CN114310928B - Intelligent inspection method of explosion-proof inspection robot - Google Patents
Intelligent inspection method of explosion-proof inspection robot Download PDFInfo
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- CN114310928B CN114310928B CN202111447162.6A CN202111447162A CN114310928B CN 114310928 B CN114310928 B CN 114310928B CN 202111447162 A CN202111447162 A CN 202111447162A CN 114310928 B CN114310928 B CN 114310928B
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to an intelligent inspection method of an explosion-proof inspection robot, which comprises the following steps: when the anti-explosion inspection robot inspects in a monitoring area according to a preset path after inspecting, after receiving an instruction sent by a user to preferentially go to an appointed inspection place for inspecting, the anti-explosion inspection robot moves to the appointed inspection place, acquires environment data of the appointed inspection place, and feeds the environment data back to a remote control console; counting the patrol places which are patrol after the start of the present patrol, and acquiring patrol places which are not patrol according to the patrol places which are patrol; planning a path according to a patrol place which is not patrol in a monitoring area and a patrol place designated by a user where the explosion-proof patrol robot is located, and acquiring an initial planning path; and acquiring the current battery electric quantity, and carrying out inspection on inspection sites which are not inspected yet in the monitoring area according to the initial planning path and the current battery electric quantity, so as to finish inspection on all the inspection sites in the monitoring area.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to an intelligent inspection method of an explosion-proof inspection robot.
Background
In the current inspection robot inspection process, inspection sites in a monitored area are inspected according to a preset path, for example, an inspection method of the inspection robot is disclosed in a patent document with publication number CN113547500a, in the inspection method, the inspection robot moves in the monitored area according to the preset path, and after one inspection area is inspected by the inspection robot, the inspection robot continues to move to the next inspection area according to the preset path. However, the existing inspection method of the robot still has a plurality of problems, such as the problem of battery power of the inspection robot in the inspection process of the robot is not considered.
In addition, in the existing inspection method, the inspection route is relatively fixed, and once the inspection route is preset, inspection is performed according to the set inspection route, so that the inspection process of the inspection robot is inflexible. The demands of the users cannot be satisfied.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks and shortcomings of the prior art, the present invention provides an intelligent inspection method for an explosion-proof inspection robot, which solves the technical problems that in the prior art, the battery power of the inspection robot is not considered in the inspection process of the robot, and the inspection route is relatively fixed.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides an intelligent inspection method of an explosion-proof inspection robot, wherein the explosion-proof inspection robot stores position information of all inspection sites in a monitoring area in advance, and the explosion-proof inspection robot completes one-time inspection after finishing inspection of all inspection sites in the monitoring area, and the inspection method comprises the following steps:
s1, when an explosion-proof inspection robot inspects in a monitoring area according to a preset path after inspecting, after receiving an instruction sent by a user through a remote control console to preferentially go to a specified inspection place for inspecting, the explosion-proof inspection robot moves to the inspection place specified by the user, acquires environment data of the inspection place specified by the user, and feeds the environment data of the inspection place specified by the user back to the remote control console in communication connection with the explosion-proof inspection robot;
the monitoring area comprises a plurality of inspection sites;
s2, the explosion-proof inspection robot counts the inspected inspection site after the inspection is started, and acquires the inspection site which is not inspected in the monitoring area after the inspection is started according to the inspected inspection site after the inspection is started;
s3, planning a path according to the inspection site which is not inspected yet in the monitoring area and the inspection site designated by the user where the explosion-proof inspection robot is currently located, and acquiring an initial planned path;
s4, acquiring current battery electric quantity by the explosion-proof inspection robot, and inspecting inspection sites which are not inspected yet in the monitoring area according to the initial planning path and the current battery electric quantity until the inspection of all the inspection sites in the monitoring area is completed.
Preferably, in the step S1, after the instruction of the user to send the inspection to the specified inspection location is received, the anti-explosion inspection robot moves to the inspection location specified by the user, and specifically includes:
s11, after the explosion-proof inspection robot receives an instruction of the user to send out to the appointed inspection place to carry out inspection preferentially, the explosion-proof inspection robot acquires the battery electric quantity at a first moment;
the first moment is the moment when the explosion-proof inspection robot receives an instruction of the user to preferentially go to the designated inspection place for inspection;
s12, the explosion-proof inspection robot takes the position of the first moment as an initial position, takes the inspection place appointed by the user as a target position, performs path planning, and acquires a first planning path;
the first planning path is the shortest path from the initial position to a target position in the monitoring area;
s13, acquiring the total power consumption of the explosion-proof inspection robot after moving a first planning path according to the power consumption of the explosion-proof inspection robot after moving one meter;
s14, judging whether the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a first judgment result;
s15, according to the first judging result, the explosion-proof inspection robot moves to the inspection place appointed by the user, or the explosion-proof inspection robot sends out first feedback information, or the explosion-proof inspection robot returns to the charging place to charge, and after a preset first time period of charging, the explosion-proof inspection robot directly moves from the charging place to the inspection place appointed by the user;
the first feedback information is information that the battery power of the explosion-proof inspection robot at the first moment does not meet the requirement that the explosion-proof inspection robot moves from the position of the explosion-proof inspection robot at the first moment to the inspection place appointed by the user and also does not meet the requirement that the explosion-proof inspection robot moves from the position of the explosion-proof inspection robot at the first moment to the charging place.
Preferably, the step S15 includes:
and if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is smaller than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot moves to the inspection site appointed by the user.
Preferably, the step S15 includes:
s151, if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot takes the position of the first moment as an initial position, takes the charging place as a target position, and performs path planning to obtain a second planning path;
the second planning path is the shortest path from the position of the explosion-proof inspection robot at the first moment to the charging place in the monitoring area;
s152, acquiring the total power consumption of the explosion-proof inspection robot after moving a second planning path according to the power consumption of the robot after moving one meter, which is acquired in advance;
s153, judging whether the total power consumption of the explosion-proof inspection robot after moving a second planning path is larger than the battery power of the explosion-proof inspection robot at a first moment, and acquiring a second judgment result;
and S154, according to the second judging result, the explosion-proof inspection robot sends out first feedback information or returns to the charging place for charging according to a second planning path, and after a preset first time period is reached, the explosion-proof inspection robot directly moves from the charging place to the inspection place appointed by the user.
Preferably, the step S154 includes:
if the second judgment result is that the total power consumption of the explosion-proof inspection robot after moving the second planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot sends out first feedback information;
and if the second judgment result is that the total electricity consumption of the explosion-proof inspection robot after moving the second planning path is smaller than the battery electricity consumption of the explosion-proof inspection robot at the first moment, returning the explosion-proof inspection robot to the charging place for charging according to the second planning path, and after a preset first time period of charging, directly moving the explosion-proof inspection robot from the charging place to the inspection place appointed by the user.
Preferably, the step S3 specifically includes:
carrying out path planning by adopting a multi-target path planning algorithm according to the position information corresponding to the inspection site which is not inspected yet in the monitoring area and the inspection site designated by the user where the explosion-proof inspection robot is currently positioned, and obtaining an initial planning path;
the initial planning path is the shortest path that the explosion-proof inspection robot starts to pass through all inspection sites which are not inspected yet in the monitoring area at the inspection site designated by the user in the monitoring area.
Preferably, the S4 includes:
s41, acquiring the total power consumption of the explosion-proof inspection robot after moving an initial planning path according to the power consumption of the robot for one meter acquired in advance;
s42, acquiring a third planning path from the last inspection point of the initial planning path to the charging point according to the last inspection point of the initial planning path;
s43, acquiring the total power consumption of the explosion-proof inspection robot after moving a third planning path according to the power consumption of the robot after moving one meter, which is acquired in advance;
s44, acquiring a final total power consumption based on the total power consumption after the explosion-proof inspection robot moves the initial planning path and the total power consumption after the explosion-proof inspection robot moves the third planning path;
the final total power consumption is the sum of the total power consumption of the explosion-proof inspection robot after moving an initial planning path and the total power consumption of the explosion-proof inspection robot after moving a third planning path;
s45, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a third judgment result;
and S46, carrying out inspection on inspection places which are not inspected in the monitoring area after the inspection of the explosion-proof inspection robot is started at the time of the first inspection according to the third judging result and the battery electric quantity of the explosion-proof inspection robot at the first moment.
Preferably, the S46 includes:
and if the third judging result is that the final total power consumption is smaller than the battery power of the explosion-proof inspection robot at the first moment, performing path planning on the inspection site which is not inspected yet in the monitoring area after the explosion-proof inspection robot starts inspecting the explosion-proof inspection, acquiring a final planned path, and inspecting the inspection site which is not inspected yet in the monitoring area according to the final planned path.
Preferably, the S46 includes:
s461, if the third judging result is that the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, removing the last inspection place in the initial planning path to obtain a fourth planning path;
s462, acquiring the total power consumption of the fourth planning path according to the fourth planning path and the power consumption of the robot moving one meter acquired in advance;
s463, acquiring a path from the last patrol place of the fourth planning path to the charging place according to the last patrol place of the fourth planning path;
s464, acquiring the total power consumption of the path of the explosion-proof inspection robot moving from the last inspection point of the fourth planning path to the charging point according to the power consumption of the robot moving by one meter, wherein the power consumption is acquired in advance;
s465, acquiring a final total power consumption according to the total power consumption of the fourth planning path and the total power consumption of the path from the last inspection point of the fourth planning path to the charging point;
s466, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, if so, removing the last inspection point in the fourth planning path to obtain a new fourth planning path, and repeating S462-S466 until the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment to obtain a corresponding final fourth planning path;
s467, the explosion-proof inspection robot performs inspection according to the corresponding final fourth planning path, and returns to the charging place for charging after the inspection according to the corresponding final fourth planning path is finished;
s468, the explosion-proof inspection robot performs path planning on inspection places which are not inspected in the current monitoring area, and a fifth planning path is obtained;
and S469, after the explosion-proof inspection robot returns to the charging place to charge for a preset second time period, the explosion-proof inspection robot inspects according to the fifth planning path until the inspection of the inspection place in the monitoring area is completed.
Preferably, the method comprises the steps of,
the preset first time period is as follows: the time required for the battery electric quantity of the explosion-proof inspection robot to reach the first electric quantity;
the first electric quantity is the electric quantity required by the explosion-proof inspection robot to move from a charging place to an inspection place appointed by the user;
the preset second time period is as follows: the time required for the battery electric quantity of the explosion-proof inspection robot to reach the second electric quantity;
the second electric quantity is the sum of the third electric quantity and the fourth electric quantity;
the third electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving according to a fifth planning path from the charging place;
and the fourth electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving from the last inspection point to the charging point in the fifth planning path.
(III) beneficial effects
The beneficial effects of the invention are as follows: according to the intelligent inspection method of the explosion-proof inspection robot, the instruction of the user to send to the appointed inspection place to conduct inspection can be received in the inspection process of the explosion-proof inspection robot, the inspection place appointed by the user is preferentially moved to conduct inspection according to the instruction, so that user experience is improved, and in the inspection process of the explosion-proof inspection robot, the battery electric quantity of the explosion-proof inspection robot is considered, and path planning is conducted based on the instruction of the user to send to the appointed inspection place to conduct inspection and the current battery electric quantity.
Drawings
FIG. 1 is a flow chart of an intelligent inspection method of an explosion-proof inspection robot;
fig. 2 is a flowchart of steps for the anti-explosion inspection robot to move to the inspection location designated by the user after receiving an instruction of the inspection robot to inspect the inspection location designated by the user.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, this embodiment provides an intelligent inspection method of an explosion-proof inspection robot, in which position information of all inspection sites in a monitored area is stored in advance, and after the inspection of all inspection sites in the monitored area by the explosion-proof inspection robot is finished, one-time inspection is completed, and the inspection method includes:
s1, when the explosion-proof inspection robot inspects in a monitoring area according to a preset path after inspecting, after receiving an instruction sent by a user to preferentially go to an appointed inspection place for inspecting, the explosion-proof inspection robot moves to the appointed inspection place, acquires environment data of the appointed inspection place, and feeds the environment data of the appointed inspection place back to a remote control console in communication connection with the explosion-proof inspection robot.
The monitoring area comprises a plurality of inspection sites.
Specifically, in this embodiment, the explosion-proof robot calculates a patrol of the explosion-proof robot after finishing the patrol of all the patrol places in the monitoring area. The process can be that the explosion-proof robot can complete the inspection of all the inspection sites in the monitoring area once under the condition that the battery power is sufficient, or the explosion-proof robot can return to the charging site for charging after the inspection of part of the inspection sites in the monitoring area is completed under the condition that the battery power is insufficient, and then the inspection of other inspection sites which are not inspected is carried out until all the inspection sites in the monitoring area are completed, and the inspection is carried out as one inspection of the explosion-proof robot.
S2, the explosion-proof inspection robot counts the inspected inspection sites after the inspection is started, and obtains inspection sites which are not inspected in the monitoring area after the inspection is started according to the inspected inspection sites after the inspection is started.
S3, planning a path according to the inspection site which is not inspected yet in the monitoring area and the inspection site designated by the user where the explosion-proof inspection robot is currently located, and acquiring an initial planned path.
In a specific application, the explosion-proof robot takes the current patrol places designated by the user as initial positions, takes a plurality of patrol places which are not yet patrol in the monitoring area as a plurality of targets, and performs multi-target path planning to obtain an initial planning path.
S4, acquiring current battery electric quantity by the explosion-proof inspection robot, and inspecting inspection sites which are not inspected yet in the monitoring area according to the initial planning path and the current battery electric quantity until the inspection of all the inspection sites in the monitoring area is completed.
Referring to fig. 2, in an actual application of the present embodiment, in S1, after receiving an instruction sent by a user to preferentially go to a specified inspection location to perform inspection, the explosion-proof inspection robot moves to the specified inspection location, and specifically includes:
and S11, after the explosion-proof inspection robot receives an instruction of the user to send out to the appointed inspection place to carry out inspection preferentially, the explosion-proof inspection robot acquires the battery electric quantity at the first moment.
The first moment is the moment when the explosion-proof inspection robot receives an instruction of the user to preferentially go to the designated inspection place for inspection.
Specifically, the explosion-proof inspection robot in this embodiment does not inspect the inspection site in the inspection area according to a fixed path set in advance, but may send an instruction to the inspection robot when the user wants to urgently know a certain inspection site in the inspection area under a special condition, so that the explosion-proof inspection robot goes to the inspection site designated by the user first. At this time, the explosion-proof inspection robot first obtains the current battery power (i.e., the battery power at the first moment).
And S12, carrying out path planning by using the position of the explosion-proof inspection robot at the first moment as an initial position and the inspection place designated by the user as a target position, and obtaining a first planned path.
The first planned path is the shortest path from the initial position to a target position in the monitoring area.
In a specific application, the explosion-proof inspection robot uses the position of the first moment as an initial position and uses the inspection location designated by the user as a target position to perform path planning, and the path planning has various methods, which may be Dijkstra algorithm, a search algorithm, a bidirectional search algorithm, a repeat search algorithm, and the like.
S13, acquiring the total power consumption of the explosion-proof inspection robot after moving the first planning path according to the power consumption of the explosion-proof inspection robot for one meter.
And S14, judging whether the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a first judgment result.
And S15, according to the first judging result, the explosion-proof inspection robot moves to the inspection place appointed by the user, or the explosion-proof inspection robot sends out first feedback information, or the explosion-proof inspection robot returns to the charging place to charge, and after a preset first time period of charging, the explosion-proof inspection robot directly moves from the charging place to the inspection place appointed by the user.
In a practical application of this embodiment, the step S15 includes:
and if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is smaller than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot moves to the inspection site appointed by the user.
In a specific application, the explosion-proof inspection robot uses the requirement of the user as the highest criterion, when the user sends an instruction of preferentially going to the specified inspection place for inspection, which indicates that the user needs to know the specified inspection place as soon as possible, so that the explosion-proof inspection robot in the embodiment moves to the inspection place specified by the user for inspection as long as the current battery power is judged to be enough to reach the inspection place specified by the user.
In a practical application of this embodiment, the step S15 includes:
and S151, if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot takes the position of the first moment as an initial position, takes the charging place as a target position, and performs path planning to obtain a second planning path.
The second planning path is the shortest path from the position of the explosion-proof inspection robot at the first moment to the charging place in the monitoring area.
And S152, acquiring the total power consumption of the explosion-proof inspection robot after moving the second planning path according to the power consumption of the robot moving one meter acquired in advance.
And S153, judging whether the total power consumption of the explosion-proof inspection robot after moving the second planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a second judgment result.
And S154, according to the second judging result, the explosion-proof inspection robot sends out first feedback information or returns to the charging place for charging according to a second planning path, and after a preset first time period is reached, the explosion-proof inspection robot directly moves from the charging place to the inspection place appointed by the user.
In a practical application of the present embodiment, the step S154 includes:
and if the second judgment result is that the total power consumption of the explosion-proof inspection robot after moving the second planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot sends out first feedback information.
Specifically, if the second determination result is that the total power consumption of the explosion-proof inspection robot after moving the second planned path is greater than the battery power of the explosion-proof inspection robot at the first moment, it is indicated that the current battery power of the explosion-proof inspection robot (that is, the battery power of the explosion-proof inspection robot at the first moment) is insufficient to support the explosion-proof inspection robot to return to the charging place, so that the explosion-proof inspection robot sends first feedback information to a remote console in communication connection with the explosion-proof inspection robot.
The first feedback information is information that the current battery power of the explosion-proof inspection robot does not meet the requirement that the explosion-proof inspection robot moves from the current position (the position where the first moment is located) to an inspection place designated by a user and does not meet the requirement that the explosion-proof inspection robot moves from the current position (the position where the first moment is located) to a charging place.
And if the second judgment result is that the total electricity consumption of the explosion-proof inspection robot after moving the second planning path is smaller than the battery electricity consumption of the explosion-proof inspection robot at the first moment, returning the explosion-proof inspection robot to the charging place for charging according to the second planning path, and after a preset first time period of charging, directly moving the explosion-proof inspection robot from the charging place to the inspection place appointed by the user.
In practical application of this embodiment, the step S3 specifically includes:
and carrying out path planning by adopting a multi-target path planning algorithm according to the position information corresponding to the inspection site which is not inspected yet in the monitoring area and the inspection site designated by the user where the explosion-proof inspection robot is currently positioned, and obtaining an initial planning path.
The initial planning path is the shortest path that the explosion-proof inspection robot starts to pass through all inspection sites which are not inspected yet in the monitoring area at the inspection site designated by the user in the monitoring area.
In a practical application of this embodiment, the S4 includes:
s41, acquiring the total power consumption of the explosion-proof inspection robot after moving an initial planning path according to the power consumption of the robot for one meter acquired in advance.
S42, acquiring a third planning path from the last inspection point (end point) of the initial planning path to the charging point according to the last inspection point (end point) of the initial planning path.
S43, acquiring the total power consumption of the explosion-proof inspection robot after moving the third planning path according to the power consumption of the robot moving one meter acquired in advance.
S44, acquiring final total power consumption based on the total power consumption after the explosion-proof inspection robot moves the initial planning path and the total power consumption after the explosion-proof inspection robot moves the third planning path.
And the final total power consumption is the sum of the total power consumption of the explosion-proof inspection robot after moving an initial planning path and the total power consumption of the explosion-proof inspection robot after moving a third planning path.
And S45, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a third judgment result.
And S46, carrying out inspection on inspection places which are not inspected in the monitoring area after the inspection of the explosion-proof inspection robot is started at the time of the first inspection according to the third judging result and the battery electric quantity of the explosion-proof inspection robot at the first moment.
In a practical application of the present embodiment, the S46 includes:
and if the third judging result is that the final total power consumption is smaller than the battery power of the explosion-proof inspection robot at the first moment, performing path planning on the inspection site which is not inspected yet in the monitoring area after the explosion-proof inspection robot starts inspecting the explosion-proof inspection, acquiring a final planned path, and inspecting the inspection site which is not inspected yet in the monitoring area according to the final planned path.
In a practical application of the present embodiment, the S46 includes:
and S461, if the third judging result is that the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, removing the last inspection place in the initial planning path to obtain a fourth planning path.
S462, according to the fourth planning path and the power consumption of the robot moving one meter, acquiring the total power consumption of the fourth planning path.
S463, acquiring a path from the last patrol place of the fourth planning path to the charging place according to the last patrol place of the fourth planning path.
And S464, acquiring the total power consumption of the path of the explosion-proof inspection robot moving from the last inspection point of the fourth planning path to the charging point according to the power consumption of the robot moving by one meter acquired in advance.
And S465, acquiring the final total power consumption according to the total power consumption of the fourth planning path and the total power consumption of the path from the last inspection point of the fourth planning path to the charging point.
And S466, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, if so, removing the last inspection point in the fourth planning path to obtain a new fourth planning path, and repeating S462-S466 until the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment to obtain a corresponding final fourth planning path.
S467, the explosion-proof inspection robot performs inspection according to the corresponding final fourth planning path, and returns to the charging place for charging after the inspection according to the corresponding final fourth planning path is finished.
And S468, the explosion-proof inspection robot performs path planning on inspection places which are not inspected in the current monitoring area, and a fifth planning path is obtained.
And S469, after the explosion-proof inspection robot returns to the charging place to charge for a preset second time period, the explosion-proof inspection robot inspects according to the fifth planning path until the inspection of the inspection place in the monitoring area is completed.
In an actual application of this embodiment, the preset first period of time is: and enabling the battery electric quantity of the explosion-proof inspection robot to reach the first electric quantity.
The first electric quantity is the electric quantity required by the explosion-proof inspection robot to move from a charging place to the inspection place appointed by the user.
The preset second time period is as follows: and enabling the battery electric quantity of the explosion-proof inspection robot to reach the second electric quantity.
The second electric quantity is the sum of the third electric quantity and the fourth electric quantity.
And the third electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving according to a fifth planning path by the charging place.
And the fourth electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving from the last inspection point to the charging point in the fifth planning path.
According to the intelligent inspection method of the explosion-proof inspection robot, an instruction sent by a user to preferentially go to an appointed inspection place for inspection can be received in the inspection process of the explosion-proof inspection robot, the inspection place appointed by the user is preferentially moved to be inspected according to the instruction, so that user experience is improved, and then in the inspection process of the explosion-proof inspection robot, the battery electric quantity of the explosion-proof inspection robot is considered, and path planning is conducted based on the instruction sent by the user to preferentially go to the appointed inspection place for inspection and the current battery electric quantity.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (4)
1. The intelligent inspection method of the explosion-proof inspection robot is characterized in that the explosion-proof inspection robot stores the position information of all inspection sites in a monitoring area in advance, and the explosion-proof inspection robot completes one-time inspection after finishing inspection of all inspection sites in the monitoring area, and the inspection method comprises the following steps:
s1, when an explosion-proof inspection robot inspects in a monitoring area according to a preset path after inspecting, after receiving an instruction sent by a user through a remote control console to preferentially go to a specified inspection place for inspecting, the explosion-proof inspection robot moves to the specified inspection place to acquire environmental data of the specified inspection place, and the environmental data of the specified inspection place is fed back to the remote control console which is in communication connection with the explosion-proof inspection robot;
the monitoring area comprises a plurality of inspection sites;
s2, the explosion-proof inspection robot counts the inspected inspection site after the inspection is started, and acquires the inspection site which is not inspected in the monitoring area after the inspection is started according to the inspected inspection site after the inspection is started;
s3, planning a path according to the inspection site which is not inspected yet in the monitoring area and the appointed inspection site where the explosion-proof inspection robot is currently located, and acquiring an initial planning path;
s4, acquiring current battery electric quantity by the explosion-proof inspection robot, and inspecting inspection sites which are not inspected yet in the monitoring area according to the initial planning path and the current battery electric quantity until the inspection of all the inspection sites in the monitoring area is completed;
in the step S1, after the instruction of preferentially going to the specified inspection location to perform inspection sent by the user is received, the anti-explosion inspection robot moves to the specified inspection location, and specifically includes:
s11, after the explosion-proof inspection robot receives an instruction of the user to send out to the appointed inspection place to carry out inspection preferentially, the explosion-proof inspection robot acquires the battery electric quantity at a first moment;
the first moment is the moment when the explosion-proof inspection robot receives an instruction of the user to preferentially go to the designated inspection place for inspection;
s12, the explosion-proof inspection robot takes the position of the first moment as an initial position, takes the designated inspection place as a target position, performs path planning, and acquires a first planning path;
the first planning path is the shortest path from the initial position to a target position in the monitoring area;
s13, acquiring the total power consumption of the explosion-proof inspection robot after moving a first planning path according to the power consumption of the explosion-proof inspection robot after moving one meter;
s14, judging whether the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a first judgment result;
s15, according to the first judging result, the explosion-proof inspection robot moves to the appointed inspection place or sends out first feedback information or returns to a charging place to charge, and after a preset first time period of charging, the explosion-proof inspection robot directly moves from the charging place to the appointed inspection place;
the first feedback information is information that the battery electric quantity of the explosion-proof inspection robot at the first moment does not meet the requirement that the explosion-proof inspection robot moves from the position of the explosion-proof inspection robot at the first moment to an inspection place appointed by a user and also does not meet the requirement that the explosion-proof inspection robot moves from the position of the explosion-proof inspection robot at the first moment to a charging place;
the step S15 includes:
s151, if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot takes the position of the first moment as an initial position, takes the charging place as a target position, and performs path planning to obtain a second planning path;
the second planning path is the shortest path from the position of the explosion-proof inspection robot at the first moment to the charging place in the monitoring area;
s152, acquiring the total power consumption of the explosion-proof inspection robot after moving a second planning path according to the power consumption of the robot after moving one meter, which is acquired in advance;
s153, judging whether the total power consumption of the explosion-proof inspection robot after moving a second planning path is larger than the battery power of the explosion-proof inspection robot at a first moment, and acquiring a second judgment result;
s154, according to the second judging result, the explosion-proof inspection robot sends out first feedback information or returns to a charging place for charging according to a second planning path, and after a preset first time period of charging, the explosion-proof inspection robot directly moves from the charging place to the appointed inspection place;
the S154 includes:
if the second judgment result is that the total power consumption of the explosion-proof inspection robot after moving the second planning path is larger than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot sends out first feedback information;
if the second judgment result is that the total electricity consumption of the explosion-proof inspection robot after moving the second planning path is smaller than the battery electricity consumption of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot returns to the charging place for charging according to the second planning path, and after a preset first time period of charging, the explosion-proof inspection robot directly moves to the appointed inspection place from the charging place;
the step S3 specifically comprises the following steps:
carrying out path planning by adopting a multi-target path planning algorithm according to the position information corresponding to the inspection site which is not inspected yet in the monitoring area and the appointed inspection site where the explosion-proof inspection robot is currently positioned, and obtaining an initial planning path;
the initial planning path is the shortest path that the explosion-proof inspection robot starts to pass through all inspection sites which are not inspected yet in the monitoring area at the inspection site designated by a user in the monitoring area;
the step S4 comprises the following steps:
s41, acquiring the total power consumption of the explosion-proof inspection robot after moving an initial planning path according to the power consumption of the robot for one meter acquired in advance;
s42, acquiring a third planning path from the last inspection point of the initial planning path to the charging point according to the last inspection point of the initial planning path;
s43, acquiring the total power consumption of the explosion-proof inspection robot after moving a third planning path according to the power consumption of the robot after moving one meter, which is acquired in advance;
s44, acquiring a final total power consumption based on the total power consumption after the explosion-proof inspection robot moves the initial planning path and the total power consumption after the explosion-proof inspection robot moves the third planning path;
the final total power consumption is the sum of the total power consumption of the explosion-proof inspection robot after moving an initial planning path and the total power consumption of the explosion-proof inspection robot after moving a third planning path;
s45, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, and acquiring a third judgment result;
s46, according to the third judging result and the battery power of the explosion-proof inspection robot at the first moment, inspecting inspection places which are not inspected yet in the monitoring area after the inspection of the explosion-proof inspection robot is started;
the S46 includes:
s461, if the third judging result is that the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, removing the last inspection place in the initial planning path to obtain a fourth planning path;
s462, acquiring the total power consumption of the fourth planning path according to the fourth planning path and the power consumption of the robot moving one meter acquired in advance;
s463, acquiring a path from the last patrol place of the fourth planning path to the charging place according to the last patrol place of the fourth planning path;
s464, acquiring the total power consumption of the path of the explosion-proof inspection robot moving from the last inspection point of the fourth planning path to the charging point according to the power consumption of the robot moving by one meter, wherein the power consumption is acquired in advance;
s465, acquiring a final total power consumption according to the total power consumption of the fourth planning path and the total power consumption of the path from the last inspection point of the fourth planning path to the charging point;
s466, judging whether the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment, if so, removing the last inspection point in the fourth planning path to obtain a new fourth planning path, and repeating S462-S466 until the final total power consumption is larger than the battery power of the explosion-proof inspection robot at the first moment to obtain a corresponding final fourth planning path;
s467, the explosion-proof inspection robot performs inspection according to the corresponding final fourth planning path, and returns to the charging place for charging after the inspection according to the corresponding final fourth planning path is finished;
s468, the explosion-proof inspection robot performs path planning on inspection places which are not inspected in the current monitoring area, and a fifth planning path is obtained;
and S469, after the explosion-proof inspection robot returns to the charging place to charge for a preset second time period, the explosion-proof inspection robot inspects according to the fifth planning path until the inspection of the inspection place in the monitoring area is completed.
2. The method according to claim 1, wherein S15 comprises:
and if the first judgment result is that the total power consumption of the explosion-proof inspection robot after moving the first planning path is smaller than the battery power of the explosion-proof inspection robot at the first moment, the explosion-proof inspection robot moves to the appointed inspection place.
3. The method according to claim 1, wherein said S46 comprises:
and if the third judging result is that the final total power consumption is smaller than the battery power of the explosion-proof inspection robot at the first moment, performing path planning on the inspection site which is not inspected yet in the monitoring area after the explosion-proof inspection robot starts inspecting the explosion-proof inspection, acquiring a final planned path, and inspecting the inspection site which is not inspected yet in the monitoring area according to the final planned path.
4. The method of claim 3, wherein the step of,
the preset first time period is as follows: the time required for the battery electric quantity of the explosion-proof inspection robot to reach the first electric quantity;
the first electric quantity is the electric quantity required by the explosion-proof inspection robot to move from a charging place to the appointed inspection place;
the preset second time period is as follows: the time required for the battery electric quantity of the explosion-proof inspection robot to reach the second electric quantity;
the second electric quantity is the sum of the third electric quantity and the fourth electric quantity;
the third electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving according to a fifth planning path from the charging place;
and the fourth electric quantity is the electric quantity required by the explosion-proof inspection robot to finish moving from the last inspection point to the charging point in the fifth planning path.
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