CN114167867A - Positioning and control method of inspection robot and related device - Google Patents
Positioning and control method of inspection robot and related device Download PDFInfo
- Publication number
- CN114167867A CN114167867A CN202111462429.9A CN202111462429A CN114167867A CN 114167867 A CN114167867 A CN 114167867A CN 202111462429 A CN202111462429 A CN 202111462429A CN 114167867 A CN114167867 A CN 114167867A
- Authority
- CN
- China
- Prior art keywords
- inspection robot
- positioning
- path
- inspection
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 179
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004364 calculation method Methods 0.000 claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000010276 construction Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The application discloses location and control method and relevant device of inspection robot, include: constructing a two-dimensional code array based on a routing inspection target of an indoor environment, and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array; taking a preset inspection path and an inspection target as references, and performing linear connection on the two-dimensional codes according to the coordinate information to determine a first path of the inspection robot; when the inspection robot inspects according to the first path, acquiring a plurality of two-dimensional codes in the current visual range through the first sensor, and calculating according to coordinate information corresponding to the two-dimensional codes to obtain first positioning information of the inspection robot; acquiring second positioning information of a second sensor of the current inspection robot, and performing mixed positioning calculation on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot; and calculating the confidence of the positioning information, and controlling the inspection robot to move according to the confidence. The problem of prior art need a large amount of manual work to participate in and the reliability is poor is solved.
Description
Technical Field
The application relates to the technical field of inspection robots, in particular to a positioning and control method and a related device of an inspection robot.
Background
In the transformer substation inspection robot, navigation and positioning are key technologies for realizing accurate inspection of the robot. Generally, before a robot starts to deploy a task, a patrol inspection site needs to be mapped and patrol inspection point positions are determined, the patrol inspection robot is matched with sensing terminals such as a laser radar, a two-dimensional code, an IMU (inertial measurement Unit) and a speedometer to carry out real-time positioning and control on the robot according to the map and the point positions, so that patrol inspection on a set task is completed, and patrol inspection task actions such as meter and infrared recognition are finally completed.
At present with laser radar as environment detection end, cost is higher usually, and simultaneously, what laser radar utilized when real-time positioning and control is laser rangefinder's information usually, and then utilize the geometry and the textural feature completion location of object. Therefore, in a narrow indoor space with consistent environmental height, the accuracy of real-time control and positioning of the existing laser radar environment detection tail end is affected, and the real-time reliable positioning cannot be accurately identified and completed. During operation of the production, the robot will have lost positioning or become lost. Meanwhile, the whole control and positioning process needs a large amount of manual participation to realize high-reliability real-time control and positioning in an indoor environment. Meanwhile, the existing indoor two-dimension code positioning usually only depends on the two-dimension code to finish the calibration of the position, namely after one two-dimension code finishes the positioning, the current two-dimension code is used as a reference point to start the positioning until the next two-dimension code finishes the reference positioning again, so that the positioning decomposition in the whole process is realized, and the positioning between two points is finally realized. The method is generally suitable for scenes with small two-dimensional code distance, and meanwhile, positioning between two-dimensional codes completely depends on deduction calculation, reliable walking according to routing inspection can not be finished, and the situations of yaw and positioning loss can occur.
Disclosure of Invention
The application provides a positioning and control method of an inspection robot and a related device, which are used for solving the technical problems that a large amount of labor is needed and the reliability is poor in the prior art.
In view of the above, a first aspect of the present application provides a method for positioning and controlling an inspection robot, the method including:
s1, constructing a two-dimensional code array based on the indoor environment inspection target, and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array;
s2, taking a preset inspection path and an inspection target as references, and performing linear connection on the two-dimensional codes according to the coordinate information to determine a first path of the inspection robot;
s3, when the inspection robot inspects the objects according to the first path, acquiring a plurality of two-dimensional codes in the current visual range through a first sensor, and calculating according to coordinate information corresponding to the two-dimensional codes to obtain first positioning information of the inspection robot;
s4, second positioning information of a second sensor of the current inspection robot is obtained, and mixed positioning calculation is carried out on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot.
Optionally, step S4 is followed by:
s01, continuously evaluating and calculating the confidence level of the positioning information, judging whether the confidence level is in a preset threshold range, if so, executing a step S02, otherwise, executing a step S03;
s02, controlling the inspection robot to reach an inspection target according to the first path and a preset motion rule;
and S03, controlling the inspection robot to move according to the first path and the lowest speed of the inspection robot.
Optionally, the determining the path of the inspection robot further includes:
and setting a walkable safety range of the inspection robot by taking the first path as a center to obtain a second path of the inspection robot.
Optionally, the step S03 is followed by:
and judging whether the positioning information is in the second path, if so, executing a step S01, otherwise, controlling the inspection robot to stop moving and sending an alarm signal.
Optionally, the second sensor is: odometers and IMUs.
Optionally, the preset motion law is as follows: starting, accelerating, uniform speed and decelerating.
This application second aspect provides a location and control system who patrols and examines robot, the system includes:
the system comprises a construction unit, a storage unit and a processing unit, wherein the construction unit is used for constructing a two-dimensional code array based on an inspection target of an indoor environment and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array;
the acquisition unit is used for performing linear connection on the two-dimensional codes according to the coordinate information by taking a preset inspection path and an inspection target as a reference to determine a first path of the inspection robot, and setting a walking safety range of the inspection robot by taking the first path as a center to obtain a second path of the inspection robot;
the first calculation unit is used for acquiring a plurality of two-dimensional codes in the current visual range through a first sensor when the inspection robot inspects the objects according to the first path, and calculating to obtain first positioning information of the inspection robot according to coordinate information corresponding to the two-dimensional codes;
and the second calculation unit is used for acquiring second positioning information of a second sensor of the current inspection robot, and performing mixed positioning calculation on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot.
Optionally, the method further comprises:
the first judging unit is used for continuously evaluating and calculating the confidence coefficient of the positioning information, judging whether the confidence coefficient is in a preset threshold range, if so, triggering the first control unit, and otherwise, triggering the second control unit;
the first control unit is used for controlling the inspection robot to reach an inspection target according to the first path and a preset motion rule;
the second control unit is used for controlling the inspection robot to move according to the first path and the lowest speed of the inspection robot;
and the second judging unit is used for judging whether the positioning information is in the second path, if so, the first judging unit is triggered, and if not, the inspection robot is controlled to stop moving and an alarm signal is sent out.
A third aspect of the present application provides a positioning and control apparatus for an inspection robot, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the steps of the inspection robot positioning and controlling method according to the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium for storing program codes for executing the positioning and control method of an inspection robot according to the first aspect.
According to the technical scheme, the method has the following advantages:
the application provides a positioning and control method of an inspection robot, comprising the following steps: s1, constructing a two-dimensional code array based on the indoor environment inspection target, and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array; s2, taking a preset inspection path and an inspection target as references, and performing linear connection on the two-dimensional codes according to the coordinate information to determine a first path of the inspection robot; s3, when the inspection robot inspects the objects according to the first path, acquiring a plurality of two-dimensional codes in the current visual range through the first sensor, and calculating according to coordinate information corresponding to the two-dimensional codes to obtain first positioning information of the inspection robot; s4, second positioning information of a second sensor of the current inspection robot is obtained, and mixed positioning calculation is carried out on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot. And S5, continuously evaluating and calculating the confidence coefficient of the positioning information, judging whether the confidence coefficient is within a preset threshold range, and if so, controlling the inspection robot to reach the inspection target according to the first path according to a preset motion rule. Otherwise, the inspection robot is controlled to move according to the first path and the lowest speed of the inspection robot.
Compared with the prior art, the method and the device have the advantages that the current calculation coordinates of the robot can be obtained by utilizing the two-dimensional code array, the hybrid positioning result can be obtained by fusing IMU and odometer positioning information, the hybrid high-reliability positioning under the whole environment can be realized without manual participation, and meanwhile, the confidence coefficient of the current positioning is obtained in real time. Based on the positioning and the confidence coefficient, the real-time positioning and control of the robot are completed, the robot can reliably walk in a set safe path range, and the situations of the robot such as astray, yaw and positioning loss are avoided. Therefore, the technical problems that a large amount of labor is needed and the reliability is poor in the prior art are solved.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of a positioning and control method of an inspection robot provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a second embodiment of a positioning and control method of an inspection robot provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of an embodiment of a positioning and control system of an inspection robot provided in an embodiment of the present application;
FIG. 4 is a schematic view of a scene two-dimensional code;
fig. 5a, 5b and 5c are schematic diagrams of the motion of the inspection robot;
fig. 6 is a schematic diagram of the inspection robot heading to the nearest position of the path.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Referring to fig. 1, an embodiment of the present application provides a method for positioning and controlling an inspection robot, including:
it should be noted that, on the basis of the indoor environment inspection target, a two-dimensional code environment array is constructed, as shown in fig. 4, for a two-dimensional code array (two-dimensional code is deployed on the top end) arranged in a certain indoor environment, 1# to 14# are positions where the two-dimensional code is deployed, and 1# is a coordinate (0,0) position, all position coordinate information of 1# to 14# can be sequentially obtained by using a distance meter, so that all the two-dimensional code arrays and corresponding coordinate information in the indoor environment are obtained, and the establishment of an indoor environment coordinate and a two-dimensional code position is realized.
the indoor environment inspection path and the inspection target are used as references to determine the path of the inspection robot, and the two-dimensional codes are connected in a straight line to obtain the first path of the inspection robot.
103, when the inspection robot inspects the objects according to the first path, acquiring a plurality of two-dimensional codes in the current visual range through the first sensor, and calculating to obtain first positioning information of the inspection robot according to coordinate information corresponding to the two-dimensional codes;
it should be noted that, the robot can read the two-dimensional code in the two-dimensional code array in the visible range at any indoor position by using the two-dimensional code camera, and usually the number of the two-dimensional codes which can be read is not less than 2. Therefore, the current calculation coordinate can be obtained through comprehensive calculation according to the condition of reading the two-dimensional code according to the current position of the robot and the position of the corresponding two-dimensional code array and by combining the corresponding weight coefficient and the filtering algorithm. Referring to fig. 4, if the position is close to the position 2# between the positions 1# and 2#, the two-dimensional code respectively reads the two-dimensional code and the array coordinate information of the position 1#, the position 2#, and the position 3# and combines the corresponding weight coefficient and the filtering algorithm to obtain the current calculation coordinate, i.e. the first positioning information of the inspection robot.
And 104, acquiring second positioning information of a second sensor of the current inspection robot, and performing hybrid positioning calculation on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot.
It should be noted that, the final positioning result is based on the calculation coordinates obtained in step (3) at any indoor position of the robot, and the hybrid positioning calculation result is obtained by combining the current position in the two-dimensional code array and positioning with sensors such as an odometer and an IMU, and the confidence of the current positioning is evaluated and calculated at the same time. Referring to fig. 5a, 5b, and 5c, if starting from position # 1 between position # 1 and position # 2, the robot is located right below the two-dimensional array code (fig. 5a), the hybrid positioning result will mainly use the calculation result of step 103, and meanwhile, the derived positioning information of the odometer and the IMU is fused; when the robot is gradually far away from the position right below the two-dimensional code (fig. 5b), the hybrid positioning result is mainly the deduction positioning information of the odometer and the IMU, and the calculation results in the step 103 are fused; when the robot gradually approaches the 2# two-dimensional code again, the robot is located under the array two-dimensional code again (fig. 5c), the hybrid positioning result gives priority to the calculation result of the step 103 again, and meanwhile, the deduction positioning information of the odometer and the IMU is fused. The above steps are repeated, so that mixed high-reliability positioning in the whole environment is realized, and meanwhile, the confidence coefficient of the current positioning is obtained in real time.
The foregoing is a first embodiment of a positioning and control method of an inspection robot provided in the embodiments of the present application, and the following is a second embodiment of the positioning and control method of an inspection robot provided in the embodiments of the present application.
Referring to fig. 2, an embodiment of the present application provides a method for positioning and controlling an inspection robot, including:
it should be noted that step 201 is the same as the description of step 101 in the embodiment, please refer to the description of step 101, and the description is not repeated herein.
the indoor environment inspection path and the inspection target are used as references to determine the path of the inspection robot, and the two-dimensional codes are connected in a straight line to determine the first path of the inspection robot. Meanwhile, the range of the safe path is determined by the connected straight path (for example, in practical application, the safe range of the path is 30cm), so that the walking path of the robot in the whole indoor environment can be determined, and the second path of the inspection robot can be obtained.
it should be noted that step 203 is the same as the description of step 103 in the embodiment, please refer to the description of step 103, which is not repeated herein.
it should be noted that step 204 is the same as the description of step 104 in the embodiment, please refer to the description of step 104, and the description thereof is omitted here.
for step 205-. When the reliability of the positioning of the robot is out of the threshold range, the robot control is operated at the lowest speed, and the normal control is not recovered until the reliability of the positioning returns to the threshold range again.
And 208, judging whether the positioning information is in the second path, if so, executing the step 205, otherwise, controlling the inspection robot to stop moving and sending an alarm signal.
It should be noted that, the robot issues task starting control at any position, and the robot completes corresponding control by combining the current hybrid positioning result and the safety path range of the robot. If the current robot is at any position between 1# and 2#, if the hybrid positioning result is within the safety range of the 1# and 2# connection paths, the robot will go to the connection path with the shortest path (please refer to fig. 6), and after reaching the path, the robot will complete the control along the path according to the control mode of step 205 and 207; and if the hybrid positioning result is out of the safety range of the 1# and 2# connection paths, the robot stops in place and sends out an alarm signal to report that the path planning fails.
The embodiment of the application provides a location and control method of inspection robot, including: 1) and constructing the two-dimension code environment array on the basis of the indoor environment inspection target, thereby obtaining all the two-dimension code arrays and corresponding coordinate information under the indoor environment and realizing the establishment of indoor environment coordinates and two-dimension code positions. On the basis, the safe path range is determined according to the point positions, and the walking path of the robot in the indoor environment is determined. And combining the read two-dimension code information according to the two-dimension code array, and fusing a weight coefficient and a filtering algorithm to obtain the current calculation coordinate. On the basis, the positioning results of sensors such as a speedometer and an IMU are fused, mixed positioning (including a fused positioning calculation strategy of each stage) is realized, and mixed high-reliability positioning under the whole environment is finally completed. 2) And calculating the confidence of the current positioning, and combining the safety range of the current path based on the confidence of the current positioning to realize the control of issuing at any point position. The method comprises starting, accelerating, uniform speed and decelerating within a normal threshold range and lowest speed control outside the threshold range. Starting the robot at any position within the range of the safe path to go to the connection path in the shortest path, and then completing the real-time positioning and control of the robot according to a normal flow mode; and if the program is out of the safety range, stopping in place, sending an alarm signal, and reporting the planning failure.
The second embodiment of the positioning and control method of the inspection robot provided in the embodiment of the present application is as described above, and the second embodiment of the positioning and control system of the inspection robot provided in the embodiment of the present application is as described below.
Referring to fig. 3, an embodiment of the present application provides a positioning and control system for an inspection robot, including:
the construction unit 301 is configured to construct a two-dimensional code array based on an indoor environment inspection target, and acquire coordinate information corresponding to each two-dimensional code in the two-dimensional code array;
the acquiring unit 302 is used for performing linear connection on the two-dimensional codes according to the coordinate information by taking a preset inspection path and an inspection target as a reference, determining a first path of the inspection robot, and setting a walking safety range of the inspection robot by taking the first path as a center to obtain a second path of the inspection robot;
the first calculating unit 303 is configured to obtain, by a first sensor, a plurality of two-dimensional codes in a current visual range when the inspection robot performs inspection according to the first path, and calculate to obtain first positioning information of the inspection robot according to coordinate information corresponding to the plurality of two-dimensional codes;
and the second calculating unit 304 is configured to obtain second positioning information of a second sensor of the current inspection robot, and perform hybrid positioning calculation on the first positioning information and the second positioning information to obtain positioning information of the current inspection robot.
Further, still include:
the first judging unit is used for continuously evaluating and calculating the confidence coefficient of the positioning information, judging whether the confidence coefficient is in a preset threshold range, if so, triggering the first control unit, and otherwise, triggering the second control unit;
the first control unit is used for controlling the inspection robot to reach an inspection target according to a first path according to a preset motion rule;
the second control unit is used for controlling the inspection robot to move according to the first path and the lowest speed of the inspection robot;
and the second judging unit is used for judging whether the positioning information is in the second path, if so, the first judging unit is triggered, and if not, the inspection robot is controlled to stop moving and an alarm signal is sent out.
Further, this application embodiment still provides a location and the control device of inspection robot, its characterized in that, equipment includes treater and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the positioning and control method of the inspection robot according to the instructions in the program codes.
Further, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used to store a program code, and the program code is used to execute the positioning and control method of the inspection robot according to the above-mentioned method embodiment.
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 unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
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, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units 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 units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 in the embodiments of the present application.
Claims (10)
1. A positioning and control method of an inspection robot is characterized by comprising the following steps:
s1, constructing a two-dimensional code array based on the indoor environment inspection target, and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array;
s2, taking a preset inspection path and an inspection target as references, and performing linear connection on the two-dimensional codes according to the coordinate information to determine a first path of the inspection robot;
s3, when the inspection robot inspects the objects according to the first path, acquiring a plurality of two-dimensional codes in the current visual range through a first sensor, and calculating according to coordinate information corresponding to the two-dimensional codes to obtain first positioning information of the inspection robot;
s4, second positioning information of a second sensor of the current inspection robot is obtained, and mixed positioning calculation is carried out on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot.
2. The inspection robot positioning and control method according to claim 1, wherein step S4 is followed by further comprising:
s01, continuously evaluating and calculating the confidence level of the positioning information, judging whether the confidence level is in a preset threshold range, if so, executing a step S02, otherwise, executing a step S03;
s02, controlling the inspection robot to reach an inspection target according to the first path and a preset motion rule;
and S03, controlling the inspection robot to move according to the first path and the lowest speed of the inspection robot.
3. The inspection robot positioning and control method according to claim 2, wherein the determining the path of the inspection robot further includes:
and setting a walkable safety range of the inspection robot by taking the first path as a center to obtain a second path of the inspection robot.
4. The inspection robot positioning and control method according to claim 3, wherein the step S03 is followed by further comprising:
and judging whether the positioning information is in the second path, if so, executing a step S01, otherwise, controlling the inspection robot to stop moving and sending an alarm signal.
5. The inspection robot positioning and control method according to claim 1, wherein the second sensor is: odometers and IMUs.
6. The inspection robot positioning and control method according to claim 2, wherein the preset motion law is as follows: starting, accelerating, uniform speed and decelerating.
7. The utility model provides a location and control system who patrols and examines robot which characterized in that includes:
the system comprises a construction unit, a storage unit and a processing unit, wherein the construction unit is used for constructing a two-dimensional code array based on an inspection target of an indoor environment and acquiring coordinate information corresponding to each two-dimensional code in the two-dimensional code array;
the acquisition unit is used for performing linear connection on the two-dimensional codes according to the coordinate information by taking a preset inspection path and an inspection target as a reference to determine a first path of the inspection robot, and setting a walking safety range of the inspection robot by taking the first path as a center to obtain a second path of the inspection robot;
the first calculation unit is used for acquiring a plurality of two-dimensional codes in the current visual range through a first sensor when the inspection robot inspects the objects according to the first path, and calculating to obtain first positioning information of the inspection robot according to coordinate information corresponding to the two-dimensional codes;
and the second calculation unit is used for acquiring second positioning information of a second sensor of the current inspection robot, and performing mixed positioning calculation on the first positioning information and the second positioning information to obtain the positioning information of the current inspection robot.
8. The inspection robot positioning and control system according to claim 7, further including:
the first judging unit is used for continuously evaluating and calculating the confidence coefficient of the positioning information, judging whether the confidence coefficient is in a preset threshold range, if so, triggering the first control unit, and otherwise, triggering the second control unit;
the first control unit is used for controlling the inspection robot to reach an inspection target according to the first path and a preset motion rule;
the second control unit is used for controlling the inspection robot to move according to the first path and the lowest speed of the inspection robot;
and the second judging unit is used for judging whether the positioning information is in the second path, if so, the first judging unit is triggered, and if not, the inspection robot is controlled to stop moving and an alarm signal is sent out.
9. The utility model provides a location and controlgear of inspection robot which characterized in that, equipment includes treater and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the positioning and control method of the inspection robot according to any one of claims 1 to 6 according to the instructions in the program code.
10. A computer-readable storage medium storing program code for executing the inspection robot positioning and controlling method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111462429.9A CN114167867A (en) | 2021-12-02 | 2021-12-02 | Positioning and control method of inspection robot and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111462429.9A CN114167867A (en) | 2021-12-02 | 2021-12-02 | Positioning and control method of inspection robot and related device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114167867A true CN114167867A (en) | 2022-03-11 |
Family
ID=80482497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111462429.9A Pending CN114167867A (en) | 2021-12-02 | 2021-12-02 | Positioning and control method of inspection robot and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114167867A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759853A (en) * | 2018-06-15 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of robot localization method, system, equipment and computer readable storage medium |
| CN111006655A (en) * | 2019-10-21 | 2020-04-14 | 南京理工大学 | Multi-scene autonomous navigation positioning method for airport inspection robot |
| CN111624995A (en) * | 2020-05-09 | 2020-09-04 | 太仓臻溢科技有限公司 | High-precision navigation positioning method for mobile robot |
| CN111639505A (en) * | 2020-05-29 | 2020-09-08 | 广东电网有限责任公司电力科学研究院 | Hybrid positioning navigation system and method for indoor inspection robot |
| CN111702763A (en) * | 2020-06-28 | 2020-09-25 | 国网四川省电力公司电力科学研究院 | Transformer substation inspection robot repositioning system and method based on Beidou system |
| WO2020233155A1 (en) * | 2019-05-23 | 2020-11-26 | ***股份有限公司 | Apparatus inspection patrol method and device |
| CN112631307A (en) * | 2020-12-28 | 2021-04-09 | 西咸新区鸿通管廊投资有限公司 | Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot |
| CN214173350U (en) * | 2020-12-28 | 2021-09-10 | 西咸新区鸿通管廊投资有限公司 | Multisensor auxiliary positioning device of robot is patrolled and examined to rail mounted |
| CN113405544A (en) * | 2021-05-08 | 2021-09-17 | 中电海康集团有限公司 | Mapping and positioning method and system for mobile robot |
| CN113566827A (en) * | 2021-07-09 | 2021-10-29 | 中国能源建设集团安徽省电力设计院有限公司 | Transformer substation inspection robot indoor positioning method based on information fusion |
| CN113642687A (en) * | 2021-07-16 | 2021-11-12 | 国网上海市电力公司 | Substation inspection indoor position calculation method integrating two-dimensional code identification and inertial system |
-
2021
- 2021-12-02 CN CN202111462429.9A patent/CN114167867A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759853A (en) * | 2018-06-15 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of robot localization method, system, equipment and computer readable storage medium |
| WO2020233155A1 (en) * | 2019-05-23 | 2020-11-26 | ***股份有限公司 | Apparatus inspection patrol method and device |
| CN111006655A (en) * | 2019-10-21 | 2020-04-14 | 南京理工大学 | Multi-scene autonomous navigation positioning method for airport inspection robot |
| CN111624995A (en) * | 2020-05-09 | 2020-09-04 | 太仓臻溢科技有限公司 | High-precision navigation positioning method for mobile robot |
| CN111639505A (en) * | 2020-05-29 | 2020-09-08 | 广东电网有限责任公司电力科学研究院 | Hybrid positioning navigation system and method for indoor inspection robot |
| CN111702763A (en) * | 2020-06-28 | 2020-09-25 | 国网四川省电力公司电力科学研究院 | Transformer substation inspection robot repositioning system and method based on Beidou system |
| CN112631307A (en) * | 2020-12-28 | 2021-04-09 | 西咸新区鸿通管廊投资有限公司 | Multi-sensor auxiliary positioning module and method for rail-mounted inspection robot |
| CN214173350U (en) * | 2020-12-28 | 2021-09-10 | 西咸新区鸿通管廊投资有限公司 | Multisensor auxiliary positioning device of robot is patrolled and examined to rail mounted |
| CN113405544A (en) * | 2021-05-08 | 2021-09-17 | 中电海康集团有限公司 | Mapping and positioning method and system for mobile robot |
| CN113566827A (en) * | 2021-07-09 | 2021-10-29 | 中国能源建设集团安徽省电力设计院有限公司 | Transformer substation inspection robot indoor positioning method based on information fusion |
| CN113642687A (en) * | 2021-07-16 | 2021-11-12 | 国网上海市电力公司 | Substation inspection indoor position calculation method integrating two-dimensional code identification and inertial system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110458961B (en) | Augmented reality based system | |
| CN110146909A (en) | A kind of location data processing method | |
| CN107406073B (en) | Method and device for monitoring a target trajectory to be covered by a vehicle in terms of collision-free behavior | |
| CN105676251A (en) | Vehicle passenger identification | |
| CN108318043A (en) | Method, apparatus for updating electronic map and computer readable storage medium | |
| CN106541404A (en) | A kind of Robot visual location air navigation aid | |
| CN108168565A (en) | For the method and system of positioning vehicle | |
| CN107972027B (en) | Robot positioning method and device and robot | |
| CN103869814A (en) | Terminal positioning and navigation method and mobile terminal | |
| CN111947644B (en) | Outdoor mobile robot positioning method and system and electronic equipment thereof | |
| US10156847B2 (en) | Autonomous moving device | |
| CN112506222A (en) | Unmanned aerial vehicle intelligent obstacle avoidance method and device | |
| CN103889049A (en) | Wireless signal indoor positioning system and method based on inertia measurement element assistance | |
| CN107843252B (en) | Navigation path optimization method and device and electronic equipment | |
| KR102075844B1 (en) | Localization system merging results of multi-modal sensor based positioning and method thereof | |
| CN111521971B (en) | Robot positioning method and system | |
| EP3920111A1 (en) | Movement route predict system, movement route predict method, and computer program | |
| CN113034594A (en) | Pose optimization method and device, electronic equipment and storage medium | |
| CN112163063A (en) | Method, apparatus and computer-readable storage medium for generating high-precision map | |
| CN115565058A (en) | Robot, obstacle avoidance method, device and storage medium | |
| CN103903253A (en) | Mobile terminal positioning method and system | |
| CN109084804A (en) | Robot localization precision determination processing method and device | |
| CN116629106A (en) | Quasi-digital twin method, system, equipment and medium for mobile robot operation scene | |
| CN114167867A (en) | Positioning and control method of inspection robot and related device | |
| CN112327868A (en) | Intelligent robot automatic navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |