CN111399517A - Track type inspection robot following monitoring method based on UWB positioning system - Google Patents
Track type inspection robot following monitoring method based on UWB positioning system Download PDFInfo
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- 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
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- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application discloses track type inspection robot following monitoring method based on UWB positioning system, including: receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time; determining the target moving position of the rail type inspection robot according to the position coordinates; and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel. The following monitoring method can carry out whole-course and comprehensive following record on the advancing route and the operation action of personnel in a workplace. The application also discloses a track type inspection robot following monitoring system based on the UWB positioning system and a computer readable storage medium, and the track type inspection robot following monitoring system and the computer readable storage medium have the technical effects.
Description
Technical Field
The application relates to the technical field of robots, in particular to a track type inspection robot following monitoring method based on a UWB positioning system; and also relates to a following monitoring system of the track type inspection robot based on the UWB positioning system and a computer readable storage medium.
Background
At present, centralized control centers are built in various industries including communication operation rooms, data center rooms, transformer substations, power plants, municipal pipe galleries and the like, and with the development of robot technology, various inspection robots are applied to the scenes to replace manual inspection, so that inspection is more and more extensive. However, although the inspection robot in the prior art, especially the rail type inspection robot, has the advantages of being safer and not affecting the production facilities and equipment in the place compared with the ground wheel type robot in terms of replacing the manual inspection work, due to the limitation of the working mode of the inspection robot moving on the preset fixed rail, it is difficult to effectively follow and record the whole process of the personnel entering the place for working.
In view of this, how to make the track type inspection robot perform full-range and comprehensive following recording on the traveling route and the operation action of the personnel in the workplace has become a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The application aims to provide a track type inspection robot following monitoring method based on a UWB positioning system, which can carry out whole-course and comprehensive following recording on the advancing route and the operation action of personnel in a workplace. Another object of the present application is to provide a tracking monitoring system of a track type inspection robot based on UWB positioning system and a computer readable storage medium, which all have the above technical effects.
In order to solve the technical problem, the present application provides a track type inspection robot following monitoring method based on a UWB positioning system, including:
receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time;
determining the target moving position of the rail type inspection robot according to the position coordinates;
and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel.
Optionally, the determining the target moving position of the rail type inspection robot according to the position coordinate includes:
the device is used for determining the position of the track type inspection robot closest to the position coordinate to position the track type inspection robot on the track according to the position coordinate;
and taking the position of the device, which is adjacent to the device, for positioning the position of the track type inspection robot on the track, closest to the position coordinate, of the track type inspection robot, as the target moving position of the track type inspection robot.
Optionally, the rail mounted patrols and examines the robot right the personnel shoot, include:
the rail type inspection robot shoots the personnel and keeps the personnel in the center of the shot picture.
Optionally, the mode that the rail-type inspection robot keeps the person at the center of the shot picture includes:
the rail-mounted inspection robot extracts a current frame image shot by a shooting lens and determines the position of the personnel in the current frame image;
the rail type inspection robot judges the position relation between the personnel in the current frame image and a reference area; the reference area is a central area of the shooting lens;
and if the personnel in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
Optionally, if the person is located outside the reference area in the current frame image, the track-based inspection robot adjusts the position of the photographing lens, including:
when part of the personnel is positioned outside the reference area, the rail-type inspection robot adjusts the shooting angle of the shooting lens and adjusts the shooting position of the shooting lens when the angle adjustment is larger than a preset angle adjustment range;
and when the person is completely outside the reference area, adjusting the shooting position of the shooting lens.
Optionally, the rail-mounted inspection robot moves to the target moving position and shoots the personnel, and the rail-mounted inspection robot includes:
when the track type inspection robot receives position information of a plurality of different target moving positions at the same time, the track type inspection robot moves to each target moving position in sequence and shoots the personnel at each target moving position for a preset time.
In order to solve the technical problem, the present application further provides a track type inspection robot following monitoring system based on the UWB positioning system, including:
the UWB positioning beacon is used for regularly sending position coordinates;
the monitoring background is used for determining the target moving position of the rail type inspection robot according to the position coordinates; the position information of the target moving position is sent to the rail type inspection robot;
and the rail type inspection robot is used for moving to the target moving position according to the position information and shooting the personnel.
Optionally, the monitoring background is specifically configured to determine, according to the position coordinate, a position on the track where the track-type inspection robot is located, where the track-type inspection robot is closest to the position coordinate; and taking the position of the device, which is adjacent to the device, for positioning the position of the track type inspection robot on the track, closest to the position coordinate, of the track type inspection robot, as the target moving position of the track type inspection robot.
Optionally, the rail-mounted inspection robot is specifically configured to photograph the person and keep the person at the center of the photographed image.
In order to solve the above technical problem, the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is processed by a processor, the steps of the following monitoring method for a track type inspection robot based on a UWB positioning system as described above are implemented.
The utility model provides a track type inspection robot's follow monitoring method based on UWB positioning system includes: receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time; determining the target moving position of the rail type inspection robot according to the position coordinates; and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel.
Therefore, the following monitoring method provided by the application coordinates the working environment of the track type inspection robot by using the UWB technology; the position coordinates of the personnel obtained through the UWB positioning beacon are converted into the target moving position of the track type inspection robot, the track type inspection robot is further controlled to move to the target moving position to shoot the personnel, and the whole-course and comprehensive following record of the advancing route and the operation action of the personnel in the workplace is achieved.
The track type inspection robot following monitoring system based on the UWB positioning system and the computer readable storage medium have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a following monitoring method of a track type inspection robot based on a UWB positioning system according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating coverage of a base station signal of a UWB-based positioning system according to an embodiment of the present application;
fig. 3 is a schematic diagram of a UWB position coordinate system and a location tag point of an inspection robot according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a following monitoring system of a track type inspection robot based on a UWB positioning system according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a track type inspection robot following monitoring method based on a UWB positioning system, which can carry out whole-course and comprehensive following record on the advancing route and the operation action of personnel in a workplace. At the other core of the application, the following monitoring system of the track type inspection robot based on the UWB positioning system and the computer readable storage medium are provided, and the technical effects are achieved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all 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, fig. 1 is a schematic diagram of a tracking monitoring method for a track type inspection robot based on a UWB positioning system according to an embodiment of the present application, and referring to fig. 1, the method includes:
s101: receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time;
specifically, the UWB (ultra wide Band) positioning technology is adopted to position the position of a worker in a workplace, specifically, a UWB base station is installed in a workplace where a rail-mounted inspection robot is installed, such as a machine room, and UWB signals completely cover the workplace of the worker, taking the workplace as the machine room as an example, as shown in fig. 2, circular shadows in fig. 2 represent the coverage of the UWB signals. After the UWB signal covers the machine room, the UWB positioning system further generates a position coordinate system of the working place. Since the UWB positioning accuracy is 10cm, there are 137 × 80 coordinate points for the position coordinate system of the machine room of 13.7 × 8 meters.
The rail type inspection robot is arranged on the rail and used for being positioned at the position on the rail, the device can be an RFID label and the like, the device which is used for being positioned at the position on the rail by the rail type inspection robot is taken as the RFID label, the positioning principle of the rail type inspection robot is that the RFID label is added with displacement offset, the RFID label is used for being positioned at the position on the rail by the rail type inspection robot, and each positioning point on the rail can be expressed as n + x. Wherein n is the label number of the RFID label, and x is the displacement offset. On the basis of generating a position coordinate system of a workplace, the representation mode of each positioning point on the track can be converted into coordinates under the UWB position coordinate system, and the position of the No. 52 RFID tag is represented as (80, 30) in the UWB position coordinate system.
In view of the fact that errors may exist between coordinates indicated by a drawing and actual coordinates, in order to ensure accuracy of coordinates in a UWB position coordinate system corresponding to the RFID tag, a UWB positioning beacon may be installed on the track-based inspection robot, and then, when the track-based inspection robot moves to the position of each RFID tag, the actual UWB coordinates of the RFID tag are determined according to the coordinates sent by the UWB positioning beacon.
Personnel that get into the workplace distribute has UWB location beacon, and UWB location beacon that personnel carried can regularly send personnel's current position coordinate to the control backstage through the UWB basic station, send personnel's current position coordinate to the control backstage through the UWB basic station every second like UWB location beacon to make the control backstage further confirm the target shift position that the robot was patrolled and examined to the rail mounted according to personnel's position coordinate, realize following personnel. For the UWB positioning system, the detailed description is omitted here, and reference may be made to the existing related technology.
S102: determining the target moving position of the rail type inspection robot according to the position coordinates;
specifically, after receiving the position coordinates sent by the UWB positioning beacon, the monitoring background further determines the target moving position of the rail-mounted inspection robot according to the position coordinates, that is, where the rail-mounted inspection robot moves next is determined, so that people can be followed and photographed.
In a specific embodiment, the determining the target moving position of the rail type inspection robot according to the position coordinates includes: the device is used for determining the position of the track type inspection robot closest to the position coordinate according to the position coordinate; and taking the position of the device, which is adjacent to the device, for positioning the position of the track type inspection robot on the track, closest to the position coordinate, as the target moving position of the track type inspection robot.
Specifically, the determination of the target moving position of the rail type inspection robot is the position where the device that determines to which rail type inspection robot to move to position itself on the rail is located. In this embodiment, after the monitoring background determines the device, which is closest to the position coordinate, of the rail type inspection robot for positioning the position of the rail type inspection robot on the rail according to the position coordinate, the position of another device adjacent to the device is selected as the target moving position of the rail type inspection robot. And for the condition that the device for positioning the track type inspection robot on the track is the RFID tag, namely, after the RFID tag closest to the position coordinate is determined according to the position coordinate and the coordinate of the REID tag in the UWB coordinate system, the position of the RFID tag adjacent to the RFID tag is selected as the target moving position of the track type inspection robot. For example, referring to fig. 3, the RFID tag closest to the position coordinate is determined to be RFID tag number 52 according to the position coordinate transmitted by the UWB positioning beacon, and the position of the RFID tag number 51 or 53, which is adjacent to the RFID tag number 52, is used as the target moving position of the track type inspection robot.
Furthermore, in order to facilitate the positioning of the camera of the rail-mounted inspection robot and avoid the loss of personnel from the picture shot by the camera, after the RFID tag closest to the position coordinate is determined each time, the previous tag of the RFID tag is taken as the target moving position of the inspection robot, for example, if the RFID tag closest to the position coordinate is determined to be RFID tag number 52 according to the position coordinate transmitted by the UWB positioning beacon, the position where RFID tag number 51 is located is taken as the target moving position of the rail-mounted inspection robot.
It can be understood that the track on which the track type inspection robot runs is usually a closed-loop track, so when the RFID tag closest to the position coordinate is determined to be the RFID tag No. 1 according to the position coordinate transmitted by the UWB positioning beacon, the position where the RFID tag with the largest number adjacent to the RFID tag No. 1 is located is taken as the target moving position of the track type inspection robot. For example, referring to fig. 3, the number of RFID tags is 71, that is, the maximum number is 71, and the number 2 RFID tag and the number 71 RFID tag are adjacent to the number 1 RFID tag, so when the RFID tag closest to the position coordinate is determined to be the number 1 RFID tag according to the position coordinate transmitted by the UWB positioning beacon, the position where the number 71 RFID tag is located is set as the target moving position of the track type inspection robot.
S103: and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots a person.
Specifically, after the target moving position of the rail-mounted inspection robot is determined, the monitoring background further sends the position information of the target moving position to the rail-mounted inspection robot, and then the rail-mounted inspection robot moves to the target moving position according to the position information and shoots activities of people at the target moving position. Furthermore, the monitoring background can also receive and display the pictures shot by the rail-mounted inspection robot in real time.
When a person moves in a workplace, the UWB positioning beacon carried by the person continuously sends different position coordinates to the monitoring background, the monitoring background continuously determines the target moving position of the track type robot, and sends a corresponding instruction to the track type inspection robot, so that the track type inspection robot can go to a new target moving position again to shoot the person, and the purpose of carrying out whole-course and comprehensive follow-up recording on the moving route and operation actions of the person in the workplace is achieved.
Wherein, in a specific implementation mode, the rail-mounted inspection robot moves to the target moving position and shoots the personnel, and the rail-mounted inspection robot comprises: when the rail type inspection robot receives the position information of a plurality of different target moving positions at the same time, the rail type inspection robot moves to each target moving position in sequence and shoots a person at each target moving position for a preset time.
Specifically, when a plurality of persons exist in different positions in a workplace at the same time, the monitoring background receives position coordinates sent by the UWB positioning beacons, so that the monitoring background can determine a plurality of different target moving positions according to the position coordinates, correspondingly, the track type inspection robot can simultaneously receive position information of the plurality of different target moving positions, under the condition, the track type inspection robot moves to the target moving positions in sequence, and the persons are shot at the target moving positions for a preset time length. For example, after photographing a person for 5 minutes at the current target movement position, the orbital inspection robot moves to the next target movement position, and photographs the person for another 5 minutes at the next target movement position.
Of course, the specific value of the preset duration is not limited in the present application, and the difference setting may be performed according to actual needs. In addition, when a plurality of rail-mounted inspection robots exist on the same rail, the position information of different target moving positions can be sent to different rail-mounted inspection robots, so that the rail-mounted inspection robots respectively shoot different persons at different target moving positions.
Further, in a specific embodiment, the rail type inspection robot moves to a target moving position and photographs a person, including: the rail type inspection robot shoots the personnel and keeps the personnel in the center of the shot picture.
Specifically, for further guarantee the effect of shooing, in this embodiment, the rail mounted patrols and examines robot and keeps personnel to be located and shoots the central shooting personnel of picture. Specifically, when a person moves in a small range in a shooting picture of the rail type inspection robot, the rail type inspection robot tracks the person by using a human body detection function of a camera of the rail type inspection robot, so that the person is kept at the center of the shooting picture.
Wherein, the mode that the robot keeps personnel to be located the central authorities of shooing the picture can include in the rail mounted is patrolled and examined: optionally, the mode that the rail-type inspection robot keeps the person at the center of the shot picture may include: the rail-mounted inspection robot extracts a current frame image shot by a shooting lens and determines the position of a person in the current frame image; the rail type inspection robot judges the position relation between the personnel in the current frame image and the reference area; the reference area is the central area of the shooting lens; and if the personnel in the current frame image are positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
In addition, if the person in the current frame image is located outside the reference region, the adjusting the position of the photographing lens by the track type inspection robot may include: when part of personnel is located outside the reference area, the rail-mounted inspection robot adjusts the shooting angle of the shooting lens and adjusts the shooting position of the shooting lens when the angle adjustment is larger than a preset angle adjustment range; when the person is completely outside the reference region, the photographing position of the photographing lens is adjusted.
Specifically, the current frame image of the personnel that the camera lens was shot is drawed, specifically can patrol and examine the camera of robot according to the rail mounted when shooing personnel, carry out the intercepting to the video image who shoots at present and obtain. Then, a reference area of the current frame image is determined according to a preset rule, wherein the preset rule is that a certain position on a shooting lens is selected and determined as the reference area in the shooting process. For example, if the upper left of the taking lens is taken as the reference area, the reference area is located at the upper left of each extracted frame image. The present application takes the middle position of a photographing lens as a reference region.
And determining the position of the personnel in the current frame image, and judging the position relation between the personnel in the current frame image and the reference area. And performing feature extraction on the current frame image through an image feature detection algorithm, determining the features of the personnel in the image, comparing the features of the personnel with the reference area, and judging the position relationship between the personnel and the reference area. The manner of determining the position relationship between the person and the reference area may be: the reference area is set as a reference coordinate point and then set as negative coordinates of the X axis in the horizontal direction with the left side of the reference area, the right side of the reference area is set as positive coordinates of the X axis, and set as positive coordinates of the Y axis in the vertical direction with the upper side of the reference area, and the lower side of the reference area is set as negative coordinates of the Y axis. The position of the person with respect to the reference area is determined by determining the position of the person on the coordinate axis.
The camera is adjusted so that the person is located within the reference area. The method for adjusting the camera to enable the person to be located in the reference area comprises the following steps: when the personnel are located in the reference area, the rail-mounted inspection robot keeps the current shooting position and the current shooting angle of the lens; when the personnel are located outside the reference area, the rail-mounted inspection robot moves the shooting position of the lens and/or adjusts the shooting angle of the lens. The camera lens of robot is patrolled and examined to rail mounted is 360 rotatable camera lenses, consequently, when the adjustment shooting angle, only need rotatory camera lens can. And when the shooting position is adjusted, the position of the rail type inspection robot on the rail needs to be adjusted.
When the personnel have some to be located the benchmark area outside, at this moment, can be preferentially to the shooting angle of the camera of rail mounted inspection robot and adjust, when angle adjustment is greater than predetermined angle of adjustment scope, then carry out the adjustment of shooting position. When the personnel are completely outside the reference area, the shooting position of the camera of the rail type inspection robot is preferentially adjusted; when the personnel are completely positioned in the reference area, namely when the personnel are positioned in the center of the picture, the rail type inspection robot does not perform the adjustment action.
In summary, the following monitoring method for the track type inspection robot based on the UWB positioning system provided by the present application includes: receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time; determining the target moving position of the rail type inspection robot according to the position coordinates; and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel. The following monitoring method adopts UWB technology to coordinate the working environment of the track type inspection robot; the position coordinates of the personnel obtained through the UWB positioning beacon are converted into the target moving position of the track type inspection robot, the track type inspection robot is further controlled to move to the target moving position to shoot the personnel, and the whole-course and comprehensive following record of the advancing route and the operation action of the personnel in the workplace is achieved.
The application also provides a track type inspection robot following control system based on the UWB positioning system, and the system described below can be correspondingly referred to with the method described above. Referring to fig. 4, the system includes:
a UWB positioning beacon 10 for timing a transmitted position coordinate;
the monitoring background 20 is used for determining the target moving position of the rail type inspection robot 30 according to the position coordinates; and sends the position information of the target moving position to the rail-mounted inspection robot 30;
and the rail type inspection robot 30 is used for moving to the target moving position according to the position information and shooting the personnel.
On the basis of the above embodiment, as a specific implementation manner, the monitoring background 20 is specifically configured to determine, according to the position coordinate, a device for positioning the track-type inspection robot 30 closest to the position coordinate on the track; the position where the device in which the rail-type inspection robot 30 positions the position on the track of itself is located, which is adjacent to the device in which the rail-type inspection robot 30 that is closest to the position coordinates positions the position on the track of itself, is located, is taken as the target moving position of the rail-type inspection robot.
On the basis of the above-described embodiment, as a specific implementation, the rail-type inspection robot 30 is specifically configured to photograph a person and keep the person at the center of the photographed screen.
On the basis of the above embodiment, as a specific implementation manner, the track type inspection robot 30 is specifically configured to, when the track type inspection robot 30 receives the position information of a plurality of different target moving positions at the same time, sequentially move the track type inspection robot 30 to each target moving position and shoot the person at each target moving position for a preset time.
For the introduction of the system provided by the present application, please refer to the above method embodiment, which is not described herein again.
The present application further provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time; determining the target moving position of the rail type inspection robot according to the position coordinates; and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided in the present application, please refer to the above method embodiments, which are not described herein again.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device, the apparatus and the computer-readable storage medium disclosed by the embodiments correspond to the method disclosed by the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The following monitoring method, system and computer readable storage medium of the track type inspection robot based on the UWB positioning system provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A track type inspection robot following monitoring method based on a UWB positioning system is characterized by comprising the following steps:
receiving position coordinates sent by UWB positioning beacons carried by personnel at fixed time;
determining the target moving position of the rail type inspection robot according to the position coordinates;
and sending the position information of the target moving position to the rail-type inspection robot so that the rail-type inspection robot moves to the target moving position according to the position information and shoots the personnel.
2. The follow-up monitoring method according to claim 1, wherein the determining the target moving position of the orbital inspection robot according to the position coordinates comprises:
the device is used for determining the position of the track type inspection robot closest to the position coordinate to position the track type inspection robot on the track according to the position coordinate;
and taking the position of the device, which is adjacent to the device, for positioning the position of the track type inspection robot on the track, closest to the position coordinate, of the track type inspection robot, as the target moving position of the track type inspection robot.
3. The follow-up monitoring method according to claim 2, wherein the rail-type inspection robot photographs the person, and comprises:
the rail type inspection robot shoots the personnel and keeps the personnel in the center of the shot picture.
4. The follow-up monitoring method according to claim 3, wherein the manner in which the orbital inspection robot keeps the person at the center of the shot picture includes:
the rail-mounted inspection robot extracts a current frame image shot by a shooting lens and determines the position of the personnel in the current frame image;
the rail type inspection robot judges the position relation between the personnel in the current frame image and a reference area; the reference area is a central area of the shooting lens;
and if the personnel in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
5. The follow-up monitoring method according to claim 4, wherein if the person in the current frame image is outside the reference area, the track type inspection robot adjusts the position of the photographing lens, and the follow-up monitoring method comprises the following steps:
when part of the personnel is positioned outside the reference area, the rail-type inspection robot adjusts the shooting angle of the shooting lens and adjusts the shooting position of the shooting lens when the angle adjustment is larger than a preset angle adjustment range;
and when the person is completely outside the reference area, adjusting the shooting position of the shooting lens.
6. The follow monitoring method according to any one of claims 1 to 5, wherein the rail-type inspection robot moves to the target moving position and photographs the person, including:
when the track type inspection robot receives position information of a plurality of different target moving positions at the same time, the track type inspection robot moves to each target moving position in sequence and shoots the personnel at each target moving position for a preset time.
7. The utility model provides a track type patrols and examines following monitored control system of robot based on UWB positioning system which characterized in that includes:
the UWB positioning beacon is used for regularly sending position coordinates;
the monitoring background is used for determining the target moving position of the rail type inspection robot according to the position coordinates; the position information of the target moving position is sent to the rail type inspection robot;
and the rail type inspection robot is used for moving to the target moving position according to the position information and shooting the personnel.
8. The follow-up monitoring system according to claim 7, wherein the monitoring background is specifically configured to determine, according to the position coordinates, a position where the rail-type inspection robot closest to the position coordinates locates itself on the rail; and taking the position of the device, which is adjacent to the device, for positioning the position of the track type inspection robot on the track, closest to the position coordinate, of the track type inspection robot, as the target moving position of the track type inspection robot.
9. The follow-up monitoring system according to claim 8, wherein the track type inspection robot is specifically configured to photograph the person and keep the person at the center of a photographed picture.
10. A computer readable storage medium storing a computer program which when processed by a processor implements the steps of the method for follow monitoring of a UWB positioning system based orbital inspection robot of any one of claims 1 to 6.
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