CN108646265A - Crusing robot and its method for inspecting, cruising inspection system - Google Patents
Crusing robot and its method for inspecting, cruising inspection system Download PDFInfo
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- CN108646265A CN108646265A CN201810449416.XA CN201810449416A CN108646265A CN 108646265 A CN108646265 A CN 108646265A CN 201810449416 A CN201810449416 A CN 201810449416A CN 108646265 A CN108646265 A CN 108646265A
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- crusing robot
- short message
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- message information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
Abstract
The invention discloses a kind of crusing robot, system and methods.Including：Synchronous positioning is with composition module, the inspection image for obtaining region of patrolling and examining, and realizes local positioning and synchronous composition based on the inspection image；Big Dipper signal receiving processing module, the feedback signal for receiving big-dipper satellite, and according to the feedback signal and the inspection image, determine the current information of the crusing robot；Big Dipper short message sending module, for the current information to be sent to the big-dipper satellite in a manner of short message information, so that the current information is sent to after ground central station is handled by the big-dipper satellite is forwarded to platform of user management again.It is transmitted into row information by short message information, do not rely on communication equipment, it can make crusing robot in extreme circumstances, it can still work normally, simultaneously in electric energy deficiency or catastrophic failure, crusing robot can be recovered according to the position for being finally transmitted back to platform of user management, it prevents from losing, reduces cost.
Description
Technical field
The present invention relates to crusing robot technical field, more particularly to a kind of crusing robot, one kind include the survey monitor
The cruising inspection system of device people and a kind of method for inspecting of crusing robot.
Background technology
BDS (Big Dipper Position Fixing Navigation System) is the Global Satellite Navigation System of the self-service research and development of China, is after GPS, GLONASS
The satellite navigation system of third maturation later.There are space segment, ground segment to be formed with user segment three parts, it is fixed tentatively to have navigation
Position time service and short message communication service capabilities, current positioning accuracy is about in meter level.
Big Dipper short message function is that Chinese Beidou satellite navigation system is different from a distinct inventions and one of GPS greatly
Advantage.Big Dipper short message function has very strong application value in fields such as national defence, the people's livelihood and emergency management and rescue, is especially moved in disaster area
Dynamic communicating interrupt, can be communicated using short message in the case of power breakdown, be positioned.Short message can issue 120 words
Information can either position, and can show the position of publisher, while can outwardly issue text information.Short message can be with
Realize two-way communication.
The earliest source synchronous superposition (simultaneous localization and mapping, SLAM)
In robot field, target is to solve positioning and map structuring, needs the position of estimated sensor itself on one side, needs on one side
Build the model of ambient enviroment.SLAM has had about 30 years research histories, since 21 century, centered on visual sensor
Visual-SLAM, market is gradually just moved towards by laboratory.V-SLAM technologies are inferred to camera according to the video information of shooting
Orientation in circumstances not known, and constructing environment map simultaneously, basic principle are multi-view geometry principle.The target of V-SLAM
To recover the corresponding camera motion parameter of every frame image and scene three-dimensional structure simultaneously；Wherein each camera motion parameter
The position and orientation information for containing camera, be typically expressed as one spin matrix and a three-dimensional position variable.
Chinese patent application CN107457784A disclose " the Intelligent Mobile Robot GPS Big Dippeves check the mark positioning with navigation
Method ".The positioning of this patent is using GPS/ Big Dipper Differential positioning methods are based on, to eliminate satellite clock, satellite ephemeris, ionosphere
The fixed errors such as time delay and troposphere time delay.The positioning and air navigation aid are mainly made of 3 parts：GNSS reference base station, survey monitor
Device people positions and navigation module, management platform.Patent points out that the accurate of Intelligent Mobile Robot may be implemented using this method
Positioning and navigation.This method needs 2 necessary requirements, indispensable.One is, GNSS reference base station and crusing robot are both
Under the environment that GPS/BDS signals must be kept unobstructed, the environment of GNSS reference base station is easy to determine, substation in outdoor inspection,
It is easily accessible the dead angle that satellite-signal can not reach, be easy to cause dropout；Two are, realize Differential positioning, it is necessary to keep ginseng
The communication examined between station and crusing robot is smooth, and outdoor inspection environment is sometimes severe, some regions are not even in communication overlay
In range, information loss is easily caused.Both of these case appearance is any, all to cause crusing robot positioning to lose, if fixed
There is electric energy missing and failure in the bit recovery time, easily causes crusing robot loss.
Chinese patent application CN107817509A is disclosed " to be navigated based on the crusing robot of the RTK Big Dippeves and laser radar
System and method ".This invention includes robot movement station and back-stage management server, and the robot movement station includes machine
Control module on human organism and its body, positioning navigation module, wireless communication module and power management module.It is described fixed
Position navigation module includes laser radar and RTK/SINS units；Navigation map uses the design that global map is combined with local map
Scheme, global map structure are drawn using robot records track-wise, and navigation mode uses and takes aim at pid algorithm, local map in advance
Using laser radar record barrier discrete data point, it is clustered, curve matching and etc. reduction disorder object marginal information, use
Artificial examination hall path planning avoidance mode.This patent is consistent with the next item up patent, transmits information by communication equipment, it is desirable that patrol
The outdoor inspection environment of robot is examined in the overlay area of communication equipment.
But above-mentioned disclosed crusing robot transmission information is all to rely on communication equipment, in this way, being covered in communication equipment
Cover it is too late, or because natural calamity causes communication equipment to interrupt, in the case of can not being repaired in the short time, the letter of crusing robot
Breath can not transmit.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art, it is proposed that a kind of crusing robot,
A kind of cruising inspection system including the crusing robot and a kind of method for inspecting of crusing robot.
To achieve the goals above, the first aspect of the present invention provides a kind of crusing robot, including：
Synchronous positioning is with composition module, the inspection image for obtaining region of patrolling and examining, and is realized based on the inspection image
Local positioning and synchronous composition；
Big Dipper signal receiving processing module, the feedback signal for receiving big-dipper satellite, and according to the feedback signal and
The inspection image, determines the current information of the crusing robot；
Big Dipper short message sending module, for the current information to be sent to the Big Dipper in a manner of short message information
Satellite is forwarded to user management and puts down again so that the current information is sent to after ground central station is handled by the big-dipper satellite
Platform.
Optionally, the Big Dipper signal receiving processing module is additionally operable to be based on preset polling path and the current letter
Breath, adjusts the direction of motion of the crusing robot, so that the crusing robot is complete under the preset path in real time
At inspection.
Optionally, the short message information includes at least one of Chinese character, number and English character.
Optionally, the current information of the crusing robot includes following at least one：
Time, position, energy state and extent of deterioration.
The second aspect of the present invention provides a kind of cruising inspection system, including crusing robot, big-dipper satellite, ground center
It stands and platform of user management；Wherein,
The crusing robot, the inspection image for obtaining region of patrolling and examining, and part is realized based on the inspection image
Positioning and synchronous composition；
The big-dipper satellite, for sending feedback signal to the crusing robot；
The crusing robot is additionally operable to receive the feedback signal, and according to the feedback signal and the inspection figure
Picture, determines the current information of the crusing robot, and the current information is sent in a manner of short message information described
Big-dipper satellite；
The big-dipper satellite is additionally operable to be sent to the ground central station after encrypting the short message information；
The ground central station for receiving the short message information, and turns after the short message information is decrypted
It is sent to the big-dipper satellite；
The big-dipper satellite is additionally operable to the short message information after decryption being sent to the platform of user management；
The platform of user management for the short message information after receiving and deciphering, and is based on the short message information
Determine the current state of the crusing robot.
Optionally, the platform of user management is additionally operable to：
When receiving the short message information, the receipt for receiving the short message information is sent out.
Optionally, the platform of user management is additionally operable to：
Based on the principle of preset first in first out, short message information described in dynamic memory.
The third aspect of the present invention provides a kind of method for inspecting of crusing robot, including：
Step S110, obtain region of patrolling and examining inspection image, and based on the inspection image realize local positioning with it is synchronous
Composition；
Step S120, the feedback signal of big-dipper satellite is received, and according to the feedback signal and the inspection image, is determined
The current information of the crusing robot；
Step S130, the current information is sent to the big-dipper satellite in a manner of short message information, so that institute
It states after the current information is sent to ground central station processing by big-dipper satellite and is forwarded to platform of user management again.
Optionally, the step S120 further includes：
Based on preset polling path and the current information, the direction of motion of the crusing robot is adjusted in real time, with
So that the crusing robot completes inspection under the preset path.
Optionally, the short message information includes at least one of Chinese character, number and English character.
Crusing robot, method for inspecting and the cruising inspection system of the present invention passes through short message information when being transmitted into row information
Mode, there is no rely on communication equipment, can make crusing robot in extreme circumstances, can still work normally, simultaneously
In electric energy deficiency or catastrophic failure, crusing robot can be recovered according to the position for being finally transmitted back to platform of user management, prevented
It only loses, reduces cost.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of cruising inspection system in one embodiment of the invention；
Fig. 2 is the transformat schematic diagram of Big Dipper short message information in one embodiment of the invention；
Fig. 3 is the flow chart of the method for inspecting of crusing robot in one embodiment of the invention.
Reference sign
100：Crusing robot；
110：Synchronous positioning and composition module；
120：Big Dipper signal receiving processing module；
130：Big Dipper short message sending module；
200：Cruising inspection system；
210：Big-dipper satellite；
220：Ground central station；
230：Platform of user management.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in Figure 1, the first aspect of the present invention, is related to a kind of crusing robot 100, including：
Synchronous positioning is with composition module 110, the inspection image for obtaining region of patrolling and examining, and real based on the inspection image
Existing local positioning and synchronous composition.
Big Dipper signal receiving processing module 120, the feedback signal for receiving big-dipper satellite 210, and according to the feedback
Signal and the inspection image, determine the current information of the crusing robot 100；
Big Dipper short message sending module 130, it is described for the current information to be sent in a manner of short message information
Big-dipper satellite 210 turns again so that the current information is sent to after ground central station 220 is handled by the big-dipper satellite 210
It is sent to platform of user management 230.
Crusing robot 100 in the present embodiment obtains region of patrolling and examining by synchronous positioning with composition module 110 first
Inspection image, and local positioning and synchronous composition are realized based on the inspection image, next, pass through Big Dipper signal reception processing
Module 120 receives the feedback signal of big-dipper satellite 210, and according to the feedback signal and the inspection image, determine described in patrol
Examine the current information of robot 100；Finally, the current information is believed with short message by Big Dipper short message sending module 130
The mode of breath is sent to the big-dipper satellite 210, so that the current information is sent in ground by the big-dipper satellite 210
It is forwarded to platform of user management 230 again after the processing of center station 220.Therefore, the crusing robot 100 in the present embodiment structure, into
When row information is transmitted, by way of short message information, there is no communication equipment is relied on, crusing robot 100 can be made to exist
Extreme environment can still work normally, while in electric energy deficiency or catastrophic failure, can be transmitted back to user's pipe according to last
Crusing robot 100 is recovered in the position of platform, prevents from losing, reduces cost.
Optionally, the Big Dipper signal receiving processing module 120 is additionally operable to based on preset polling path and described current
Information adjusts the direction of motion of the crusing robot 100 in real time, so that the crusing robot 100 is described preset
Inspection is completed under path.
The crusing robot 100 of the present embodiment structure, can be further effectively according to preset polling path and last biography
Crusing robot 100 is recovered in the position of defeated time platform of user management, prevents from losing, reduces cost.
Optionally, the short message information includes at least one of Chinese character, number and English character.Wherein, Chinese character can
To be encoded using GB2312, basic Chinese characters character library is its level-one character library, and ASCII character coding may be used in English character.
Optionally, the current information of the crusing robot 100 includes following at least one：
Time, position, energy state and extent of deterioration.
The second aspect of the present invention, as shown in Figure 1, a kind of cruising inspection system 200 is provided, including crusing robot 100, north
Struggle against satellite 210, ground central station 220 and platform of user management 230；Wherein,
The crusing robot 100, the inspection image for obtaining region of patrolling and examining, and it is based on the inspection image realization office
Portion positions and synchronous composition；
The big-dipper satellite 210, for sending feedback signal to the crusing robot 100；
The crusing robot 100 is additionally operable to receive the feedback signal, and according to the feedback signal and the inspection
Image determines the current information of the crusing robot 100, and the current information is sent in a manner of short message information
The big-dipper satellite 210；
The big-dipper satellite 210 is additionally operable to be sent to the ground central station 220 after encrypting the short message information；
The ground central station 220, for receiving the short message information, and after the short message information is decrypted
It is forwarded to the big-dipper satellite 210；
The big-dipper satellite 210 is additionally operable to the short message information after decryption being sent to the platform of user management 230；
The platform of user management 230 is believed for the short message information after receiving and deciphering, and based on the short message
Breath determines the current state of the crusing robot 100.
Cruising inspection system 200 in the present embodiment utilizes crusing robot 100, big-dipper satellite 210,220 and of ground central station
Platform of user management 230 by way of short message information, there is no communication equipment is relied on, can make when information is transmitted
Crusing robot 100 in extreme circumstances, can still work normally, while in electric energy deficiency or catastrophic failure, can basis
It is finally transmitted back to the position of platform of user management, recovers crusing robot 100, prevents from losing, reduces cost.
Optionally, the platform of user management 230 is additionally operable to：
When receiving the short message information, the receipt for receiving the short message information is sent out.
Optionally, the platform of user management 230 is additionally operable to：
Based on the principle of preset first in first out, short message information described in dynamic memory.
The propagation delay time of short message information about 0.5 second, highest frequency and the positioning of communication are all mutually 1 second 1 time.
In addition, being illustrated to the basic transformat of the short message information in the present invention：
As shown in Fig. 2, " content " is indicated when transmitting with ASCII character, " length " is indicated from " content " starting to " verification with "
The data total bytes of end；" station address " refers to be indicated to originate to " school from " content " with the ID number that is connected of the external world, " verification and "
Test and " the exclusive or result of previous byte；" information content " is indicated with binary system true form, and each parameter is filled out by the length of call format
It fills, is discontented with a length high position and mends " 0 ".
In addition, because the present invention mainly uses " location information ", " communication information ", " temporal information " and " feedback letter
Breath ".Wherein,
" information content " of " location information " includes " information category ", " inquiry address ", " position data ".Position exports
The earth longitude and latitude, precision are 0.1 rad, and elevation unit precision rice has symbol.
" CRC marks " in " information content " of " communication information ", " 00H " expression are receiving the CRC check of this information just
Really；" 01H " indicates incorrect.
It is used for the energy state of robot itself, Ge Gechuan in " telegraph text content " of " information content " in " communication information "
Sensor serviceable condition, machine performance information coding, is sent to management platform, timely feedbacks.
" feedback information " can feed back the information of some short message transmission modules, including：
" 0x00 "-success
" 0x01 "-failure
" 0x02 "-signal is unlocked
" 0x03 "-not enough power supply
" 0x04 "-transmitting frequency does not arrive
" 0x05 "-encrypting and decrypting mistake
" 0x06 "-crc error
" 0x09~A0 "-retains.
The third aspect of the present invention, as shown in figure 3, a kind of method for inspecting S100 of crusing robot is provided, including：
Step S110, obtain region of patrolling and examining inspection image, and based on the inspection image realize local positioning with it is synchronous
Composition；
Step S120, the feedback signal of big-dipper satellite is received, and according to the feedback signal and the inspection image, is determined
The current information of the crusing robot；
Step S130, the current information is sent to the big-dipper satellite in a manner of short message information, so that institute
It states after the current information is sent to ground central station processing by big-dipper satellite and is forwarded to platform of user management again.
The method for inspecting of crusing robot in the present embodiment obtains the inspection image of region of patrolling and examining, and be based on institute first
It states inspection image and realizes secondly local positioning and synchronous composition receive the feedback signal of big-dipper satellite, and according to the feedback letter
Number and the inspection image, determine the current information of the crusing robot；Finally, by the current information with short message information
Mode be sent to the big-dipper satellite so that the big-dipper satellite by the current information be sent to ground central station handle
It is forwarded to platform of user management again afterwards.Therefore, the method for inspecting of the crusing robot in the present embodiment structure, passes into row information
When defeated, by way of short message information, there is no communication equipment is relied on, it can make crusing robot in extreme circumstances,
It can still work normally, while in electric energy deficiency or catastrophic failure, it can be according to the position for being finally transmitted back to platform of user management
It sets, recovers crusing robot, prevent from losing, reduce cost.
Optionally, the step S120 further includes：
Based on preset polling path and the current information, the direction of motion of the crusing robot is adjusted in real time, with
So that the crusing robot completes inspection under the preset path.
Optionally, the short message information includes at least one of Chinese character, number and English character.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, in the essence for not departing from the present invention
In the case of refreshing and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of crusing robot, which is characterized in that including：
Synchronous positioning is with composition module, the inspection image for obtaining region of patrolling and examining, and realizes part based on the inspection image
Positioning and synchronous composition；
Big Dipper signal receiving processing module, the feedback signal for receiving big-dipper satellite, and according to the feedback signal and described
Inspection image determines the current information of the crusing robot；
Big Dipper short message sending module is defended for the current information to be sent to the Big Dipper in a manner of short message information
Star is forwarded to user management and puts down again so that the current information is sent to after ground central station is handled by the big-dipper satellite
Platform.
2. crusing robot according to claim 1, which is characterized in that the Big Dipper signal receiving processing module is also used
In based on preset polling path and the current information, the direction of motion of the crusing robot is adjusted in real time, so that institute
It states crusing robot and completes inspection under the preset path.
3. crusing robot according to claim 1 or 2, which is characterized in that the short message information includes Chinese character, number
At least one of with English character.
4. crusing robot according to claim 1 or 2, which is characterized in that the current information packet of the crusing robot
Include following at least one：
Time, position, energy state and extent of deterioration.
5. a kind of cruising inspection system, which is characterized in that flat including crusing robot, big-dipper satellite, ground central station and user management
Platform；Wherein,
The crusing robot, the inspection image for obtaining region of patrolling and examining, and local positioning is realized based on the inspection image
With synchronous composition；
The big-dipper satellite, for sending feedback signal to the crusing robot；
The crusing robot is additionally operable to receive the feedback signal, and according to the feedback signal and the inspection image, really
The current information of the fixed crusing robot, and the current information is sent to the Big Dipper in a manner of short message information and is defended
Star；
The big-dipper satellite is additionally operable to be sent to the ground central station after encrypting the short message information；
The ground central station for receiving the short message information, and is forwarded to after the short message information is decrypted
The big-dipper satellite；
The big-dipper satellite is additionally operable to the short message information after decryption being sent to the platform of user management；
The platform of user management is determined for the short message information after receiving and deciphering, and based on the short message information
The current state of the crusing robot.
6. cruising inspection system according to claim 5, which is characterized in that the platform of user management is additionally operable to：
When receiving the short message information, the receipt for receiving the short message information is sent out.
7. cruising inspection system according to claim 5 or 6, which is characterized in that the platform of user management is additionally operable to：
Based on the principle of preset first in first out, short message information described in dynamic memory.
8. a kind of method for inspecting of crusing robot, which is characterized in that including：
Step S110, the inspection image of region of patrolling and examining is obtained, and local positioning and synchronous composition are realized based on the inspection image；
Step S120, receive the feedback signal of big-dipper satellite, and according to the feedback signal and the inspection image, determine described in
The current information of crusing robot；
Step S130, the current information is sent to the big-dipper satellite in a manner of short message information, so that the north
Bucket satellite is forwarded to platform of user management again after the current information is sent to ground central station processing.
9. method for inspecting according to claim 8, which is characterized in that the step S120 further includes：
Based on preset polling path and the current information, the direction of motion of the crusing robot is adjusted in real time, so that
The crusing robot completes inspection under the preset path.
10. method for inspecting according to claim 8 or claim 9, which is characterized in that the short message information includes Chinese character, number
At least one of with English character.
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Application publication date: 20181012 |