CN111399517B - Following monitoring method of track type inspection robot based on UWB positioning system - Google Patents
Following monitoring method of track type inspection robot based on UWB positioning system Download PDFInfo
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- CN111399517B CN111399517B CN202010244729.9A CN202010244729A CN111399517B CN 111399517 B CN111399517 B CN 111399517B CN 202010244729 A CN202010244729 A CN 202010244729A CN 111399517 B CN111399517 B CN 111399517B
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- 238000007689 inspection Methods 0.000 title claims abstract description 201
- 238000012544 monitoring process Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The application discloses a following monitoring method of a track type inspection robot based on a UWB positioning system, which comprises the following steps: receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time; determining a target moving position of the track type inspection robot according to the position coordinates; and sending the position information of the target moving position to the track type inspection robot so that the track 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 and comprehensive following record on the travel route and operation actions of the personnel in the workplace. The application also discloses a following monitoring system of the track type inspection robot based on the UWB positioning system and a computer readable storage medium, which have the technical effects.
Description
Technical Field
The application relates to the technical field of robots, in particular to a following monitoring method of a track type inspection robot based on a UWB positioning system; the following monitoring system of the track type inspection robot based on the UWB positioning system and the computer readable storage medium are also related.
Background
At present, various industries including a communication operation machine room, a data center machine room, a transformer substation, a power plant, a municipal pipe gallery and the like are built with a centralized control center, and with the development of robot technology, various inspection robots are applied to the scenes to replace manual inspection. However, the inspection robot in the prior art, particularly the track-type inspection robot, has the advantages of being safer and not affecting the production facility equipment in the place than the face wheel type robot in terms of replacing manual inspection, but is limited by the working mode of moving on a preset fixed track, so that the whole process of working when people enter the place is difficult to effectively follow and record.
In view of this, how to make the track-type inspection robot perform full-course and comprehensive follow-up records on the travel route and operation actions of the personnel in the workplace has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a tracking monitoring method of a track type inspection robot based on a UWB positioning system, which can carry out whole and comprehensive tracking record on the travel route and operation actions of personnel in a workplace. Another object of the present application is to provide a tracking and monitoring system of a track type inspection robot based on a UWB positioning system and a computer readable storage medium, which have the above technical effects.
In order to solve the technical problems, the application provides a following monitoring method of a track type inspection robot based on a UWB positioning system, which comprises the following steps:
receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time;
determining a target moving position of the track type inspection robot according to the position coordinates;
and sending the position information of the target moving position to the track type inspection robot so that the track 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 track-type inspection robot according to the position coordinates includes:
a device for determining the position of the track type inspection robot positioning self on the track nearest to the position coordinate according to the position coordinate;
and taking the position of the track type inspection robot positioned on the track adjacent to the device positioned on the track by the track type inspection robot closest to the position coordinates as the target moving position of the track type inspection robot.
Optionally, the track-type inspection robot photographs the person, including:
the track type inspection robot shoots the personnel and keeps the personnel at the center of a shooting picture.
Optionally, the manner in which the track-type inspection robot keeps the person at the center of the shot image includes:
the track type inspection robot extracts a current frame image shot by a shooting lens and determines the position of the person in the current frame image;
the track type inspection robot judges the position relation between the personnel and the reference area in the current frame image; the reference area is a central area of the shooting lens;
and if the person 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 in the current frame image is located outside the reference area, the adjusting the position of the photographing lens by the track inspection robot includes:
when the person is partially positioned outside the reference area, the track 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 personnel is completely located outside the reference area, adjusting the shooting position of the shooting lens.
Optionally, the track-type inspection robot moves to the target moving position and photographs the person, including:
when the track type inspection robot receives the 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 successively and shoots the personnel for a preset time period at each target moving position.
In order to solve the technical problem, the application also provides a following monitoring system of the track type inspection robot based on the UWB positioning system, which comprises the following components:
the UWB positioning beacon is used for timing the transmitted position coordinates;
the monitoring background is used for determining the target moving position of the track type inspection robot according to the position coordinates; the position information of the target moving position is sent to the track type inspection robot;
the track 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 of the track-type inspection robot located on the track, where the position is closest to the position coordinate; and taking the position of the track type inspection robot positioned on the track adjacent to the device positioned on the track by the track type inspection robot closest to the position coordinates as the target moving position of the track type inspection robot.
Optionally, the track-type inspection robot is specifically configured to photograph the person and keep the person in the center of the photographed image.
In order to solve the technical problem, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the following monitoring method of the track type inspection robot based on the UWB positioning system is realized when the computer program is processed by a processor.
The application provides a following monitoring method of a track type inspection robot based on a UWB positioning system, which comprises the following steps: receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time; determining a target moving position of the track type inspection robot according to the position coordinates; and sending the position information of the target moving position to the track type inspection robot so that the track 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 utilizes the 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, and then the track type inspection robot is controlled to move to the target moving position to shoot the personnel, so that the whole-course and comprehensive following record of the travelling route and the operation action of the personnel in the workplace is realized.
The following monitoring system of the track type inspection robot based on the UWB positioning system and the computer readable storage medium provided by the application have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 of signal coverage of a base station based on a UWB positioning system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a UWB position coordinate system and a positioning tag point of a patrol robot according to an embodiment of the present application;
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 application provides a tracking monitoring method of a track type inspection robot based on a UWB positioning system, which can carry out whole and comprehensive tracking record on the travel route and operation actions of personnel in a workplace. The application further provides a following monitoring system of the track type inspection robot based on the UWB positioning system and a computer readable storage medium, which have the technical effects.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic diagram 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, and referring to fig. 1, the method includes:
s101: receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time;
specifically, the present application adopts the UWB (ultra wide Band) positioning technology to position personnel at a workplace, specifically, the present application installs UWB base stations at a workplace where a track inspection robot is installed, such as a machine room, and makes UWB signals completely cover the workplace of personnel, and the workplace is taken as an example of the machine room, and referring to fig. 2, circular shadows in fig. 2 indicate the coverage of UWB signals. After the UWB signal covers the machine room, the UWB positioning system further generates a position coordinate system of the workplace. Since the UWB positioning accuracy is 10cm, there are 137 x 80 coordinate points in the position coordinate system of the machine room of 13.7 x 8 meters.
The track is provided with a device for positioning the track type inspection robot on the track, the device can be an RFID tag and the like, the device for positioning the track type inspection robot on the track is an RFID tag, the positioning principle of the track type inspection robot is that the RFID tag adds displacement offset, the RFID tag is used for positioning the track type inspection robot on the track, and each positioning point on the track can be represented as n+x. Where n is the tag number of the RFID tag and x is the displacement offset. On the basis of generating a position coordinate system of the workplace, the representation of each positioning point on the track can be converted into coordinates under the UWB position coordinate system, for example, the position of the number 52 RFID tag is represented as (80, 30) in the UWB position coordinate system.
In view of possible errors between the coordinates illustrated in the drawing and the actual coordinates, in order to ensure the accuracy of the coordinates in the UWB position coordinate system corresponding to the RFID tag, the UWB positioning beacon may be installed on the track type inspection robot, and further, the real UWB coordinates of the RFID tag may be determined according to the coordinates transmitted by the UWB positioning beacon when the track type inspection robot moves to the position where each RFID tag is located.
The personnel entering the workplace are distributed with UWB positioning beacons, the current position coordinates of the personnel can be sent to the monitoring background through the UWB base station at regular time by the UWB positioning beacons carried by the personnel, for example, the current position coordinates of the personnel are sent to the monitoring background through the UWB base station every second by the UWB positioning beacons, so that the monitoring background can further determine the target moving position of the track type inspection robot according to the position coordinates of the personnel, and follow-up of the personnel is achieved. For the UWB positioning system, the present application is not described herein, and reference should be made to the existing related art.
S102: determining a target moving position of the track type inspection robot according to the position coordinates;
specifically, after receiving the position coordinates sent by the UWB positioning beacon, the monitoring background further monitors the target moving position of the track type inspection robot according to the position coordinates, namely, determines where the track type inspection robot moves next, so as to follow and shoot the personnel.
In a specific embodiment, determining the target movement position of the track-type inspection robot according to the position coordinates includes: a device for determining the position of the track type inspection robot positioning self on the track closest to the position coordinate according to the position coordinate; and taking the position of the track type inspection robot positioned on the track adjacent to the track type inspection robot positioned on the track type inspection robot positioned closest to the position coordinates as the target moving position of the track type inspection robot.
Specifically, the target moving position of the track-type inspection robot is the position of the device for determining to which track-type inspection robot to move to locate the position of the track-type inspection robot. In order to obtain a good shooting angle, in this embodiment, after the monitoring background determines the device located on the track and closest to the position coordinate, which is located by the track type inspection robot, according to the position coordinate, the device located by the track type inspection robot, which is closest to the position coordinate, is selected as the target moving position of the track type inspection robot. In the case that the device for positioning the track type inspection robot on the track is an RFID tag, namely, after one RFID tag closest to the position coordinate is determined according to the position coordinate and the coordinate of the REID tag under 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 the number 52 RFID tag according to the position coordinate transmitted by the UWB positioning beacon, and then the position of the adjacent RFID tag of the number 52 RFID tag, i.e., the number 51 RFID tag or the number 53 RFID tag, is used as the target moving position of the track inspection robot.
Further, in order to facilitate positioning of the camera of the track-type inspection robot and avoid loss of personnel from pictures shot by the camera, after each time of determining the RFID tag closest to the position coordinate, a previous tag of the RFID tag is taken as a target moving position of the inspection robot, for example, the RFID tag closest to the position coordinate is determined to be the 52 # RFID tag according to the position coordinate sent by the UWB positioning beacon, and then the position where the 51 # RFID tag is located is taken as the target moving position of the track-type 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 No. 1 RFID tag according to the position coordinate sent by the UWB positioning beacon, the position where the RFID tag with the largest number adjacent to the No. 1 RFID tag 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 at the maximum, 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 taken as the target moving position of the track inspection robot.
S103: and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel.
Specifically, after the target moving position of the track-type inspection robot is determined, the monitoring background further sends the position information of the target moving position to the track-type inspection robot, and then the track-type inspection robot moves to the target moving position according to the position information and shoots the activities of personnel and the like at the target moving position. Further, the monitoring background can also receive pictures shot by the track type inspection robot and display the pictures in real time.
When a person moves in a workplace, the UWB positioning beacon carried by the person continuously transmits different position coordinates to a monitoring background, the monitoring background further continuously determines the target movement position of the track type robot and transmits corresponding instructions to the track type inspection robot, so that the track type inspection robot is enabled to go to a new target movement position again to shoot the person, and the purpose of carrying out whole and comprehensive follow-up record on the travel route and operation actions of the person in the workplace is achieved.
In a specific embodiment, the track-type inspection robot moves to a target moving position and photographs a person, and the track-type inspection robot comprises: when the track type inspection robot receives the 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 successively and shoots the personnel for a preset time period at each target moving position.
Specifically, when a plurality of people are in different positions at the same time in a workplace, the monitoring background receives position coordinates sent by a plurality of UWB positioning beacons, so that the monitoring background can determine a plurality of different target moving positions according to the position coordinates, and correspondingly, the track type inspection robot can simultaneously receive position information of the plurality of different target moving positions, and in the situation, the track type inspection robot sequentially moves to each target moving position and shoots the people for a preset time period at each target moving position. For example, after photographing a person for up to 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, and can be set differently according to actual needs. In addition, when a plurality of track-type inspection robots exist on the same track, the position information of different target moving positions can be sent to different track-type inspection robots, so that each track-type inspection robot can respectively shoot different people at different target moving positions.
Further, in a specific embodiment, the track-type inspection robot moves to a target moving position and photographs a person, including: the track type inspection robot shoots the personnel and keeps the personnel located in the center of the shot picture.
Specifically, in order to further ensure the shooting effect, in this embodiment, the track type inspection robot keeps a person located in the center of a shooting picture to shoot the person. Specifically, when a person moves in a small range in a shooting picture of the track type inspection robot, the track type inspection robot tracks the person by using a human body detection function of a camera on the track type inspection robot, so that the person is kept at the center of the shooting picture.
The method for keeping the personnel of the track type inspection robot in the center of the shot picture can comprise the following steps: optionally, the manner in which the track-type inspection robot keeps the person at the center of the photographed image may include: the track type 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 track 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 is 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 area, the adjusting the position of the photographing lens by the track inspection robot may include: when a part of personnel is positioned outside the reference area, the track type inspection robot adjusts the shooting angle of the shooting lens, and when the angle adjustment is larger than a preset angle adjustment range, the shooting position of the shooting lens is adjusted; when the person is completely outside the reference area, the photographing position of the photographing lens is adjusted.
Specifically, the current frame image of the person shot by the shooting lens is extracted, and the current shot video image can be obtained by intercepting the current shot video image according to the condition that the camera of the track type inspection robot shoots the person. 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 in the shooting process, and the position is determined as the reference area. For example, the upper left of the photographing lens is selected as the reference area, and the reference area is located at the upper left of each extracted frame image. The application takes the middle position of the shooting lens as a reference area.
And determining the position of the person in the current frame image, and judging the position relationship between the person in the current frame image and the reference area. The method comprises the steps of extracting features of a current frame image through an image feature detection algorithm, determining features of personnel in the image, comparing the features of the personnel with a reference area, and judging the position relationship between the personnel and the reference area. The manner of determining the positional relationship between the person and the reference area may be: the reference area is set as a reference coordinate point, then the left side of the reference area is set as the negative coordinate of the X axis in the horizontal direction, the right side of the reference area is set as the positive coordinate of the X axis, the upper side of the reference area is set as the positive coordinate of the Y axis in the vertical direction, and the lower side of the reference area is set as the negative coordinate of the Y axis. And judging the position of the person relative to the reference area by judging 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 a person is located in the reference area, the track type inspection robot keeps the shooting position of the current lens and the shooting angle of the lens; when the person is located outside the reference area, the track type inspection robot moves the shooting position of the lens and/or adjusts the shooting angle of the lens. The lens of the track type inspection robot is a 360-degree rotatable lens, so that the lens only needs to be rotated when the shooting angle is adjusted. And when the shooting position is adjusted, the position of the track type inspection robot on the track needs to be adjusted.
When a part of personnel is positioned outside the reference area, the shooting angle of the camera of the track type inspection robot can be adjusted preferentially, and when the angle adjustment is larger than a preset angle adjustment range, the shooting position is adjusted. When the personnel is completely located outside the reference area, the shooting position of the camera of the track type inspection robot is preferentially adjusted at the moment; when the person is completely located in the reference area, that is, when the person is located in the center of the screen, the track type inspection robot does not perform adjustment actions.
In summary, the following monitoring method of the track type inspection robot based on the UWB positioning system provided by the application comprises the following steps: receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time; determining a target moving position of the track type inspection robot according to the position coordinates; and sending the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel. According to the following monitoring method, the UWB technology is used for converting the working environment of the track type inspection robot into a coordinate system; 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, and then the track type inspection robot is controlled to move to the target moving position to shoot the personnel, so that the whole-course and comprehensive following record of the travelling route and the operation action of the personnel in the workplace is realized.
The application also provides a following control system of the track type inspection robot based on the UWB positioning system, and the system can be correspondingly referred to the method. Referring to fig. 4, the system includes:
UWB positioning beacons 10 for timing transmitted position coordinates;
a monitoring background 20 for determining a target moving position of the track-type inspection robot 30 according to the position coordinates; and transmits the position information of the target moving position to the track-type inspection robot 30;
the track-type inspection robot 30 is used for moving to a target moving position according to the position information and shooting the personnel.
Based on the above embodiment, as a specific implementation manner, the monitoring background 20 is specifically configured to determine, according to the position coordinates, a device for positioning the track inspection robot 30 closest to the position coordinates on the track; the position of the track-type inspection robot 30 adjacent to the device for positioning the track-type inspection robot 30 closest to the position coordinates on the track is used as the target moving position of the track-type inspection robot.
On the basis of the above-described embodiment, as a specific embodiment, the track inspection robot 30 is specifically used to photograph a person and keep the person in the center of the photographed image.
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, move the track-type inspection robot 30 to each target moving position sequentially and take a photograph of a person at each target moving position for a preset period of time.
For the description of the system provided by the present application, please refer to the above method embodiment, and the description of the present application is omitted here.
The present application also 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 regular time; determining a target moving position of the track type inspection robot according to the position coordinates; and sending the position information of the target moving position to the track type inspection robot so that the track 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
For the description of the computer-readable storage medium provided by the present application, refer to the above method embodiments, and the disclosure is not repeated here.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the apparatus, device and computer readable storage medium of the embodiment disclosure, since it corresponds to the method of the embodiment disclosure, the description is relatively simple, and the relevant points refer to the description of the method section.
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 elements and steps are described above generally in terms of functionality in order to clearly illustrate the 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 solution. 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. The software modules may be disposed 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, the following monitoring system and the computer readable storage medium of the track type inspection robot based on the UWB positioning system provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the principles of the application, which are also intended to fall within the scope of the appended claims.
Claims (8)
1. The following monitoring method of the track type inspection robot based on the UWB positioning system is characterized by comprising the following steps of:
receiving position coordinates sent by UWB positioning beacons carried by personnel at regular time;
determining a target moving position of the track type inspection robot according to the position coordinates;
transmitting the position information of the target moving position to the track type inspection robot so that the track type inspection robot moves to the target moving position according to the position information and shoots the personnel;
each device for positioning the position of the track type inspection robot on the track is corresponding to the coordinate under the UWB position coordinate system on the track operated by the track type inspection robot, and the monitoring background determines the target moving position of the track type inspection robot according to the position coordinate of the personnel under the UWB position coordinate and the coordinate of the device under the UWB position coordinate;
the determining the target moving position of the track type inspection robot according to the position coordinates comprises the following steps:
a device for determining the position of the track type inspection robot positioning self on the track nearest to the position coordinate according to the position coordinate;
taking the position of the track type inspection robot positioned on the track adjacent to the track type inspection robot positioned on the track by the nearest track type inspection robot positioned on the track as the target moving position of the track type inspection robot;
the track is provided with a device of the track type inspection robot for positioning the track type inspection robot on the track, and the device is an RFID tag; UWB positioning beacons are installed on the track type inspection robot, and real UWB coordinates of the RFID tags are determined according to coordinates sent by the UWB positioning beacons installed on the track type inspection robot when the track type inspection robot moves to the positions of the RFID tags.
2. The following monitoring method according to claim 1, wherein the track inspection robot photographs the person, comprising:
the track type inspection robot shoots the personnel and keeps the personnel at the center of a shooting picture.
3. The following monitoring method according to claim 2, wherein the manner in which the track-type inspection robot keeps the person at the center of the photographed picture includes:
the track type inspection robot extracts a current frame image shot by a shooting lens and determines the position of the person in the current frame image;
the track type inspection robot judges the position relation between the personnel and the reference area in the current frame image; the reference area is a central area of the shooting lens;
and if the person in the current frame image is positioned outside the reference area, the track type inspection robot adjusts the position of the shooting lens.
4. The following monitoring method according to claim 3, wherein the track inspection robot adjusts the position of the photographing lens if the person is located outside the reference area in the current frame image, comprising:
when the person is partially positioned outside the reference area, the track 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 personnel is completely located outside the reference area, adjusting the shooting position of the shooting lens.
5. The following monitoring method according to any one of claims 1 to 4, wherein the orbital patrol robot moves to the target moving position and photographs the person, comprising:
when the track type inspection robot receives the 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 successively and shoots the personnel for a preset time period at each target moving position.
6. The utility model provides a track formula inspection robot's follow monitored control system based on UWB positioning system which characterized in that includes:
the UWB positioning beacon is used for sending the position coordinates of the personnel at fixed time;
the monitoring background is used for determining the target moving position of the track type inspection robot according to the position coordinates; the position information of the target moving position is sent to the track type inspection robot;
the track type inspection robot is used for moving to the target moving position according to the position information and shooting the personnel;
each device for positioning the position of the track type inspection robot on the track is corresponding to the coordinate under the UWB position coordinate system on the track operated by the track type inspection robot, and the monitoring background determines the target moving position of the track type inspection robot according to the position coordinate of the personnel under the UWB position coordinate and the coordinate of the device under the UWB position coordinate;
the monitoring background is specifically used for determining the position of the track type inspection robot positioning self on the track nearest to the position coordinate according to the position coordinate; taking the position of the track type inspection robot positioned on the track adjacent to the track type inspection robot positioned on the track by the nearest track type inspection robot positioned on the track as the target moving position of the track type inspection robot;
the track is provided with a device of the track type inspection robot for positioning the track type inspection robot on the track, and the device is an RFID tag; UWB positioning beacons are installed on the track type inspection robot, and real UWB coordinates of the RFID tags are determined according to coordinates sent by the UWB positioning beacons installed on the track type inspection robot when the track type inspection robot moves to the positions of the RFID tags.
7. The follow-up monitoring system of claim 6, wherein the orbital inspection robot is specifically configured to photograph the person and keep the person centered on the photographed image.
8. A computer-readable storage medium storing a computer program which, when processed by a processor, implements the steps of the following monitoring method of a UWB positioning system-based track inspection robot as defined in any one of claims 1 to 5.
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| CN113175932A (en) * | 2021-04-27 | 2021-07-27 | 上海景吾智能科技有限公司 | Robot navigation automation test method, system, medium and equipment |
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