WO2024093420A1 - Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot - Google Patents

Abstract

A patrol method and apparatus for cooperative operation of an unmanned aerial vehicle and a ground patrol robot. The method comprises: on the basis of position information of devices in a plant area and environmental elements of the plant area, determining an overhead patrol path and a ground patrol path (step 11); receiving first target information of a target device acquired by an unmanned aerial vehicle on the basis of the overhead patrol path, and receiving second target information of the target device acquired by a ground patrol robot on the basis of the ground patrol path (step 12); on the basis of the first target information and the second target information, acquiring operation state information of the target device (step 13); and on the basis of the operation state information and preset reference information, determining an operation state of the target device (step 14).

Description

A patrol inspection method and device for coordinated operation of an unmanned aerial vehicle and a ground patrol inspection robot

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 202211377665.5 filed in China on November 4, 2022, the entire contents of which are incorporated herein by reference.

Technical Field

The present application relates to intelligent inspection technology, and in particular to an inspection method and device for collaborative operation of an unmanned aerial vehicle and a ground inspection robot.

Background technique

As one of the important tasks to ensure factory safety, factory inspection plays an important role in promoting production safety and protecting the life and health of personnel. At present, factory inspections in many industries are carried out by drone inspections. Drone inspections have the advantages of high-altitude bird's-eye view, large monitoring range, and fast response. However, there are still monitoring blind spots for inspection tasks close to the ground and hidden under the equipment, which have limited vision and cannot achieve full coverage of the factory inspection range.

Summary of the invention

The embodiments of the present application provide a drone inspection method, device, equipment and medium for workshop safety measures, which can solve the problem that the inspection method of the related technology cannot effectively perceive the safe operation status of equipment in the factory due to the existence of monitoring blind spots when detecting the implementation status of workshop safety operation measures.

In order to solve the above technical problems, this application is implemented as follows:

In a first aspect, an embodiment of the present application provides an inspection method for collaborative operation of a drone and a ground inspection robot, the method comprising:

Determine an aerial inspection route and a ground inspection route based on location information of equipment within the plant and environmental factors of the plant;

Receiving first target information of a target device acquired by a drone based on the aerial inspection path, and receiving second target information of the target device acquired by a ground inspection robot based on the ground inspection path;

Based on the first target information and the second target information, acquiring the operating status information of the target device;

Based on the operating status information and preset reference information, the operating status of the target device is determined.

In a second aspect, an embodiment of the present application provides an inspection device for collaborative operation of a drone and a ground inspection robot, the device comprising:

A path determination module, used to determine an aerial inspection path and a ground inspection path based on location information of equipment in the factory area and environmental factors of the factory area;

An information receiving module, used to receive first target information of a target device acquired by a drone based on the aerial inspection path, and used to receive second target information of the target device acquired by a ground inspection robot based on the ground inspection path;

An information acquisition module, configured to acquire the operating status information of the target device based on the first target information and the second target information;

The state determination module is used to determine the operation state of the target device based on the operation state information and preset reference information.

In an embodiment of the present application, the aerial inspection path of the UAV and the ground inspection path of the ground inspection robot are first determined based on the equipment layout position in the factory area and the environmental factors of the factory area. Then the UAV performs inspection operations according to the aerial inspection path, and the ground inspection robot performs inspection operations according to the ground inspection path. During the inspection operation, the UAV and the ground inspection robot work together to obtain the first target information and the second target information of the target device respectively, and through the analysis and processing of the first target information and the second target information, the operating status information of the target device can be obtained. In this way, by analyzing and processing the operating status information and the preset reference information, the actual operating status of the target device can be more accurately determined. By determining the operating status of the target device through the collaborative inspection of the UAV and the ground inspection robot, the blind spots of equipment safety monitoring in the factory area can be effectively reduced, the real-time operating status of the equipment in the factory area can be effectively collected, and the effective perception of the safe operating status of the equipment can be achieved, reducing the possibility of safety accidents caused by equipment safety problems in the factory area.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solution of the embodiment of the present application, the following briefly introduces the drawings required for use in the description of the embodiment of the present application. Obviously, the drawings described below are only These are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

FIG1 is a flow chart of an inspection method for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application;

FIG2 is a schematic diagram of the structure of an inspection device for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application;

FIG3 is a schematic diagram of the structure of an inspection system in which a UAV and a ground inspection robot work together, provided in another embodiment of the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.

The following, in conjunction with the accompanying drawings, describes in detail the drone inspection method for workshop safety measures provided by the embodiment of the present application through specific embodiments and their application scenarios.

Please refer to FIG. 1 , which is a flow chart of an inspection method for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps:

Step 11: Determine an aerial inspection path and a ground inspection path based on the location information of the equipment in the factory and the environmental factors of the factory.

In this step, based on the location information of the equipment in the plant and the environmental factors of the plant, determine The aerial inspection route of the drone inspection and the ground inspection route of the ground inspection robot can be determined based on the two basic elements of the equipment location information and the environmental factors of the factory area. The specific explanation is as follows: the location information of the equipment in the factory area can be the location layout of each equipment in the factory area. Taking the relevant industrial area for the preparation of polysilicon as an example, the factory area has multiple functional areas such as the spherical tank area, distillation tower area, and purification area. The equipment in the spherical tank area is a large-scale equipment. The central position of the equipment in the spherical tank plant can be used as the waypoint in the drone inspection route. The drone’s aerial inspection route can also be set to conduct a circumferential inspection of each equipment in the spherical tank area, and the optimal path for the equipment around the tank area can be determined according to the principle of efficiency. The environmental factors of the above-mentioned factory area, that is, when determining the aerial inspection path and the ground inspection path, the existing things in the factory area that will affect the determination of the safety status of the equipment, or the things that will hinder the inspection tasks, or obstacle areas, etc., taking into account the location information and environmental factors of the above equipment, the most efficient and reasonable aerial inspection path and ground inspection path can be determined, which saves resources and is conducive to the collaborative operation of drones and ground inspection robots to conduct all-round inspections of the factory area.

It should be noted that the above-mentioned aerial inspection elements can be set with reference to the relevant elements of the layout of the existing monitoring camera system in the workshop. At the same time, the above-mentioned ground inspection path can also be set with reference to the relevant elements of manual inspection in the workshop, or with reference to the monitoring elements of the existing monitoring camera. For example, the inspection elements of manual inspection include: circumferential inspection of large equipment in the factory area, monitoring according to the layout direction of the pipeline, manual tower climbing monitoring, and detection of the bottom of tank-type equipment. The ground inspection path of the ground inspection robot can be set with reference to the above-mentioned manual inspection elements. The layout of the monitoring system in the factory area can be set according to the monitoring angle, field of view and different types of monitoring objects of the monitoring system. The aerial inspection route of the above-mentioned drone can be set with reference to the layout elements of the monitoring system. In this way, by referring to the existing inspection elements, a reasonable and efficient inspection route can be set for the existing equipment layout in the factory area, the actual situation in the factory area can be intelligently analyzed and judged, and special inspection elements that may exist can be set to improve the inspection efficiency.

Step 12: Receive first target information of the target device acquired by the UAV based on the aerial inspection path, and receive second target information of the target device acquired by the ground inspection robot based on the ground inspection path.

In one embodiment of the present application, when the drone performs the inspection task according to the aerial inspection path, it collects the equipment information along the aerial inspection path, and when the ground inspection robot performs the inspection task according to the ground inspection path, it collects the equipment information along the aerial inspection path. When performing inspection tasks, collect equipment information along the ground inspection path. The target device can be any device along the aerial inspection path and the ground inspection path, or it can be a device that may have operational safety issues. The above-mentioned first target information can be collected by intelligent devices that can effectively collect equipment information, such as thermal imaging cameras, temperature sensors, humidity sensors, gas sensors, pressure sensors, current sensors, high-definition cameras, etc., mounted on the UAV platform. The above-mentioned second target information can also be collected by intelligent devices that can effectively collect equipment information, such as thermal imaging cameras, temperature sensors, humidity sensors, gas sensors, pressure sensors, current sensors, high-definition cameras, etc., mounted on ground inspection robots.

Step 13: Based on the first target information and the second target information, obtain the operating status information of the target device.

In an embodiment of the present application, the operating status information of the target device is obtained based on the first target information and the second target information. The first target information and the second target information of the target device can be the same type of information obtained by the same type of information collection equipment carried by the drone and the ground inspection robot. For example, both the drone and the ground inspection robot are equipped with thermal imaging cameras. The first target information obtained by the drone is a thermal imaging photo of the target device, and the second target information obtained by the ground inspection robot can also be a thermal imaging photo of the target device. In addition, the first target information and the second target information of the target device can also be information collected by different types of information collection equipment. For example, the first target information can be obtained by the gas sensor carried by the drone to obtain the gas concentration information around the target device, and the second target information can be obtained by the pressure sensor carried by the ground inspection robot to obtain the pressure information of the target device.

It should be noted that when the first target information and the second target information belong to the same type of information, the first target information and the second target information are combined, or the first target information is used as the main information and the second target information is used as the auxiliary information to verify the first target information. The operating status information of the target device can be obtained through the first target information and the second target information of the same type. When the first target information and the second target information do not belong to the same type of information, for example, the first target information monitors the actual operating status of the target device from the aspect of the device temperature, and the second target information monitors the actual operating status of the target device from the aspect of the gas concentration around the device. Therefore, the operating status information of the target device determined based on the first target information and the second target information is more accurate, can detect the actual situation of the target device from multiple angles, reduce contingency, and adopt cooperative monitoring of drones and ground inspection robots for various operating problems that may occur in the target device, effectively realizing the abnormal perception of the safety status of the equipment in the factory area.

Specifically, the operating status information of the above-mentioned target device may be trend information related to the first target information or the second target information during the operation of the device. For example, both the first target information and the second target information are thermal imaging pictures obtained of the target device, and the thermal imaging pictures can represent the temperature information of the target device. Therefore, the operating status information of the above-mentioned target device may be the operating temperature information of the target device during the operation process, which may be a temperature development trend chart, a temperature data table, etc.

Step 14: Determine the operating status of the target device based on the operating status information and preset reference information.

In this step, the actual operating state of the target device is determined by the operating state information of the target device and the preset reference information. The operating state information and the preset reference information can be compared, and when there is a large difference in the comparison results, the operating state of the target device can be determined to be abnormal. Alternatively, the preset reference information can be used as a threshold, and when there is a value in the operating state information that is greater than or less than the preset reference information, the operating state of the target device can be determined to be abnormal.

Exemplarily, the operating status information of the target device may be a temperature change trend graph of the target device during operation, and the preset reference information may be a more specific temperature value. When the temperature at a certain moment in the temperature change trend graph is greater than or less than the preset reference information, it indicates that the operating temperature of the target device is abnormal, and the operating status of the target device is abnormal. In addition, the preset reference information may also be a temperature change trend graph of the target device under normal operating conditions. By comparing the above operating status information with the temperature change trend graph of the target device under normal operating conditions, it is possible to determine whether the target device has an abnormality during operation, thereby determining the actual operating status of the target device.

It is worth mentioning that this application can be applied to production plants and assembly plants of various enterprises, as well as to production and assembly workshops. Its application scope can cover the entire business domain including production, construction, processing, assembly, warehousing, etc. This application can be applied according to the actual scenario needs.

Optionally, the acquiring of an aerial inspection path and a ground inspection path based on location information of equipment in the factory and environmental factors of the factory includes:

Obtaining location information of each device in the factory area;

Receiving the aerial environmental elements of the factory area acquired by the drone and the ground environmental elements of the factory area acquired by the ground inspection robot;

Based on the location information of each device and the aerial environmental elements, determine the aerial inspection path of the drone, and based on the location information of each device and the ground environmental elements, Determine a ground inspection path of the ground inspection robot.

In a specific embodiment of the present application, the location information of each device in the factory can be obtained by using a sensor component, or the location information of the equipment in the factory can be obtained manually. Since the location information of the equipment to be obtained is different for different workshop types, the location information of each of the above-mentioned devices can be two-dimensional location information of the equipment in the workshop, or three-dimensional location information, and the location information of each device is set to correspond to an information collection point in the inspection route, and information can be collected for each device in the inspection route. The above-mentioned aerial environmental factors and ground environmental factors have been explained in the aforementioned embodiments, and will not be repeated here to avoid repetition. In this way, some difficult-to-detect equipment will not be missed, the possibility of missing equipment in abnormal conditions can be reduced, the workshop equipment can be effectively managed and controlled, and the occurrence of workshop accidents can be reduced.

Optionally, the receiving UAV acquires the first target information of the target device based on the aerial inspection path, including at least one of the following:

In a case where the first target information includes temperature information of the target device, receiving the temperature information of the target device acquired by the drone based on the aerial inspection path, where the temperature information is determined based on information collected by an infrared sensor carried by the drone for the target device;

In a case where the first target information includes image information of a target device, receiving image information of the target device acquired by the drone based on the aerial inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the drone for the target device;

In a case where the first target information includes environmental humidity information of a target device, receiving environmental humidity information of the target device acquired by the drone based on the aerial inspection path, the environmental humidity information being determined based on information collected by a humidity sensor carried by the drone for the target device;

In a case where the first target information includes local current information of the target device, receiving the local current information of the target device acquired by the drone based on the aerial inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the drone for the target device;

In the case where the first target information includes pressure information of the target device, receiving the pressure information of the target device acquired by the drone based on the aerial inspection path, wherein the pressure information is Determined based on information collected by the pressure sensor carried by the drone for the target device;

In the case where the first target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the drone based on the aerial inspection path is received, and the gas concentration information is determined based on information collected by a gas sensor carried by the drone for the target device.

In another specific embodiment of the present application, a variety of intelligent sensors can be mounted on the flight platform of the drone. The mounted intelligent sensors can be sensors related to stereoscopic vision, laser radar, integrated navigation, etc., which can collect information about equipment in the factory area and realize autonomous positioning, perception control, etc. of the drone. The above embodiment specifically describes that the drone can obtain temperature information of equipment in the factory area through infrared sensors, image information obtained by visualization cameras, humidity information obtained by humidity sensors, current information obtained by current sensors, pressure information obtained by pressure sensors, gas concentration information obtained by gas sensors, etc.

It should be noted that the above is not a complete list. Different smart sensors can be selected according to the operation mode, reaction mode, operation process, etc. of the equipment in the factory area, and different types of data information can be collected for the target equipment. It is also possible to obtain radar information of the target equipment by carrying a laser radar, and it is also possible to carry a monitoring system to achieve real-time monitoring of equipment and personnel in the factory area. By carrying smart sensors on the drone platform, the real-time monitoring of the equipment in the factory area and the real-time grasp of the operating status of the equipment in the factory area can be achieved, and the equipment can be dispatched and controlled in time, which is convenient for human intervention and control of the equipment in the factory area, and the overall adjustment of the aerial inspection tasks can be achieved.

It is worth mentioning that the video monitoring system can be installed on the drone platform, which can transmit the picture to the terminal in real time, reducing the possibility of blind spots in monitoring. At the same time, the drone can be quickly deployed and enter the waiting state, which can basically achieve full coverage of the monitoring of the equipment operation status in the factory. For example, in the high-risk factory area where chemical products are prepared, the video monitoring system installed on the drone platform can exempt the operators from the task of patrolling the high-risk areas, and carry out intelligent production management, dual-track production control and optimization, unmanned and less-manned on-site operations to ensure the safety of the operators. The drone can also monitor the tanks, pipelines, structural parts and other equipment or equipment components and structures through the optical zoom of the camera without flying into the dangerous area.

Optionally, the receiving of second target information of the target device acquired by the ground inspection robot based on the ground inspection path includes at least one of the following:

In a case where the second target information includes temperature information of the target device, receiving temperature information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the temperature information is determined based on information collected by an infrared sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes image information of the target device, receiving image information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the ground inspection robot for the target device;

In the case where the second target information includes environmental humidity information of the target device, receiving the environmental humidity information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the environmental humidity information is determined based on information collected by a humidity sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes local current information of the target device, receiving the local current information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes pressure information of a target device, receiving pressure information of the target device acquired by the ground inspection robot based on the ground inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the ground inspection robot for the target device;

When the second target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the ground inspection robot based on the ground inspection path is received, and the gas concentration information is determined based on information collected by the gas sensor carried by the ground inspection robot for the target device.

In another specific embodiment of the present application, a variety of intelligent sensors can be installed on the ground inspection robot platform. The intelligent sensors installed can be sensors related to stereo vision, laser radar, integrated navigation, etc., which can collect equipment information in the factory area and realize autonomous positioning, perception control, etc. of the ground inspection robot. The above embodiment specifically describes that the ground inspection robot can obtain temperature information of equipment in the factory area through infrared sensors, image information obtained by visualization cameras, etc. Image information, humidity information obtained by humidity sensors, current information obtained by current sensors, pressure information obtained by pressure sensors, gas concentration information obtained by gas sensors, etc. For example, the ground inspection robot can inspect the safety status of the part of the tank area that falls into the ground. It can use a high-definition camera to obtain image information and transmit the image information to the terminal for visual recognition. It can timely monitor the leakage of the tank area or its affiliated pipelines, and can replace manual drilling to the bottom of the tank area for inspection operations, which is conducive to saving human resource costs and improving inspection efficiency and accuracy.

It is worth mentioning that the above-mentioned ground inspection robot can also be equipped with an industrial visual camera. The camera is installed at the end of the mechanical arm to collect multi-angle images. The ground inspection robot can also be equipped with an explosion-proof mechanical arm. The dexterous mechanical arm can adopt a multi-degree-of-freedom serial mechanical arm, and the end of the mechanical arm can be positioned and controlled by vision, and the high-precision positioning of the ground inspection robot can be realized.

Optionally, acquiring the operating status information of the target device based on the first target information and the second target information includes:

Determine a first operating status trend of the target device based on at least two pieces of the first target information acquired at a preset time interval;

Determine a second operating status trend of the target device based on at least two pieces of the second target information acquired at a preset time interval;

The operating status information of the target device includes the first operating status trend and the second operating status trend; and determining the operating status of the target device based on the operating status information and preset reference information includes:

The first operating status trend and the second operating status trend are compared with the preset reference information to determine the operating status of the target device.

In the above embodiment, the first target information collected by the drone can reflect the operating status of the target device in a certain aspect at a certain time, and the second target information collected by the ground inspection robot can also reflect the operating status of the target device in a certain aspect of a certain event. The first target information and the second target information can reflect the same aspect of information of the target device. For example, the first target information and the second target information both correspond to the temperature information of the target device. Since the time, steps, effects, etc. of the production operations of different equipment in the factory are inconsistent, the first target information and the second target information can be collected during a certain operating time period of the target device, and a certain time interval can be set within the time period. The first target information and the second target information of the target device are collected multiple times. Based on the first target information and the second target information obtained multiple times, the operation trend of the target device within a certain period of time can be obtained. For example, the first target information and the second target information are both temperature information. The temperature of the target device is obtained multiple times within a preset time interval. Based on the temperature change during the operation of the target device, the temperature change trend of the target device can be obtained, thereby reflecting the trend of the operating status of the target device.

Specifically, the operating status information of the target device includes a first operating status trend and a second operating status trend. The terminal analyzes and processes the first operating status trend and the second operating status trend with the preset reference information, and can determine the actual operating status of the target device and handle the device in abnormal status in time. For example, the first operating status trend is the temperature change trend of the target device, and the second operating status trend is the pressure change trend of the target device. The preset reference information can be the temperature change trend, pressure change trend, etc. of the target device under normal operating conditions. The first operating status trend is compared with the preset reference information, the second operating status trend and the preset reference information. If there are differences at the same time, it means that the target device is operating abnormally. If there is only one abnormality, the actual operating status of the target device can be re-inspected by manual re-inspection to improve the accuracy of determining the operating status of the target device.

In this embodiment, the real-time information of the target equipment in the factory area is obtained by the drone and the ground inspection robot respectively, and the message is transmitted to the terminal, so that the information interaction between the terminal and the drone and the ground inspection robot can be realized, and the real-time detection of the factory area can be realized. Through the coverage data network, the drone, the ground inspection robot and the terminal are networked and communicated, so that the terminal can control the high-altitude information of the drone inspection equipment and the ground information of the ground inspection robot inspection equipment. And the first target information and the second target information obtained thereby are processed and analyzed to obtain the operating status information of the target equipment. The terminal can finally determine the operating status of the target equipment by comparing and distinguishing the operating status information of the above-mentioned target equipment with the preset reference information. This embodiment can more accurately determine the actual operating status of the target equipment, realize intelligent analysis and discrimination of the operating status of the equipment in the factory area, identify and decide on the possible abnormal operating status of the equipment, reduce the possibility of abnormal accidents on site, and solve the problems that manual inspection cannot fully cover the factory area, the field of vision is limited, and the potential safety hazards are large.

Please refer to FIG. 2 , which is a flow chart of an inspection method for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application. As shown in FIG. 2 , the device 20 includes:

A path determination module 21, used to determine an aerial inspection path and a ground inspection path based on location information of equipment in the factory area and environmental factors of the factory area;

An information receiving module 22, used to receive first target information of a target device acquired by a drone based on the aerial inspection path, and used to receive second target information of the target device acquired by a ground inspection robot based on the ground inspection path;

An information acquisition module 23, configured to acquire the operating status information of the target device based on the first target information and the second target information;

The state determination module 24 is used to determine the operation state of the target device based on the operation state information and preset reference information.

Optionally, the path determination module 21 may also be used for:

Obtaining location information of each device in the factory area;

Receiving the aerial environmental elements of the factory area acquired by the drone and the ground environmental elements of the factory area acquired by the ground inspection robot;

Based on the location information of each device and the aerial environmental elements, the aerial inspection path of the drone is determined, and based on the location information of each device and the ground environmental elements, the ground inspection path of the ground inspection robot is determined.

Optionally, the information receiving module 22 may also be used for at least one of the following:

In a case where the first target information includes temperature information of the target device, receiving the temperature information of the target device acquired by the drone based on the aerial inspection path, where the temperature information is determined based on information collected by an infrared sensor carried by the drone for the target device;

In a case where the first target information includes image information of a target device, receiving image information of the target device acquired by the drone based on the aerial inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the drone for the target device;

In a case where the first target information includes environmental humidity information of a target device, receiving environmental humidity information of the target device acquired by the drone based on the aerial inspection path, the environmental humidity information being determined based on information collected by a humidity sensor carried by the drone for the target device;

In the case where the first target information includes local current information of the target device, receiving the local current information of the target device acquired by the drone based on the aerial inspection path, wherein the local current information is information collected for the target device based on the current sensor carried by the drone. The information is certain;

In a case where the first target information includes pressure information of a target device, receiving pressure information of the target device acquired by the drone based on the aerial inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the drone for the target device;

In the case where the first target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the drone based on the aerial inspection path is received, and the gas concentration information is determined based on information collected by a gas sensor carried by the drone for the target device.

Optionally, the information receiving module 22 may also be used for at least one of the following:

In a case where the second target information includes temperature information of the target device, receiving temperature information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the temperature information is determined based on information collected by an infrared sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes image information of the target device, receiving image information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the ground inspection robot for the target device;

In the case where the second target information includes environmental humidity information of the target device, receiving the environmental humidity information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the environmental humidity information is determined based on information collected by a humidity sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes local current information of the target device, receiving the local current information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the ground inspection robot for the target device;

In a case where the second target information includes pressure information of a target device, receiving pressure information of the target device acquired by the ground inspection robot based on the ground inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the ground inspection robot for the target device;

When the second target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the ground inspection robot based on the ground inspection path is received, and the gas concentration information is determined based on information collected by the gas sensor carried by the ground inspection robot for the target device.

Optionally, the information acquisition module 23 may also be used to:

Determine a first operating status trend of the target device based on at least two pieces of the first target information acquired at a preset time interval;

Determine a second operating status trend of the target device based on at least two pieces of the second target information acquired at a preset time interval;

The operating status information of the target device includes the first operating status trend and the second operating status trend;

The state determination module 24 may also be used to:

The first operating status trend and the second operating status trend are compared with the preset reference information to determine the operating status of the target device.

The inspection device 20 for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application can implement the various processes implemented in the inspection method embodiment for collaborative operation of a drone and a ground inspection robot in the above-mentioned Figure 1, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

Please refer to FIG. 3 , which is a patrol system for collaborative operation of a drone and a ground patrol robot provided by an embodiment of the present application. The system 30 includes:

An unmanned aerial inspection system 31 for collecting aerial data information of a factory area, a robot inspection system 32 for collecting ground data information of a factory area, and an integrated management and control platform 33 for processing the aerial data information and the ground data information, and capable of sending instructions to the unmanned aerial inspection system 31 and the robot inspection system 32, wherein the unmanned aerial inspection system 31 and the robot inspection system 32 are respectively connected to the integrated management and control platform 33 via wireless communication.

In another embodiment of the present application, the drone inspection system 31 may include: a flight platform, the flight platform includes an aircraft body, a first communication module, the first communication module is used to wirelessly connect to the integrated control platform 33, and is used to transmit the instructions sent by the integrated control platform 33 to the aircraft body to perform inspection tasks. The flight platform may be equipped with a drone information collection Module, the drone information collection module includes a gimbal, a drone information collection submodule, and a second communication module. The drone information collection submodule is arranged on the gimbal, and the gimbal is wirelessly connected to the integrated management and control platform 33 through the second communication module, and is used to collect the first target information.

The robot inspection system 32 includes: a video monitoring module, a perception control module, and a robot information collection module. Among them, the video monitoring module is used to perform video monitoring and mirror sampling of the factory area. The perception control module includes a positioning sensor, an edge intelligent controller, and a third communication module. The positioning sensor is used to obtain the real-time position information of the robot. The edge intelligent controller is used to assist the robot inspection system 32 in inspection based on the ground inspection route. The third communication module is used to wirelessly connect the positioning sensor, the edge intelligent controller and the integrated management and control platform 33. The robot information collection module includes a robot information collection submodule, a robotic arm control module, and a fourth communication module. The robot information collection submodule is arranged on the robotic arm control module. The robotic arm control module is wirelessly connected to the integrated management and control platform 33 through the fourth communication module. The robotic arm control module is used to control the second information collection submodule to collect the second target information.

In another embodiment of the present application, a modular structure design is adopted for the drone inspection system 31 and the robot inspection system 32, which is convenient for inspection and maintenance and has strong replacement flexibility. The drone platform can adopt an explosion-proof mobile platform to ensure high-altitude flight safety. The drone inspection system 31 adopts an explosion-proof charging pile and a wireless charging receiver, which has dustproof and waterproof capabilities and is efficient and reliable to use. The robot adopts an explosion-proof wireless charging method to avoid sparks generated during charging and discharging of electricity caused by contact charging, ensuring explosion-proof safety. It can realize automatic operation, automatic monitoring, automatic return and automatic charging of drones and robots, and can also achieve full coverage of the entire inspection plant area.

Specifically, the first information acquisition module and the second information acquisition module may both include a noise detection unit, a pressure detection unit, a gas detection unit, a visible light and infrared vision detection unit, an ambient temperature and humidity detection unit, a local current detection unit, and a dial data detection unit, etc.

In this embodiment, the integrated management and control platform 33 may include a data processing module, a navigation and positioning module, and a path planning module. The data processing module is wirelessly connected to the second communication module and the fourth communication module respectively, the navigation and positioning module is wirelessly connected to the first communication module and the third communication module respectively, the navigation and positioning module is connected to the data processing module, and the path planning module is connected to the data processing module.

It should be noted that the integrated management and control platform, as a terminal, can also be used to determine inspection trajectories, manage side equipment, manage user role allocation, and allocate inspection robots, so as to achieve the connection and supervision of the terminal to the inspection of drones and robots. In this way, the traditional security monitoring that can only be done on the ground is extended to the three-dimensional space. In places that cannot be reached by people and vehicles, the collaborative operation of drones and robots makes it easy to complete inspection tasks. While improving the efficiency of inspection work, it greatly reduces the inspection safety risks of the original inspection personnel and ensures the personal safety of the inspection personnel.

An inspection system 30 for collaborative operation of a drone and a ground inspection robot provided in an embodiment of the present application is capable of implementing the various processes implemented by the terminal in the embodiment of an inspection method for collaborative operation of a drone and a ground inspection robot in the above-mentioned FIG. 1 , and will not be described again here to avoid repetition.

It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above The specific implementation methods described above are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can make many forms without departing from the scope of protection of the purpose of this application and the claims, all of which are within the protection of this application.

Claims (10)

1. A patrol inspection method in which a drone and a ground patrol inspection robot work in collaboration, comprising:

   Determine an aerial inspection path and a ground inspection path based on location information of equipment in the factory and environmental parameters of the factory;

   Receiving first target information of a target device acquired by a drone based on the aerial inspection path, and receiving second target information of the target device acquired by a ground inspection robot based on the ground inspection path;

   Based on the first target information and the second target information, acquiring the operating status information of the target device;

   Based on the operating status information and preset reference information, the operating status of the target device is determined.
2. The method according to claim 1, wherein the acquiring of the aerial inspection path and the ground inspection path based on the location information of the equipment in the factory and the environmental parameters of the factory comprises:

   Obtaining location information of each device in the factory area;

   Receiving the aerial environment parameters of the factory area obtained by the drone and the ground environment parameters of the factory area obtained by the ground inspection robot;

   Based on the location information of each device and the aerial environmental parameters, the aerial inspection path of the drone is determined, and based on the location information of each device and the ground environmental parameters, the ground inspection path of the ground inspection robot is determined.
3. The method according to claim 1, wherein the first target information of the target device obtained by the receiving drone based on the aerial inspection path includes at least one of the following:

   In a case where the first target information includes temperature information of the target device, receiving the temperature information of the target device acquired by the drone based on the aerial inspection path, where the temperature information is determined based on information collected by an infrared sensor carried by the drone for the target device;

   In a case where the first target information includes image information of a target device, receiving image information of the target device acquired by the drone based on the aerial inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the drone for the target device;

   In the case where the first target information includes the ambient humidity information of the target device, receiving the Environmental humidity information of the target device acquired by the drone based on the aerial inspection path, wherein the environmental humidity information is determined based on information collected by a humidity sensor carried by the drone for the target device;

   In a case where the first target information includes local current information of the target device, receiving the local current information of the target device acquired by the drone based on the aerial inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the drone for the target device;

   In a case where the first target information includes pressure information of a target device, receiving pressure information of the target device acquired by the drone based on the aerial inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the drone for the target device;

   In the case where the first target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the drone based on the aerial inspection path is received, and the gas concentration information is determined based on information collected by a gas sensor carried by the drone for the target device.
4. The method according to claim 1, wherein the receiving of the second target information of the target device acquired by the ground inspection robot based on the ground inspection path comprises at least one of the following:

   In a case where the second target information includes temperature information of the target device, receiving temperature information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the temperature information is determined based on information collected by an infrared sensor carried by the ground inspection robot for the target device;

   In a case where the second target information includes image information of the target device, receiving image information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the ground inspection robot for the target device;

   In the case where the second target information includes environmental humidity information of the target device, receiving the environmental humidity information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the environmental humidity information is determined based on information collected by a humidity sensor carried by the ground inspection robot for the target device;

   In the case where the second target information includes local current information of the target device, receiving the The local current information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the ground inspection robot for the target device;

   In a case where the second target information includes pressure information of a target device, receiving pressure information of the target device acquired by the ground inspection robot based on the ground inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the ground inspection robot for the target device;

   When the second target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the ground inspection robot based on the ground inspection path is received, and the gas concentration information is determined based on information collected by the gas sensor carried by the ground inspection robot for the target device.
5. The method according to claim 1, wherein the acquiring the operating status information of the target device based on the first target information and the second target information comprises:

   Determine a first operating status trend of the target device based on at least two pieces of the first target information acquired at a preset time interval;

   Determine a second operating status trend of the target device based on at least two pieces of the second target information acquired at a preset time interval;

   The operating status information of the target device includes the first operating status trend and the second operating status trend;

   The determining the operating state of the target device based on the operating state information and preset reference information includes:

   The first operating status trend and the second operating status trend are compared with the preset reference information to determine the operating status of the target device.
6. An inspection device for collaborative operation of a drone and a ground inspection robot, comprising:

   A path determination module, used to determine an aerial inspection path and a ground inspection path based on location information of equipment in the factory area and environmental parameters of the factory area;

   An information receiving module, used to receive first target information of a target device acquired by a drone based on the aerial inspection path, and used to receive second target information of the target device acquired by a ground inspection robot based on the ground inspection path;

   An information acquisition module, configured to acquire the operating status information of the target device based on the first target information and the second target information;

   The state determination module is used to determine the operation state of the target device based on the operation state information and preset reference information.
7. The apparatus according to claim 6, wherein the path determination module is used to:

   Obtaining location information of each device in the factory area;

   Receiving the aerial environment parameters of the factory area obtained by the drone and the ground environment parameters of the factory area obtained by the ground inspection robot;

   Based on the location information of each device and the aerial environmental parameters, the aerial inspection path of the drone is determined, and based on the location information of each device and the ground environmental parameters, the ground inspection path of the ground inspection robot is determined.
8. The device according to claim 6, wherein the information receiving module is used for at least one of the following:

   In a case where the first target information includes temperature information of the target device, receiving the temperature information of the target device acquired by the drone based on the aerial inspection path, where the temperature information is determined based on information collected by an infrared sensor carried by the drone for the target device;

   In a case where the first target information includes image information of a target device, receiving image information of the target device acquired by the drone based on the aerial inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the drone for the target device;

   In a case where the first target information includes environmental humidity information of a target device, receiving environmental humidity information of the target device acquired by the drone based on the aerial inspection path, the environmental humidity information being determined based on information collected by a humidity sensor carried by the drone for the target device;

   In a case where the first target information includes local current information of the target device, receiving the local current information of the target device acquired by the drone based on the aerial inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the drone for the target device;

   In the case where the first target information includes pressure information of the target device, receiving the unmanned The pressure information of the target device obtained by the drone based on the aerial inspection path, wherein the pressure information is determined based on information collected by the pressure sensor carried by the drone for the target device;

   In the case where the first target information includes gas concentration information around the target device, the gas concentration information around the target device acquired by the drone based on the aerial inspection path is received, and the gas concentration information is determined based on information collected by a gas sensor carried by the drone for the target device.
9. The device according to claim 6, wherein the information receiving module is used for at least one of the following:

   In a case where the second target information includes temperature information of the target device, receiving temperature information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the temperature information is determined based on information collected by an infrared sensor carried by the ground inspection robot for the target device;

   In a case where the second target information includes image information of the target device, receiving image information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the image information is determined based on information collected by a visualization camera carried by the ground inspection robot for the target device;

   In the case where the second target information includes environmental humidity information of the target device, receiving the environmental humidity information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the environmental humidity information is determined based on information collected by a humidity sensor carried by the ground inspection robot for the target device;

   In a case where the second target information includes local current information of the target device, receiving the local current information of the target device acquired by the ground inspection robot based on the ground inspection path, wherein the local current information is determined based on information collected by a current sensor carried by the ground inspection robot for the target device;

   In a case where the second target information includes pressure information of a target device, receiving pressure information of the target device acquired by the ground inspection robot based on the ground inspection path, the pressure information being determined based on information collected by a pressure sensor carried by the ground inspection robot for the target device;

   In the case where the second target information includes gas concentration information around the target device, receiving The ground inspection robot obtains gas concentration information around the target device based on the ground inspection path, and the gas concentration information is determined based on information collected by a gas sensor carried by the ground inspection robot for the target device.
10. The device according to claim 6, wherein the information acquisition module is further used to:

    Determine a first operating status trend of the target device based on at least two pieces of the first target information acquired at a preset time interval;

    Determine a second operating status trend of the target device based on at least two pieces of the second target information acquired at a preset time interval;

    The operating status information of the target device includes the first operating status trend and the second operating status trend;

    The state determination module may also be used for:

    The first operating status trend and the second operating status trend are compared with the preset reference information to determine the operating status of the target device.