由于关键路径BA已被标注为已选路径，因此，移动装置可以获取关键路径BA上的另一预设位置点A和非关键路径BE上的另一预设位置点E；由于预设位置点A对应的关键路径AB已被标注为已选路径，而预设位置点E对应的关键路径EP和关键路径EM均未被标注为已选路径，因此，移动装置可以将非关键路径BE作为目标路径，并可以沿着非关键路径BE运动。
移动装置若扫描得到位置信息(x E，y E)，则确定当前位于预设位置点E，如此，移动装置可以从IDC机房对应的地图中获取预设位置点E对应的路径，即权重为10的关键路径EP和关键路径EM、权重为1的非关键路径EB和非关键路径EG。由于关键路径EP和关键路径EM均为被标注为已选路径，因此，移动装置可以随机选择一条关键路径作为目标路径。在一个示例中，若移动装置选择关键路径EP作为目标路径，则移动装置可以对关键路径EP上的设备进行巡检。
相应地，移动装置若扫描得到位置信息(x P，y P)，则确定当前位于预设位置点P，即机柜102和机柜103上的设备已被巡检完成；如此，移动装置可以 将关键路径EP和关键路径PE标注为已选路径。进一步地，移动装置可以从IDC机房对应的地图中获取预设位置点P对应的路径，即权重为10的关键路径PE和权重为1的非关键路径PA；由于关键路径PE已被标注为已选路径，因此移动装置可以获取关键路径PE上的另一预设位置点E和非关键路径PA上的另一预设位置点A；由于预设位置点A对应的关键路径AB已被标注为已选路径，而预设位置点E对应的关键路径EP已被标注为已选路径，预设位置点E对应的关键路径EM均未被标注为已选路径，因此，移动装置可以将非关键路径PE作为目标路径，并可以沿着非关键路径PE运动。
移动装置到达预设位置点E后，由于关键路线EM未被标注为已选路径，因此，移动装置可以对关键路线EM上的设备进行巡检，并在对机柜105和机柜106上的设备巡检完成后，将关键路线EM和关键路线ME标注为已选路径；进一步地，移动装置可以沿着关键路径ME回到预设位置点E，由于预设位置点E对应的关键路径EP和关键路径EM均已被标注为已选路径，而非关键路径EG的另一预设位置点G对应的关键路径GI未被标注为已选路径，因此，移动装置可以沿着非关键路径EG运动，并可以在到达预设位置点G后对关键路径GI上的设备进行巡检。移动装置若扫描得到的位置信息为(x I，y I)，则确定当前位于预设位置点I，即机柜104上的设备已巡检完成，如此，移动装置可以将关键路径GI和关键路径IG标注为已选路径。
在一种可能的实现方式中，到达预设位置点I后，移动装置确定预设位置点I对应的关键路线IG已被标注为已选路径，且确定关键路线IG的另一预设位置点G对应的关键路径GI已被标注为已选路径，则移动装置可以判断IDC机房对应的地图中的4条关键路径是否已全部被标注为已选路径。若4条关键路径已全部被标注为已选路径，说明移动装置已对机柜101～机柜106上的设备完成巡检，如此，移动装置可以回到起始点；比如，移动装置可以根据IDC机房对应的地图中存储的根据7个预设位置点的位置关系确定4条关键路径和3条非关键路径的距离，并可以从4条关键路径和3条非关键路径中选取使得预设位置点I和预设位置点A之间的距离最短的路径，进而沿着该路径回到预设位置 点A。
相应地，若4条关键路径中存在未被标注为已选路径的关键路径，则移动装置可以继续回溯路径；具体地说，确定预设位置点I对应的路径(即关键路径IG)中不存在另一预设位置点(即预设位置点G)对应的关键路径未标记为已选路径的路径，则可以确定预设位置点G对应的至少一个路径(GE或GI)是否存在另一预设位置点(即预设位置点E或预设位置点I)对应的关键路径未被标记为已选路径，若预设位置点E存在未被标记为已选路径的关键路径，则可以依次沿着关键路径IG和非关键路径GE到达预设位置点E；若预设位置点E和预设位置点I对应的关键路径均被标记为已选路径，则可以继续回溯路径，直至找到存在未标记为已选路径的关键路径；若一直未找到存在未标记为已选路径的关键路径，则移动装置可以从预设位置点I回到预设位置点G。
图6为采用情形一所示意的方法得到的一种巡检路线的示意图，如图6所示，移动装置可以依次经过如下路径对机柜101～机柜106上的设备进行巡检：关键路径AB-非关键路径BE-关键路径EP-关键路径PE-关键路径EM-关键路径ME-非关键路径EG-关键路径GI，在情形一中，移动装置也可以依次经过如下路径对机柜101～机柜106上的设备进行巡检：关键路径AB-非关键路径BE-关键路径EM-关键路径ME-关键路径MP-关键路径PM-非关键路径EG-关键路径GI。
情形二
在情形二中，移动装置在IDC机房中的起始点为预设位置点E。
具体实施中，移动装置在预设位置点E时可以获取预设位置点E对应的关键路径EP、关键路径EM、非关键路径EB和非关键路径EG；由于关键路径EP和关键路径EM均未被标注为已选路径，因此，移动装置可以随机选取一条关键路径(比如关键路径EM)作为目标路径，并可以对关键路径EM上的设备进行巡检。
若移动装置沿着关键路径EM到达预设位置点M，则确定已对机柜105和机柜106上的设备巡检完成，如此，移动装置可以将关键路径EM、关键路径ME标注为已选路径。进一步地，移动装置确定预设位置点M对应的关键路径ME 已被标注为已选路径，且预设位置点E对应的关键路径EP未被标注为已选路径，因此，移动装置可以沿着关键路径ME运动至预设位置点E，并可以对关键路径EP上的设备进行巡检。
若移动装置沿着关键路径EP到达预设位置点P，则确定已对机柜102和机柜103上的设备巡检完成，如此，移动装置可以将关键路径EP、关键路径PE标注为已选路径。进一步地，移动装置确定预设位置点P对应的关键路径PE已被标注为已选路径，且预设位置点E对应的关键路径EP和关键路径EM已被标注为已选路径，而预设位置点A对应的关键路径AB未被标注为已选路径，因此，移动装置可以沿着非关键路径PA运动至预设位置点A，并可以对关键路径AB上的设备进行巡检。
若移动装置沿着关键路径AB到达预设位置点B，则确定已对机柜101上的设备巡检完成，如此，移动装置可以将关键路径AB、关键路径BA标注为已选路径。进一步地，移动装置确定预设位置点B对应的关键路径AB已被标注为已选路径，且预设位置点E对应的关键路径EP和关键路径EM已被标注为已选路径，而预设位置点A对应的关键路径AB也已被标注为已选路径；因此，移动装置可以判断IDC机房对应的4条关键路径是否已全部被标注为已选路径。由于关键路径EF未被标注为已选路径，因此，移动装置可以确定机柜101～机柜106上的设备未被巡检完成；如此，移动装置需要继续进行巡检过程。
在一个示例中，移动装置可以沿着关键路径BA回到预设位置点A，并可以沿着非关键路径AP回到预设位置点P，进而沿着关键路径PE回到预设位置点E。进一步地，由于预设位置点E、与预设位置点E相连的预设位置点B、预设位置点P和预设位置点M分别对应的关键路径(路径EP、路径EM、路径PE、路径ME、路径BA)均被标注为已选路径，而与预设位置点E相连的预设位置点G对应的关键路径GI未被标注为已选路径，因此，移动装置可以沿着非关键路径EG到达预设位置点G，并可以对关键路径GI上的设备进行巡检。
在另一个示例中，移动装置可以对预设位置点A连接的预设位置点P和预设位置点E连接的预设位置点M、预设位置点G分别进行第二次路径回溯。针 对于预设位置点P，移动装置可以确定预设位置点P对应的关键路径PE已被标注为已选路径；针对于预设位置点M，移动装置可以确定预设位置点M对应的关键路径ME未被标注为已选路径；针对于预设位置点G，移动装置可以确定预设位置点G对应的关键路径GI未被标注为已选路径，因此，移动装置可以沿着非关键路径BE到达预设位置点E，并可以沿着非关键路径EG到达预设位置点G，进而对关键路径GI上的设备进行巡检。
若移动装置沿着关键路径GI到达预设位置点I，则确定已对机柜104上的设备巡检完成，如此，移动装置可以将关键路径GI标注为已选路径。进一步地，由于IDC机房对应的地图中4条关键路径均已被标注为已选路径，说明移动装置已对机柜101～机柜106上的设备完成巡检，如此，移动装置可以从4条关键路径和3条非关键路径中选取一条最短路径组合，进而沿着该最短路径组合回到预设位置点E。
在情形二中，移动装置可以依次经过如下路径对机柜101～机柜106上的设备进行巡检：关键路径EM-关键路径ME-关键路径EP-非关键路径PA-关键路径AB-关键路径BA-非关键路径AP-关键路径PE-非关键路径EG-关键路径IG；或者，关键路径EM-关键路径ME-关键路径EP-非关键路径PA-关键路径AB-关键路径BE-非关键路径EG-关键路径GI；或者，关键路径EP-关键路径PE-关键路径EM-非关键路径ME-非关键路径EB-关键路径BA-关键路径AB-非关键路径BE-关键路径IG；或者，关键路径EP-非关键路径PA-关键路径AB-非关键路径BE-关键路径EM-关键路径ME-非关键路径EG-关键路径IG；等等。
本发明实施例中，移动装置根据预设区域的地图获取移动装置所在的第一位置点对应的路径，若确定第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对至少一条关键路径上的设备进行巡检；其中，预设区域的地图中标注有多个位置点分别对应的路径以及路径的权重，第一位置点对应的第一路径上包括第一位置点和第二位置点，第一位置点为第一路径的起点，第二位置点为第一路径的终点。本发明实施例中，通过多个位置点以及多个位置点之间的路径设置预设区域的地图，可以降低预设区 域的地图的时间复杂度和空间复杂度，从而使得移动装置可以基于预设区域的地图快速地规划出巡检路径，提高移动装置巡检设备的效率；且，通过在预设区域的地图中设置路线的权重，可以将复杂的巡检任务转化为对权重大于第一预设阈值的路线上的设备的巡检任务，从而降低移动装置巡检设备的复杂度，进一步提高移动装置巡检设备的效率。
针对上述方法流程，本发明实施例还提供一种巡检设备的装置，该装置的具体内容可以参照上述方法实施。
图7为本发明实施例提供的一种巡检设备的装置的结构示意图，所述装置用于对预设区域内的多个设备进行巡检，所述预设区域内包括多个位置点，所述多个位置点是根据所述多个设备的位置设置的；所述装置包括：
获取模块701，用于根据所述预设区域对应的地图，获取移动装置所在的第一位置点对应的路径；
巡检模块702，用于若确定所述第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对所述至少一条关键路径上的设备进行巡检；
其中，所述预设区域对应的地图中标注有所述多个位置点分别对应的路径以及所述路径的权重；所述第一位置点对应的第一路径上包括所述第一位置点和第二位置点，所述第一位置点为所述第一路径的起点，所述第二位置点为所述第一路径的终点；所述第一位置点和所述第二位置点为所述多个位置点中的两个位置点。
可选地，所述巡检模块702用于：
若确定所述至少一条关键路径中存在未被标注为已选路径的备选路径，则对所述备选路径上的设备进行巡检，并将所述备选路径标注为已选路径。
可选地，所述巡检模块702还用于：
所述移动装置确定所述至少一条关键路径均被标注为已选路径后，若确定所述第一位置点对应的第二路径的终点对应的路径中存在未被标注为已选路径的关键路径，则从所述第一位置点按照所述第二路径运动至所述第二路 径的终点。
可选地，所述装置还包括生成模块703，所述生成模块703通过如下方式生成所述预设区域对应的地图：
生成所述预设区域对应的初始地图，所述初始地图为空白地图；
遍历所述预设区域中的多个位置点，针对于所述多个位置点中任意两个相邻的第三位置点和第四位置点，若从所述第三位置点沿着所述第三位置点对应的第三路径运动至所述第四位置点，则根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，得到所述预设区域对应的地图。
可选地，所述生成模块703具体用于：
将所述第三位置点、所述第四位置点和所述第三路径存储在所述预设区域对应的初始地图中；
沿着第三路径运动时若成功检测到设备，则设置所述第三路径的权重大于所述第一预设阈值；若未成功检测到设备，则设置所述第三路径的权重小于或等于所述第二预设阈值。
可选地，所述巡检模块702还用于：
若确定对所述预设区域对应的地图中权重大于所述第一预设阈值的所有关键路线上的设备巡检完成，则停止进行巡检。
从上述内容可以看出：本发明的上述实施例中，移动装置根据预设区域的地图获取移动装置所在的第一位置点对应的路径，若确定第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对至少一条关键路径上的设备进行巡检；其中，预设区域的地图中标注有多个位置点分别对应的路径以及路径的权重，第一位置点对应的第一路径上包括第一位置点和第二位置点，第一位置点为第一路径的起点，第二位置点为第一路径的终点。本发明实施例中，通过多个位置点以及多个位置点之间的路径设置预设区域的地图，可以降低预设区域的地图的时间复杂度和空间复杂度，从而使得移动装置可以基于预设区域的地图快速地规划出巡检路径，提高移动装置 巡检设备的效率；且，通过在预设区域的地图中设置路线的权重，可以将复杂的巡检任务转化为对权重大于第一预设阈值的路线上的设备的巡检任务，从而降低移动装置巡检设备的复杂度，进一步提高移动装置巡检设备的效率。
基于同一发明构思，本发明实施例还提供了一种计算机可读存储介质，包括指令，当其在计算机的处理器上运行时，使得计算机的处理器执行如图3或图3任意所述的巡检设备的方法。
基于同一发明构思，本发明实施例还提供了一种计算机程序产品，当其在计算机上运行时，使得计算机执行如图3或图3任意所述的巡检设备的方法。
本领域内的技术人员应明白，本发明的实施例可提供为方法、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了 基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (14)

  1. 一种巡检设备的方法，其特征在于，所述方法应用于移动装置，所述移动装置用于对预设区域内的多个设备进行巡检，所述预设区域内包括多个位置点，所述多个位置点是根据所述多个设备的位置设置的；所述方法包括：
    所述移动装置根据所述预设区域对应的地图，获取所述移动装置所在的第一位置点对应的路径；
    所述移动装置若确定所述第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对所述至少一条关键路径上的设备进行巡检；
    其中，所述预设区域对应的地图中标注有所述多个位置点分别对应的路径以及所述路径的权重；所述第一位置点对应的第一路径上包括所述第一位置点和第二位置点，所述第一位置点为所述第一路径的起点，所述第二位置点为所述第一路径的终点；所述第一位置点和所述第二位置点为所述多个位置点中的两个位置点。
  2. 根据权利要求1所述的方法，其特征在于，所述移动装置对所述至少一条关键路径上的设备进行巡检，包括：
    所述移动装置若确定所述至少一条关键路径中存在未被标注为已选路径的备选路径，则对所述备选路径上的设备进行巡检，并将所述备选路径标注为已选路径。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    所述移动装置确定所述至少一条关键路径均被标注为已选路径后，若确定所述第一位置点对应的第二路径的终点对应的路径中存在未被标注为已选路径的关键路径，则从所述第一位置点按照所述第二路径运动至所述第二路径的终点。
  4. 根据权利要求3所述的方法，其特征在于，所述预设区域对应的地图是通过如下方式得到的：
    移动装置生成所述预设区域对应的初始地图；
    所述移动装置遍历所述预设区域中的多个位置点，针对于所述多个位置点中任意两个相邻的第三位置点和第四位置点，若从所述第三位置点沿着所述第三位置点对应的第三路径运动至所述第四位置点，则所述移动装置根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，得到所述预设区域对应的地图。
  5. 根据权利要求4所述的方法，其特征在于，所述移动装置根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，包括：
    所述移动装置将所述第三位置点、所述第四位置点和所述第三路径存储在所述预设区域对应的初始地图中；
    所述移动装置沿着所述第三路径运动时若成功检测到设备，则设置所述第三路径的权重大于所述第一预设阈值；若未成功检测到设备，则设置所述第三路径的权重小于或等于所述第二预设阈值。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    所述移动装置若确定对所述预设区域对应的地图中权重大于所述第一预设阈值的所有关键路线上的设备巡检完成，则停止进行巡检。
  7. 一种巡检设备的装置，其特征在于，所述装置用于对预设区域内的多个设备进行巡检，所述预设区域内包括多个位置点，所述多个位置点是根据所述多个设备的位置设置的；所述装置包括：
    获取模块，用于根据所述预设区域对应的地图，获取移动装置所在的第一位置点对应的路径；
    巡检模块，用于若确定所述第一位置点对应的路径中包括权重大于第一预设阈值的至少一条关键路径，则对所述至少一条关键路径上的设备进行巡检；
    其中，所述预设区域对应的地图中标注有所述多个位置点分别对应的路 径以及所述路径的权重；所述第一位置点对应的第一路径上包括所述第一位置点和第二位置点，所述第一位置点为所述第一路径的起点，所述第二位置点为所述第一路径的终点；所述第一位置点和所述第二位置点为所述多个位置点中的两个位置点。
  8. 根据权利要求7所述的装置，其特征在于，所述巡检模块用于：
    若确定所述至少一条关键路径中存在未被标注为已选路径的备选路径，则对所述备选路径上的设备进行巡检，并将所述备选路径标注为已选路径。
  9. 根据权利要求8所述的装置，其特征在于，所述巡检模块还用于：
    所述移动装置确定所述至少一条关键路径均被标注为已选路径后，若确定所述第一位置点对应的第二路径的终点对应的路径中存在未被标注为已选路径的关键路径，则从所述第一位置点按照所述第二路径运动至所述第二路径的终点。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括生成模块，所述生成模块通过如下方式生成所述预设区域对应的地图：
    生成所述预设区域对应的初始地图，所述初始地图为空白地图；
    遍历所述预设区域中的多个位置点，针对于所述多个位置点中任意两个相邻的第三位置点和第四位置点，若从所述第三位置点沿着所述第三位置点对应的第三路径运动至所述第四位置点，则根据所述第三位置点、所述第四位置点、所述第三路径和所述移动装置沿着所述第三路径运动时对设备的检测状态更新所述预设区域对应的初始地图，得到所述预设区域对应的地图。
  11. 根据权利要求10所述的装置，其特征在于，所述生成模块具体用于：
    将所述第三位置点、所述第四位置点和所述第三路径存储在所述预设区域对应的初始地图中；
    沿着第三路径运动时若成功检测到设备，则设置所述第三路径的权重大于所述第一预设阈值；若未成功检测到设备，则设置所述第三路径的权重小于或等于所述第二预设阈值。
  12. 根据权利要求7至11中任一项所述的装置，其特征在于，所述巡检模 块还用于：
    若确定对所述预设区域对应的地图中权重大于所述第一预设阈值的所有关键路线上的设备巡检完成，则停止进行巡检。
  13. 一种计算机可读存储介质，其特征在于，包括指令，当其在计算机的处理器上运行时，使得计算机的处理器执行如权利要求1至6任一项所述的方法。
  14. 一种计算机程序产品，其特征在于，当其在计算机上运行时，使得计算机执行如权利要求1至6任一项所述的方法。
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CN113848923A (zh) * 2021-09-29 2021-12-28 华能盐城大丰新能源发电有限责任公司 一种机器人自动巡检防误方法、系统、设备及存储介质
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