WO2021042924A1 - Robot d'inspection, système d'inspection et procédé d'inspection - Google Patents

Robot d'inspection, système d'inspection et procédé d'inspection Download PDF

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Publication number
WO2021042924A1
WO2021042924A1 PCT/CN2020/106339 CN2020106339W WO2021042924A1 WO 2021042924 A1 WO2021042924 A1 WO 2021042924A1 CN 2020106339 W CN2020106339 W CN 2020106339W WO 2021042924 A1 WO2021042924 A1 WO 2021042924A1
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WO
WIPO (PCT)
Prior art keywords
inspection
patrol
report
task
module
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PCT/CN2020/106339
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English (en)
Chinese (zh)
Inventor
陈呈泰
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北京海益同展信息科技有限公司
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Publication of WO2021042924A1 publication Critical patent/WO2021042924A1/fr

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Definitions

  • the present disclosure relates to the field of computer technology, and specifically, to a patrol robot, a patrol system, and a patrol method.
  • the manual inspection method has the disadvantages of low efficiency, high cost and low accuracy.
  • the present disclosure provides a patrol robot, a patrol system, and a patrol method to realize efficient and accurate patrol.
  • an inspection robot wherein the inspection robot includes:
  • the communication module is used to obtain the inspection task including the inspection path, the inspection object and the inspection index, and transmit the inspection report generated after the inspection is executed according to the inspection task;
  • the control module is configured to control the movement module and the detection module to detect the inspection index of the inspection object according to the inspection path according to the inspection task, and generate the inspection report;
  • the motion module is used to control the inspection robot to move according to the inspection path and the inspection object so that the inspection module completes the corresponding inspection
  • the detection module is configured to perform detection according to the inspection object and the inspection index and feed back the detection result to the control module to generate the inspection report.
  • control module is further configured to, when multiple inspection tasks are acquired at the same time, based on the inspection path, execution time information, and execution time of the multiple inspection tasks.
  • the inspection level determines the order in which the inspection tasks are executed.
  • control module is specifically configured to obtain the current inspection task including the inspection object and the inspection index again within a preset time interval, Generate the inspection report of the current inspection task based on the inspection report generated by the inspection object.
  • control module is specifically configured to generate the inspection report when the current inspection task is completed, or to interrupt the current inspection by the inspection robot due to insufficient power.
  • the inspection report is generated during the task.
  • control module is specifically configured to generate a detection result fed back after the detection module completes detection of any inspection index of any inspection object. Inspection report.
  • a patrol inspection system wherein the patrol inspection system includes:
  • the task management module is used to generate inspection tasks including inspection paths, inspection objects and inspection indicators based on the inspection plan set by the user;
  • the inspection robot described in the first aspect is used to perform the inspection task and generate an inspection report
  • the processing module is configured to determine the alarm level based on the indicator parameter of the patrol indicator in the patrol inspection report and the alarm threshold interval corresponding to the patrol indicator in the patrol report, and perform an alarm based on the alarm level.
  • the processing module is specifically configured to, when it is determined that the number of inspection indicators included in the inspection report is 1, based on the indicator parameters of the inspection indicators The alarm level of the inspection report is determined in the alarm threshold interval corresponding to the inspection index.
  • the processing module is specifically configured to, when it is determined that the number of inspection indicators included in the inspection report is greater than 1, based on the index parameters in each inspection index The alarm threshold interval corresponding to the inspection index determines the alarm level of the inspection report.
  • an inspection method wherein the inspection method is executed by an inspection robot, and the method includes:
  • inspection tasks including inspection paths, inspection objects, and inspection indicators
  • a patrol inspection method wherein the patrol inspection method is executed by a patrol inspection system, and the method includes:
  • patrol tasks including patrol paths, patrol objects and patrol indicators
  • the alarm level is determined based on the indicator parameter of the patrol indicator in the patrol inspection report and the alarm threshold interval corresponding to the patrol indicator in the patrol report, and an alarm is performed based on the alarm level.
  • a computer-readable storage medium having a computer program stored thereon, wherein the program implements the method steps described in the third aspect or the fourth aspect when the program is executed by a processor.
  • an electronic device which includes: one or more processors; a storage device, configured to store one or more programs, when the one or more programs are used by the one or more When executed by multiple processors, the one or more processors implement the method steps described in the third aspect or the fourth aspect.
  • the task management module, the inspection robot, and the processing module are used to realize automatic inspection, which improves the efficiency and accuracy of the inspection.
  • Fig. 1 is a schematic structural diagram of a patrol inspection system according to an exemplary embodiment
  • Fig. 2 is a schematic structural diagram of a patrol robot according to an exemplary embodiment
  • FIG. 3 is a schematic diagram of the positions of inspection objects of multiple inspection tasks according to an embodiment of the present disclosure
  • Fig. 4 is a schematic flowchart of a patrol inspection method according to an exemplary embodiment
  • Fig. 5 is a schematic flowchart of a patrol inspection method according to another exemplary embodiment
  • Fig. 6 is a schematic flowchart of a patrol inspection method according to still another exemplary embodiment
  • Fig. 7 is a schematic structural diagram showing an electronic device according to an exemplary embodiment.
  • Fig. 1 is a schematic structural diagram of a patrol inspection system according to an exemplary embodiment.
  • the inspection system 100 includes: a task management module 110, an inspection robot 120 and a processing module 130.
  • the task management module 110 is configured to generate a patrol task including a patrol path, a patrol object, and a patrol indicator based on a patrol plan set by a user.
  • the task management module 110 can be set in the inspection robot 120 or in a background server.
  • the inspection robot 120 and the task management module 110 can be connected in a wireless or wired manner.
  • the task management module 110 is set in the inspection robot 120.
  • the inspection robot 120 When the inspection robot 120 is inside, it can be wiredly connected with the inspection robot 120 to transmit inspection tasks.
  • the task management module 110 is not provided in the inspection robot 120, it can be wirelessly connected with the inspection robot 120 to transmit inspection tasks.
  • the task management module 110 is provided with an interface for the user to fill in the inspection plan, and after the user's inspection plan is obtained, the inspection task is generated.
  • the inspection task may include: inspection path, inspection object, and inspection index, but the present disclosure is not limited thereto.
  • the inspection task may also include inspection level and execution time information.
  • the inspection plan may be the inspection index and inspection time for at least one inspection object.
  • the task management module 110 can generate the inspection target based on the inspection time of each inspection object.
  • the inspection level of the inspection task For example, for a regular inspection plan filled by a user, a batch of inspection tasks with a non-urgent inspection level can be generated, and a real-time inspection plan filled by a user can be generated with an emergency inspection task.
  • each inspection task may include at least one inspection index for at least one inspection object.
  • the inspection indicators include: equipment indicators and/or environmental indicators.
  • the equipment index may refer to the status parameters of the switches, indicator lights, and pointers of a certain device on a certain cabinet (inspection object).
  • Environmental indicators can refer to the state parameters of temperature, humidity, noise, dust, smoke, and special gases (methane, oxygen, carbon monoxide, hydrogen sulfide, hydrogen, etc.) near a certain cabinet (inspection object).
  • the inspection robot 120 is used to perform the inspection task and generate an inspection report.
  • the inspection robot may generate a inspection report after each inspection index in the inspection task is executed, thereby generating a inspection report based on one inspection index in the inspection task.
  • a patrol report is generated after all or multiple patrol indicators in the patrol task are executed, thereby generating a patrol report based on all or more patrol indicators in the patrol task.
  • the inspection robot 120 after the inspection robot 120 generates the inspection report, it uploads the inspection report, and determines whether the inspection task is completed, and if not, executes the next inspection in the inspection report index.
  • the processing module 130 is configured to determine the alarm level based on the indicator parameter of the patrol indicator in the patrol inspection report and the alarm threshold interval corresponding to the patrol indicator in the patrol report, and based on the alarm level Carry out an alert. It should be pointed out that the connection manner between the inspection robot 120 and the processing module 130 is similar to the connection manner between the inspection robot 120 and the task management module 110, and the processing module can be set in the inspection robot 120 or in the background server.
  • the processing module 130 stores preset alarm threshold intervals for each inspection index.
  • equipment including cabinets, power cabinets, air-conditioning cabinets, servers, hard disks, etc.
  • switches including switches, pointers and other indicators of the alarm threshold range, such as the environment (a cabinet or equipment near the temperature, humidity, noise, dust, etc.)
  • the alarm threshold range of indicators such as smoke and special gases (methane, oxygen, carbon monoxide, hydrogen sulfide, hydrogen, etc.).
  • the alarm threshold interval corresponding to each indicator may include a first alarm threshold interval, a second alarm threshold interval, and a third alarm threshold interval.
  • the processing module 130 compares the inspection report with the alarm threshold interval corresponding to the indicator parameter in the inspection report to determine the The alarm level of the inspection report.
  • the processing module 130 is specifically configured to, when it is determined that the number of inspection indicators included in the inspection report is 1, the index parameter based on the inspection index is in the corresponding inspection index.
  • the alarm threshold interval determines the alarm level of the inspection report.
  • the processing module 130 compares the index parameter in the inspection report with each alarm threshold interval corresponding to the inspection index. An alarm threshold interval, determining that the alarm level of the inspection indicator is a critical alarm; if the indicator parameter is within the second alarm threshold interval of the inspection indicator, determining that the alarm level of the inspection indicator is a normal alarm; if The indicator parameter is in the third alarm threshold interval of the inspection indicator, and it is determined that the alarm level of the inspection indicator is no alarm.
  • the processing module 130 determines that the inspection report generated by the inspection robot 120 contains the inspection index near the temperature of a certain device, and the number of inspection indexes is 1, the first alarm threshold interval of the inspection index is: greater than or equal to 50 Celsius, less than 100 degrees Celsius, the second alarm threshold interval is: greater than or equal to 30 degrees Celsius and less than 50 degrees Celsius, and the third alarm threshold interval is: greater than or equal to 0 degrees Celsius and less than 30 degrees Celsius. If the temperature in the inspection report is 50 degrees Celsius, the temperature alarm level is determined to be critical. If the temperature in the inspection report is 40 degrees Celsius, the temperature alarm level is determined to be a normal alarm. If the temperature in the inspection report is 15 degrees Celsius, the alarm level of the temperature is determined to be no alarm.
  • the processing module 130 is specifically configured to, when it is determined that the number of inspection indicators contained in the inspection report is greater than 1, based on the index parameters of each inspection indicator being in the corresponding inspection index
  • the alarm threshold interval determines the alarm level, which can include but is not limited to:
  • the processing module 130 determines that the inspection report generated by the inspection robot 120 contains the two inspection indicators of temperature and humidity near a certain device, the number of inspection indicators is 2, where the alarm level corresponding to the temperature is a normal alarm, The alarm level corresponding to the humidity is a critical alarm, and according to the highest level, the alarm level of the inspection report is a critical alarm.
  • the processing module 130 determines that the inspection report generated by the inspection robot 120 contains the two inspection indicators of temperature and humidity near a certain device, the number of inspection indicators is 2, where the alarm level corresponding to the temperature is a normal alarm, The alarm level corresponding to the humidity is a normal alarm, and the alarm level of the inspection report is determined as a normal alarm according to the alarm level with the largest number of the same alarm levels.
  • the processing module 130 determines that the inspection report generated by the inspection robot 120 contains the two inspection indicators of temperature and humidity near a certain device, the number of inspection indicators is 2, where the alarm level corresponding to the temperature is a normal alarm, The alarm level corresponding to the humidity is a normal alarm. If the specified inspection index is temperature, the alarm level of the inspection report is determined to be a normal alarm.
  • the processing module 130 may perform an alarm based on the alarm level. If the alarm level is a critical alarm, the alarm information will be sent to the pre-stored user account in real time; if the alarm level is a normal alarm, after each inspection indicator in the inspection task to which the inspection indicator belongs is completed, it will be sent to The pre-stored user account sends alarm information; if the alarm level is no alarm, save the inspection report.
  • the pre-stored user account may include the user's mobile communication account, email account, instant messaging account, and so on.
  • the processing module 130 can save the inspection report for further analysis of each device. For example, the processing module 130 may compare the previously saved inspection reports with algorithms based on the inspection report uploaded by the inspection robot to determine whether there is a new device on the shelf or the old device is off the shelf and whether there is a device that has undergone a location change. If the above conditions exist, a confirmation message will be sent to the preset user account for confirmation.
  • the task management module, the inspection robot, and the processing module are used to realize automatic inspection, which improves the efficiency and accuracy of the inspection.
  • the inspection robot 120 in the embodiments of the present disclosure will be described in detail below in conjunction with specific embodiments.
  • the patrol robot 120 may include, but is not limited to: a communication module 1210, a control module 1220, a motion module 1230, and a detection module 1240.
  • the communication module 1210 is configured to obtain a patrol task including a patrol path, a patrol object, and a patrol indicator, and transmit a patrol inspection report generated after the patrol is executed according to the patrol task.
  • a wired/wireless connection can be made with the task management module 110 through the communication module 1210 to obtain inspection tasks.
  • the communication module 110 can also be wired/wirelessly connected with the processing module 130 to transmit the inspection report generated after the inspection is performed according to the inspection task to the processing module 130.
  • control module 130 is configured to control the movement module and the detection module to detect the inspection index of the inspection object according to the inspection path according to the inspection task, and generate the inspection report.
  • the inspection task may include: inspection path, inspection object, and inspection index, but this disclosure is not limited to this.
  • the inspection task may also include inspection level and execution time information.
  • Each inspection task may include at least one inspection index for at least one inspection object.
  • control module 1220 may generate a patrol report after each patrol indicator in the patrol task is executed, or generate a patrol report every time all or more of the patrol indicators in the patrol task are executed. Inspection report. When each inspection report is generated, the inspection report is uploaded, and the inspection task is judged whether the inspection task is completed, if not, the next inspection index in the inspection report is executed.
  • control module 1220 is further configured to, when multiple inspection tasks are acquired at the same time, determine to execute the inspection based on the inspection path, execution time information, and inspection level of the multiple inspection tasks. The sequence of tasks.
  • FIG. 3 is a schematic diagram of the positions of inspection objects of multiple inspection tasks according to an embodiment of the present disclosure.
  • inspection tasks there are 3 inspection tasks, which are inspection tasks 1-3, and inspection task 2 corresponds to The inspection object of is located between the inspection objects corresponding to inspection tasks 1 and 3, the inspection object corresponding to its inspection task 1 is located near the starting position of the inspection robot, and the inspection object of inspection task 3 is compared with Say far away from the starting position of the inspection robot. If the execution time of patrol tasks 1-3 is patrol task 1 earlier than patrol task 2 and earlier than patrol task 3, and the patrol level is non-urgent, then the order of patrol tasks can be determined as patrol task 1—Inspection task 2—Inspection task 3.
  • control module 1220 is specifically configured to obtain the current inspection task including the inspection object and the inspection index again within a preset time interval, based on the inspection object's own
  • the generated inspection report generates the inspection report of the current inspection task.
  • control module 1220 is specifically configured to obtain the current inspection task including the inspection object and the inspection index again within a preset time interval, based on the inspection object's own
  • the generated inspection report generates the inspection report of the current inspection task.
  • the inspection task B contains the inspection indicators of the inspection objects included in the inspection task A, then According to the inspection report of the inspection index of the inspection object included in the inspection task A, the inspection report of the inspection index of the inspection object in the inspection task B is generated.
  • control module 1220 is specifically configured to generate the inspection report when the current inspection task is completed, or generate the inspection report when the current inspection task is interrupted by the inspection robot due to insufficient power.
  • the present disclosure is not limited to this, and the control module 1220 is specifically configured to generate a patrol inspection report after receiving the detection result fed back by the detection module after detecting any patrol indicator of any patrol object.
  • control module 1220 may also be used to monitor the power of the inspection robot 120. When the power is insufficient or it is predicted that the current power cannot complete the detection of the next patrol indicator, the current patrol is completed. After the indicator is detected, the current inspection task is interrupted, an inspection report is generated, and the inspection robot is controlled to return to the charging pile for charging.
  • the inspection tasks can still be acquired through the communication module 1210, and the control module 1220 determines all inspection tasks based on the newly acquired inspection tasks and uncompleted inspection tasks.
  • the order of the execution of the inspection task so as to control the inspection robot to continue to perform the inspection task in the order after the charging is completed, or, during the charging process, if the control module 1220 determines that the current battery can complete the emergency inspection task, it controls the inspection
  • the inspection robot 120 executes the inspection task, and after executing the inspection task, generates an inspection report of the inspection task, and returns to the charging pile to continue charging.
  • the motion module 1230 is configured to control the inspection robot to move according to the inspection path and the inspection object, so that the inspection module completes the corresponding inspection.
  • the movement module 1230 may control movement based on the control module 1220, for example, control the inspection robot to move according to the inspection path and the inspection object so that the detection module completes the corresponding detection. For example, follow the charging instructions of the control module and the charging path to return to the charging pile for charging.
  • the detection module 1240 is configured to perform detection according to the inspection object and the inspection index and feed back the detection result to the control module to generate the inspection report.
  • the detection module 1240 may include hardware modules corresponding to inspection indicators, for example, a high-definition camera that inspects switches, indicators, and pointers of a certain device, a temperature sensor that inspects temperature, and Humidity sensor, etc. for patrol inspection of humidity.
  • inspection indicators for example, a high-definition camera that inspects switches, indicators, and pointers of a certain device, a temperature sensor that inspects temperature, and Humidity sensor, etc. for patrol inspection of humidity.
  • the inspection module 1240 detects the inspection index
  • the inspection structure is fed back to the control module 1220.
  • the control module 1220 generates the inspection report, it is uploaded to the processing module 130 through the communication module 1210.
  • the inspection robot realizes automatic inspection through the communication module, the control module, the motion module, and the detection module, which improves the efficiency and accuracy of the inspection.
  • Fig. 4 is a schematic flow chart showing the inspection method according to an exemplary embodiment. The method is executed by the inspection robot 120. As shown in Fig. 4, the method may include but is not limited to:
  • a patrol task including a patrol path, a patrol object, and a patrol index is acquired.
  • this step is executed by the communication module.
  • the inspection robot is controlled to move according to the inspection path and the inspection object.
  • an inspection report is generated based on the detection result.
  • the inspection report is transmitted.
  • this step is executed by the communication module.
  • a patrol task including a patrol path, a patrol object, and a patrol indicator is acquired; the patrol robot is controlled to move according to the patrol path and the patrol object; and the patrol robot is controlled to move according to the patrol path and the patrol object.
  • the inspection object and the inspection index are tested, and the inspection result is obtained; the inspection report is generated based on the inspection result; the inspection report is transmitted. Automatic inspection is realized, and the efficiency and accuracy of inspection are improved.
  • Fig. 5 is a schematic flowchart of a patrol inspection method according to another exemplary embodiment. The method is executed by a patrol inspection system. As shown in Fig. 5, the method may include but is not limited to:
  • a patrol task including a patrol path, a patrol object, and a patrol indicator is generated based on the patrol plan set by the user.
  • this step can be executed by the task management module.
  • the inspection robot is used to perform the inspection task and generate an inspection report.
  • an alarm level is determined based on the indicator parameter of the patrol indicator in the patrol inspection report and the alarm threshold interval corresponding to the patrol indicator in the patrol report, and an alarm is performed based on the alarm level.
  • a patrol task including a patrol path, a patrol object, and a patrol index is generated based on the patrol plan set by the user; the patrol robot is used to execute the patrol task and generate a patrol report; The indicator parameter of the patrol indicator in the patrol inspection report and the alarm threshold interval corresponding to the patrol indicator in the patrol report determine the alarm level, and an alarm is performed based on the alarm level. Automatic inspection is realized, and the efficiency and accuracy of inspection are improved.
  • the following describes in detail the inspection method proposed in the embodiment of the present disclosure by taking as an example the generation of a inspection report every time a inspection indicator is detected in conjunction with specific application scenarios.
  • Fig. 6 is a schematic flowchart of a patrol inspection method according to still another exemplary embodiment. This method can be executed by the inspection system.
  • the method may include but is not limited to the following processes:
  • a patrol task including a patrol path, a patrol object, and a patrol indicator is generated.
  • S607 Send alarm information to the pre-stored user account.
  • S608 Determine whether the inspection object is changed based on the saved inspection report.
  • the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist alone without being assembled into the device.
  • the above-mentioned computer-readable medium carries one or more programs.
  • the device can execute: obtain inspection tasks including inspection paths, inspection objects, and inspection indicators Control the inspection robot to move according to the inspection path and the inspection object; perform detection according to the inspection object and the inspection index, and obtain the detection result; generate the inspection based on the detection result Report; transmit the inspection report.
  • Fig. 7 is a schematic structural diagram showing an electronic device according to an exemplary embodiment. It should be noted that the electronic device shown in FIG. 7 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present application.
  • the computer system 700 includes a central processing unit (CPU) 701, which can be based on a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 into a random access memory (RAM) 703 And perform various appropriate actions and processing.
  • ROM read-only memory
  • RAM random access memory
  • various programs and data required for the operation of the system 700 are also stored.
  • the CPU 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704.
  • An input/output (I/O) interface 705 is also connected to the bus 704.
  • the following components are connected to the I/O interface 705: an input part 606 including a keyboard, a mouse, etc.; an output part 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part 708 including a hard disk, etc. ; And a communication section 709 including a network interface card such as a LAN card, a modem, and the like. The communication section 709 performs communication processing via a network such as the Internet.
  • the drive 710 is also connected to the I/O interface 705 as needed.
  • a removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that the computer program read therefrom is installed into the storage part 608 as needed.
  • an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from the network through the communication part 709, and/or installed from the removable medium 711.
  • CPU central processing unit
  • the computer-readable medium shown in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable removable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more for realizing the specified logic function.
  • Executable instructions may also occur in a different order from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by It is realized by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments described in the present application can be implemented in software or hardware.
  • the described unit can also be provided in the processor, for example, it can be described as: a processor includes a communication module, a control module, a motion module, and a detection module. Among them, the names of these modules do not constitute a limitation on the module itself under certain circumstances.

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  • Engineering & Computer Science (AREA)
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  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un robot d'inspection (120), un système d'inspection (100) et un procédé d'inspection. Le robot d'inspection (120) comprend : un module de communication (1210) conçu pour obtenir une tâche d'inspection comprenant un trajet d'inspection, un objet d'inspection, et un indicateur d'inspection, et transmettre un rapport d'inspection généré après la réalisation d'une inspection selon la tâche d'inspection ; un module de commande (1220) conçu pour commander un module de mouvement (1230) et un module d'inspection (1240) selon la tâche d'inspection pour inspecter l'indicateur d'inspection de l'objet d'inspection selon le trajet d'inspection, et générer un rapport d'inspection ; le module de mouvement (1230) conçu pour commander, en fonction du trajet d'inspection et de l'objet d'inspection, le robot d'inspection (120) de sorte que le module d'inspection (1240) achève l'inspection correspondante ; et le module d'inspection (1240) conçu pour effectuer l'inspection selon l'objet d'inspection et l'indicateur d'inspection, et renvoyer le résultat d'inspection au module de commande (1220) pour générer le rapport d'inspection. Une inspection automatique est mise en œuvre, ce qui permet d'améliorer l'efficacité et la précision d'inspection.
PCT/CN2020/106339 2019-09-05 2020-07-31 Robot d'inspection, système d'inspection et procédé d'inspection WO2021042924A1 (fr)

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CN201910838341.9 2019-09-05
CN201910838341.9A CN112446976B (zh) 2019-09-05 2019-09-05 巡检机器人、巡检系统、巡检方法

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CN114187676A (zh) * 2021-12-02 2022-03-15 智慧起源机器人(苏州)有限公司 一种巡检方法、装置、设备、系统和存储介质
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CN117637136A (zh) * 2023-12-22 2024-03-01 南京天溯自动化控制系统有限公司 一种机器人自动巡检医疗设备的方法和装置

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