CN111639505A - Hybrid positioning navigation system and method for indoor inspection robot - Google Patents
Hybrid positioning navigation system and method for indoor inspection robot Download PDFInfo
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
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- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
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Abstract
The invention discloses a hybrid positioning navigation system and a hybrid positioning navigation method for an indoor inspection robot, wherein the hybrid positioning navigation system comprises the following steps: the two-dimensional code comprises unique ID information; the wireless interactive equipment is used for presetting a routing inspection route from a pre-established working environment map; the positioning navigation unit comprises a two-dimensional code positioning module and a calculation module; the two-dimension code positioning module is used for detecting the two-dimension code at the indoor preset position on the routing inspection route and acquiring the unique ID information of the two-dimension code; and the calculation module is used for matching corresponding preset pose information in the calculation module based on the unique ID information and adjusting the pose of the inspection robot on the indoor preset position according to the preset pose information. By the technical scheme, the navigation positioning of the inspection robot is easy to deploy and accurate in positioning, and the inspection cost is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent positioning and navigation, in particular to a positioning and navigation system and a method for an indoor inspection robot.
Background
With the rapid development of economy in China, the power supply scale is continuously enlarged, and the number of power distribution rooms at all levels is increased year by year. However, in recent years, the population is growing slowly, which causes the shortage of supply of electricians in the power distribution room, causes the operators on duty to shift over all the year, and is easy to cause potential safety hazards due to fatigue problems.
In recent years, the trial application of the intelligent inspection robot shows that the problem of shortage of electricians in the power distribution room can be greatly relieved by adopting the automatic inspection robot deployed in the power distribution room.
At present, the intelligent inspection robot mainly has two types, namely a rail type robot and a ground type robot.
The rail-mounted robot needs to erect a fixed rail, and the robot depends on the rail to realize accurate movement. Although the control mode is simple and efficient, the capital cost and the erection time cost of track manufacture are high, and the track is difficult to popularize quickly. In addition, once the track is erected, the follow-up lane change is very troublesome, and the follow-up equipment upgrading and transformation of the distribution room is not facilitated.
The ground type inspection robot directly moves on the ground through the motor driving wheels, does not need to erect a track, and realizes autonomous movement inspection of a target area through a positioning navigation technology, so that the deployment is flexible, the large-scale rapid popularization is suitable, and the inspection efficiency is effectively improved.
The main positioning and navigation technologies of the current ground type inspection robot include three types, namely tape navigation, two-dimensional code navigation and laser navigation.
The magnetic tape navigation technology mainly utilizes a magnetic tape sensor to guide a robot to travel along a magnetic strip laid on the ground to realize navigation. The main principle is that magnetic stripes with equal width are laid on the central lines of all roads to which the robot goes, and then the transverse distribution of the magnetic field of the magnetic stripes is detected by a magnetic tape sensor arranged at the bottom of the robot, so that the robot is guided to move along the central direction of the magnetic stripes. Although the laying of the magnetic strips greatly saves the capital and time cost compared with the erection of the rails, the defects of long deployment time and difficult change still exist.
The two-dimension code navigation technology mainly utilizes a camera to detect and recognize two-dimension codes pasted on the ground in advance to realize positioning. The method has the main advantages of low manufacturing cost and accurate positioning, but needs to measure the position and the pose of the two-dimensional code more accurately, and the deployment work is more complicated. In addition, for outdoor scenes in the open air and indoor spaces with large dust, the two-dimensional code is easily shielded by the dust, and therefore, the two-dimensional code cannot be applied to such scenes.
Laser navigation technology is divided into two modes, namely a reflector-based mode and a scene contour-based mode. The acquisition cost of lidar is also several times higher than that of tape and vision sensors due to the accuracy of the laser measurement itself, compared to the other two approaches.
The laser navigation technology based on the reflecting plate mainly realizes positioning through a series of laser reflecting plates preset by a rotary scanning type laser radar and by utilizing a triangular distance measurement algorithm. The main principle is that a series of laser reflecting plates are installed in the working space of the robot at certain intervals, the relative angles between the series of reflecting plates and the robot can be measured by a scanning type laser radar in the advancing process of the robot, the accurate position information of the center of the laser radar relative to the reflecting plates can be calculated by utilizing the triangular distance measuring principle, and the position between the laser radar and the robot is converted into the position information of the robot, so that the positioning navigation is realized. The technology has the advantages of simple calculation and accurate positioning, but has the defects that the distribution of the reflecting plates has certain requirements and needs to be planned and deployed.
The laser navigation technology based on the scene outline mainly realizes the positioning and navigation by rotating the outline information of the scanning type laser radar scanning scene and establishing an accurate outline map by utilizing a laser SLAM (synchronous positioning and mapping) algorithm. The method mainly comprises the steps of controlling a robot to traverse the whole scene space, scanning an accurate contour point position sequence of a surrounding scene through a laser radar, solving an optimal position transformation relation between adjacent contour point sequences by using a data matching algorithm, fusing all contour information into a two-dimensional map by using a series of position transformation relations, and then matching real-time contour data with the established map to realize accurate calculation of the current position. This technique is very easy to deploy and also allows for more precise positioning, since no reflective plates need to be deployed.
In comparison, a distribution room or a substation belongs to a narrow indoor space, and the three existing navigation technologies can help the inspection robot to realize positioning navigation. However, tape navigation has poor flexibility and is difficult to deploy, the early measurement steps of two-dimensional code navigation are complicated, the deployment difficulty is increased, and the routing inspection cost is high due to high laser navigation cost.
Disclosure of Invention
The invention provides a hybrid positioning navigation system and a hybrid positioning navigation method for an indoor inspection robot, which overcome the technical problems in the prior art, and the hybrid positioning navigation system and the hybrid positioning navigation method are used for acquiring an inspection line of the robot in the early stage of inspection by fusing a two-dimensional code recognition technology and a laser radar technology, so that the technical problems of difficult positioning navigation deployment, inaccurate positioning and high cost of the inspection robot are solved.
To achieve the above object, in one aspect, the present invention provides a hybrid positioning navigation system for an indoor inspection robot, including:
the two-dimensional code comprises unique ID information;
the inspection robot comprises wireless interaction equipment and a positioning navigation unit;
the wireless interaction device is used for acquiring a pre-established working environment map and a pre-established routing inspection route, the pre-established working environment map comprises a plurality of indoor preset positions, unique ID information of the two-dimensional code arranged on the indoor preset positions and preset pose information of the routing inspection robot corresponding to the ID information, and the routing inspection route consists of the indoor preset positions selected on the working environment map;
the positioning navigation unit comprises a two-dimensional code positioning module and a calculation module;
the two-dimension code positioning module is used for detecting the two-dimension code at the indoor preset position on the routing inspection route and acquiring the unique ID information of the two-dimension code;
the calculation module is used for pre-storing the preset pose information of the inspection robot corresponding to the ID information in the pre-established working environment map, matching the corresponding preset pose information in the calculation module based on the unique ID information, and adjusting the pose of the inspection robot on the indoor preset position according to the preset pose information.
Preferably, the method further comprises the following steps: a deployment system, the deployment system comprising:
the deployment robot is used for acquiring the indoor two-dimensional contour data;
the calculation module is used for constructing the working environment map based on the indoor two-dimensional contour data and marking the corresponding indoor preset position in the working environment map according to the unique ID information of the two-dimensional code.
Preferably, the inspection robot is provided with a radar slot;
the radar slot is used for detaching the laser radar, when the construction of the working environment map is completed, the laser radar is detached, and the deployment robot is changed into the inspection robot.
Preferably, a direct-current power supply interface and a communication interface which are used for being connected with the laser radar are arranged in the radar slot.
Preferably, the positioning navigation unit further comprises an inertial navigation module, a wheel set motor feedback encoder and a driving wheel;
the inertial navigation module is used for acquiring angular speed information of the driving wheel;
the wheel set motor feedback encoder is used for acquiring the turnover distance of the driving wheel;
correspondingly, the inertial navigation module and the wheel set motor feedback encoder are in communication connection with the computing module and used for calculating the track calculation of the routing inspection robot in the traveling process by the computing module.
Preferably, the wireless interaction device is in wireless communication connection with the positioning navigation unit.
Preferably, the wireless communication connection mode adopts a wireless WiFi to perform tcp/ip protocol communication connection.
On the other hand, the invention also provides a hybrid positioning navigation method for the indoor inspection robot, which is applied to the hybrid positioning navigation system for the indoor inspection robot, and comprises the following steps:
step 1: the two-dimensional codes are fixed at indoor preset positions through a plurality of two-dimensional codes;
step 2: planning an inspection route in a pre-established working environment map, wherein the inspection route consists of the indoor preset position;
and step 3: collecting angular speed information and turnover distance of a driving wheel in the traveling process of the inspection robot in real time through a calculation module to realize dead reckoning, and guiding the inspection robot to travel according to the inspection route;
and 4, step 4: when the inspection robot passes through the two-dimensional code, the ID information of the two-dimensional code is identified through the two-dimensional code positioning module, corresponding preset pose information is obtained, and the pose of the inspection robot is adjusted according to the preset pose information.
Preferably, after the step 1, before the step 2, the method specifically further includes:
step 201: the inspection robot is converted into a deployment robot by installing a laser radar, the deployment robot is controlled to traverse all the two-dimensional codes in a working environment, and a two-dimensional code positioning module is used for identifying the unique ID information of the two-dimensional codes so as to obtain the indoor preset position corresponding to the two-dimensional codes and the preset pose information of the inspection robot corresponding to the ID information;
meanwhile, collecting two-dimensional profile data of a working environment through a laser radar;
step 202: and establishing a working environment map based on the two-dimensional contour data through the computing module, and marking the indoor preset position and the preset pose information of the inspection robot in the working environment map.
Preferably, the method further comprises removing the lidar after the step 202, thereby converting the deployment robot into the inspection robot.
According to the technical scheme, the invention has the following advantages:
the invention provides a hybrid positioning navigation system for an indoor inspection robot, which comprises: the two-dimensional code comprises unique ID information; the inspection robot comprises wireless interaction equipment and a positioning navigation unit; the wireless interaction device is used for acquiring a pre-established working environment map and a pre-established routing inspection route, the pre-established working environment map comprises a plurality of indoor preset positions, unique ID information of the two-dimensional code arranged on the indoor preset positions and preset pose information of the routing inspection robot corresponding to the ID information, and the routing inspection route consists of the indoor preset positions selected on the working environment map; the positioning navigation unit comprises a two-dimensional code positioning module and a calculation module; the two-dimension code positioning module is used for detecting the two-dimension code at the indoor preset position on the routing inspection route and acquiring the unique ID information of the two-dimension code; the calculation module is used for pre-storing the preset pose information of the inspection robot corresponding to the ID information in the pre-established working environment map, matching the corresponding preset pose information in the calculation module based on the unique ID information, and adjusting the pose of the inspection robot on the indoor preset position according to the preset pose information.
According to the invention, the routing inspection route is preset from the pre-established working environment map, the routing inspection route is composed of indoor preset positions, and the working environment map and the routing inspection route are preset in the early stage, so that laser radar navigation is not needed in the navigation process of the routing inspection robot, and the routing inspection cost is greatly reduced;
the indoor preset position and the pose information correspond to the unique ID information of the two-dimensional code, so that the corresponding preset position and the pose information can be identified through the ID information, certain errors are allowed for the preset position and the fixed pose of the two-dimensional code, the preset position corresponding to the two-dimensional code and the pose information of the inspection robot can be accurately acquired, and the deployment difficulty is greatly reduced; meanwhile, the pose information in the two-dimensional code is identified according to the two-dimensional code, so that the pose of the robot can be corrected at a preset position, and accurate stop is realized.
The beneficial effects of the hybrid positioning navigation method for the indoor inspection robot provided by the invention are consistent with those of the above method, and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a system framework diagram of a hybrid positioning navigation system for an indoor inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a middle positioning navigation unit of a hybrid positioning navigation system of an indoor inspection robot according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a hybrid positioning navigation system of an indoor inspection robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a hybrid positioning navigation method of an indoor inspection robot according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
For convenience of understanding, referring to fig. 1, a hybrid positioning navigation system for an indoor inspection robot according to an embodiment of the present invention includes:
the system comprises a plurality of two-dimensional codes for recording unique ID information (serial numbers), a plurality of inspection devices and a plurality of inspection robots, wherein the two-dimensional codes are pasted at indoor preset positions such as indoor observation points, channel central axes and channel cross points, and the ID information of the two-dimensional codes corresponds to the indoor preset position of the two-dimensional code and preset pose information of the inspection robot at the corresponding preset mark position;
it can be understood that the indoor preset position and the preset pose information are preset in advance according to the work requirement;
furthermore, two-dimensional codes (with the reference distance of 0.5-1.5 m) are pasted on the axis of the channel at certain intervals. The image of each two-dimensional code must be printed clearly, and the color is clear in black and white.
The inspection robot comprises wireless interaction equipment and a positioning navigation unit;
further, the wireless interaction device is used for acquiring a pre-established working environment map and a pre-established routing inspection route, the pre-established working environment map comprises a plurality of indoor preset positions, unique ID information of two-dimensional codes arranged on the indoor preset positions and preset pose information of the routing inspection robot corresponding to the ID information, the routing inspection route is composed of the indoor preset positions selected on the working environment map, and the routing inspection robot travels according to the routing inspection route.
Furthermore, the positioning navigation unit comprises a two-dimensional code positioning module and a calculation module;
referring to fig. 2, the two-dimensional code positioning module is installed towards the ground and used for detecting a two-dimensional code at an indoor preset position on the inspection route, acquiring unique ID information of the two-dimensional code, transmitting the unique ID information of the two-dimensional code to the calculation module, and then, the calculation module is used for pre-storing preset pose information of the inspection robot corresponding to the ID information in a pre-established working environment map, matching the corresponding preset pose information in the calculation module based on the unique ID information, and adjusting the pose of the robot at the indoor preset position according to the preset pose information, so that the robot can realize accurate pose and positioning.
Further, the hybrid positioning navigation system for the indoor inspection robot further comprises a deployment system, and the deployment system comprises:
the deployment robot is used for acquiring indoor two-dimensional contour data;
the computing module is used for constructing a working environment map in real time based on indoor two-dimensional contour data through a real-time graph optimization SLAM technology, and marking a corresponding indoor preset position in the working environment map according to the unique ID information of the two-dimensional code;
correspondingly, the calculation module is respectively in communication connection with the two-dimensional code positioning module and the laser radar.
The two-dimensional code positioning module is used for identifying the two-dimensional code, so that when the two-dimensional code is fixed at an indoor preset position, certain errors can be allowed for the relative position and the fixed pose of the two-dimensional code, and the deployment difficulty is greatly reduced.
Furthermore, the robot is provided with a radar slot, the radar slot is used for disassembling the laser radar, and after the construction of the working environment map is completed, the laser radar is disassembled to convert the deployment robot into the inspection robot;
it is understood that the lidar is a high-priced device, and particularly, the high-precision lidar has a high purchase cost. In the embodiment, only in the deployment robot, the laser radar is needed, and in the inspection robot, the precise positioning can be realized only through the two-dimensional code and the positioning navigation unit. Therefore, the laser radar used in the embodiment can be repeatedly used in the deployment stage of any plurality of power distribution rooms, and the inspection cost is greatly saved.
Furthermore, a direct-current power supply interface and a communication interface which are used for being connected with the laser radar are arranged in the radar slot, and power supply and communication can be provided for the laser radar.
Furthermore, the wireless interaction device is in wireless communication connection with the positioning navigation unit and is used for controlling the positioning navigation unit to work and receiving data of the positioning navigation unit, and the wireless communication connection mode is that the wireless WiFi is used for carrying out communication connection of a tcp/ip protocol;
it is understood that the wireless interactive device can be a mobile device with display, input and wireless communication, such as a notebook computer, a tablet computer or a mobile phone.
Furthermore, the positioning navigation unit also comprises an inertial navigation module, a wheel set motor feedback encoder and a driving wheel;
the inertial navigation module is used for acquiring angular speed information of the driving wheel;
the wheel set motor feedback encoder is used for acquiring the turnover distance of the driving wheel;
the inertial navigation module and the wheel set motor feedback encoder are both in communication connection with the calculation module and used for calculating the track of the robot in the process of traveling by the calculation module.
In this embodiment, referring to fig. 3, the specific workflow includes three stages of deployment, planning and inspection;
1) a deployment phase: according to the requirement of inspection operation, after determining all observation points for executing observation task, sticking two-dimensional code recording unique ID information to all indoor preset positions of observation points, central axis of channel and cross point of channel, inserting high-precision laser radar into radar slot, arranging robot, and the positioning navigation unit and the remote-controlled robot are controlled by the wireless interactive device to traverse all the two-dimensional codes, at the moment, the calculation unit can establish a working environment map of a two-dimensional plane of the whole field by utilizing the two-dimensional profile data information collected by the laser radar, meanwhile, the two-dimension code positioning module is used for identifying and positioning all the passing ground two-dimension codes, marking indoor preset positions, two-dimension code ID information and preset pose information of the inspection robot corresponding to the ID information in a working environment map, and establishing the working environment map in advance.
And after the working environment map is completed, removing the laser radar, and converting the deployment robot into the inspection robot. After the stage is finished, the removed laser radar can be applied to other places, and the repeated utilization is realized.
It should be noted that, in the map building process, when the two-dimensional code positioning module detects and identifies the two-dimensional code, the ID information of the two-dimensional code positioning module is automatically analyzed, the position information of the corresponding two-dimensional code and the preset pose information of the inspection robot are calculated and reported to the calculation module, and the calculation module converts the position information of the two-dimensional code and the preset pose information of the inspection robot into a position in a map coordinate system according to the relative position relationship and stores the position information and the number together.
2) A planning stage: and marking and planning a specific routing inspection route of the inspection robot on a working environment map through wireless interaction equipment, wherein the planned routing inspection route consists of indoor preset positions selected on the working environment map.
3) And (3) inspection stage: the inspection robot starts to go to each observation point in sequence along the inspection route to execute inspection tasks. In the process of going to a monitoring point, the calculation module collects angular velocity information and turnaround distance of a driving wheel respectively collected by the inertial navigation module and the wheel set motor encoder in real time to realize dead reckoning, and guides the inspection robot to move forward along a planned inspection route. Meanwhile, when the inspection robot passes through and positions the two-dimensional code, the two-dimensional code positioning module identifies the preset pose information of the inspection robot corresponding to the two-dimensional code, so that the pose of the inspection robot can be corrected more accurately according to the preset pose information, and the inspection robot can finish observation through observation equipment after stopping at a high precision.
Example two
Referring to fig. 4, the second embodiment provides a hybrid positioning navigation method for an indoor inspection robot based on the first embodiment, including:
step 1: the two-dimensional codes are fixed at indoor preset positions through a plurality of two-dimensional codes;
step 2: planning an inspection route in a pre-established working environment map, wherein the inspection route consists of indoor preset positions;
and step 3: the angular speed information and the turnover distance of a driving wheel in the traveling process of the inspection robot are collected in real time through a computing module to realize dead reckoning, and the inspection robot is guided to travel according to an inspection route;
and 4, step 4: when the inspection robot passes through the two-dimensional code, the ID information of the two-dimensional code is identified through the two-dimensional code positioning module, corresponding preset pose information is obtained, and the pose of the inspection robot is adjusted according to the preset pose information.
Further, after step 1, before step 2, the method specifically further comprises:
step 201: the inspection robot is converted into a deployment robot by installing a laser radar, the deployment robot is controlled to traverse all two-dimensional codes in a working environment, and a two-dimensional code positioning module is used for identifying the unique ID information of the two-dimensional codes, so that the indoor preset position of the two-dimensional codes and the preset pose information of the inspection robot corresponding to the ID information are obtained;
meanwhile, collecting two-dimensional profile data of a working environment through a laser radar;
step 202: and establishing a working environment map based on the two-dimensional contour data through a computing module, and marking the indoor preset position and the preset pose information of the inspection robot in the working environment map.
Further, after step 202, the method further comprises removing the lidar to convert the deployment robot into an inspection robot.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A hybrid positioning navigation system for an indoor inspection robot, comprising:
the two-dimensional code comprises unique ID information;
the inspection robot comprises wireless interaction equipment and a positioning navigation unit;
the wireless interaction device is used for acquiring a pre-established working environment map and a pre-established routing inspection route, the pre-established working environment map comprises a plurality of indoor preset positions, unique ID information of the two-dimensional code arranged on the indoor preset positions and preset pose information of the routing inspection robot corresponding to the ID information, and the pre-established routing inspection route consists of the indoor preset positions selected on the working environment map;
the positioning navigation unit comprises a two-dimensional code positioning module and a calculation module;
the two-dimension code positioning module is used for detecting the two-dimension code at the indoor preset position on the preset routing inspection route and acquiring the unique ID information of the two-dimension code;
the calculation module is used for pre-storing the preset pose information of the inspection robot corresponding to the ID information in the pre-established working environment map, matching the corresponding preset pose information in the calculation module based on the unique ID information, and adjusting the pose of the inspection robot on the indoor preset position according to the preset pose information.
2. The hybrid positioning navigation system for an indoor inspection robot according to claim 1, further comprising: a deployment system, the deployment system comprising:
the deployment robot is used for acquiring indoor two-dimensional contour data;
the calculation module is used for constructing the working environment map based on the indoor two-dimensional contour data and marking the corresponding indoor preset position in the working environment map according to the unique ID information of the two-dimensional code.
3. The hybrid positioning navigation system for the indoor inspection robot according to claim 2, wherein the inspection robot is provided with a radar slot;
the radar slot is used for detaching the laser radar, when the construction of the working environment map is completed, the laser radar is detached, and the deployment robot is changed into the inspection robot.
4. The hybrid positioning and navigation system for the indoor inspection robot according to claim 3, wherein a DC power interface and a communication interface for connecting the laser radar are arranged in the radar slot.
5. The hybrid positioning and navigation system for the indoor inspection robot according to claim 1, wherein the positioning and navigation unit further comprises an inertial navigation module, a wheel set motor feedback encoder and a driving wheel;
the inertial navigation module is used for acquiring angular speed information of the driving wheel;
the wheel set motor feedback encoder is used for acquiring the turnover distance of the driving wheel;
correspondingly, the inertial navigation module and the wheel set motor feedback encoder are in communication connection with the computing module and used for calculating the track calculation of the routing inspection robot in the traveling process by the computing module.
6. The hybrid positioning and navigation system for the indoor inspection robots according to claim 1 or 2, wherein the wireless interaction device is in wireless communication connection with the positioning and navigation unit.
7. The hybrid positioning and navigation system for the indoor inspection robot according to claim 6, wherein the wireless communication connection mode is tcp/ip protocol communication connection through wireless WiFi.
8. A hybrid positioning navigation method for an indoor inspection robot is applied to the hybrid positioning navigation system for the indoor inspection robot in any one of claims 1 to 7, and is characterized by comprising the following steps:
step 1: the two-dimensional codes are fixed at indoor preset positions through a plurality of two-dimensional codes;
step 2: planning an inspection route in a pre-established working environment map, wherein the inspection route consists of the indoor preset position;
and step 3: collecting angular speed information and turnover distance of a driving wheel in the traveling process of the inspection robot in real time through a calculation module to realize dead reckoning, and guiding the inspection robot to travel according to the inspection route;
and 4, step 4: when the inspection robot passes through the two-dimensional code, the ID information of the two-dimensional code is identified through the two-dimensional code positioning module, corresponding preset pose information is obtained, and the pose of the inspection robot is adjusted according to the preset pose information.
9. The hybrid positioning navigation method for the indoor inspection robot according to claim 8, wherein after the step 1, before the step 2, the hybrid positioning navigation method further comprises:
step 201: the inspection robot is converted into a deployment robot by installing a laser radar, the deployment robot is controlled to traverse all the two-dimensional codes in a working environment, and a two-dimensional code positioning module is used for identifying the unique ID information of the two-dimensional codes so as to obtain the indoor preset position corresponding to the two-dimensional codes and the preset pose information of the inspection robot corresponding to the ID information;
meanwhile, collecting two-dimensional profile data of a working environment through a laser radar;
step 202: and establishing a working environment map based on the two-dimensional contour data through the computing module, and marking the indoor preset position and the preset pose information of the inspection robot in the working environment map.
10. The hybrid positioning navigation method for an indoor inspection robot according to claim 9, further comprising removing the lidar after the step 202 to convert the deployment robot to the inspection robot.
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