CN109739226A - Target inspection method for determining position and device - Google Patents
Target inspection method for determining position and device Download PDFInfo
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- CN109739226A CN109739226A CN201811614978.1A CN201811614978A CN109739226A CN 109739226 A CN109739226 A CN 109739226A CN 201811614978 A CN201811614978 A CN 201811614978A CN 109739226 A CN109739226 A CN 109739226A
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Abstract
The invention discloses a kind of target inspection method for determining position and devices.Wherein, this method comprises: obtaining the initial position of robot, wherein the initial position of initial position expression robot；In robot kinematics, robot is positioned, to obtain the real time position of robot；The deviation of real time position and preset path is determined according to real time position and initial position, wherein preset path is that plan in advance be used to indicate the path of robot motion；The motion state of robot is updated using deviation binding site correct algorithm, so that robot reaches target inspection position.The present invention solves the lower technical problem of the mode reliability in the related technology for carrying out inspection to substation.
Description
Technical field
The present invention relates to electric inspection process technical field, in particular to a kind of target inspection method for determining position and
Device.
Background technique
Intelligent Mobile Robot mainly goes up track by being laid in advance on polling path at present, and in inspection target
RFID label tag mark inspection point is placed to carry out autonomous localization and navigation in position, and there are two problems in this way: first, magnetic
Rail laying project amount and cost are huge, and substation is since particular surroundings execution conditions are very harsh, and difficulty of construction is also larger, personnel
And power equipment safety cannot be guaranteed；Second, polling path setting is not flexible, it must be again corresponding if newly-increased inspection point
It is laid with track on path and respective point places RFID label tag.
For the lower problem of the above-mentioned mode reliability in the related technology for carrying out inspection to substation, at present not yet
It puts forward effective solutions.
Summary of the invention
The embodiment of the invention provides a kind of target inspection method for determining position and devices, at least to solve the relevant technologies
In for carrying out the lower technical problem of mode reliability of inspection to substation.
According to an aspect of an embodiment of the present invention, a kind of target inspection method for determining position is provided, comprising: obtain
The initial position of robot, wherein the initial position indicates the initial position of the robot；In robot motion's mistake
Cheng Zhong positions the robot, to obtain the real time position of the robot；According to the real time position and described
Initial position determines the deviation of the real time position and preset path, wherein the preset path is being used for of planning in advance
Indicate the path of the robot motion；The movement shape of the robot is updated using the deviation binding site correct algorithm
State, so that the robot reaches target inspection position.
Optionally, the initial position for obtaining robot includes: the locating module for opening the robot, to the machine
The initial position of people positions；The initial position of the robot is obtained according to the positioning result of the locating module.
Optionally, the real time position and preset path are being determined according to the real time position and the initial position
Before deviation, the target inspection method for determining position further include: determine the preset path；Wherein it is determined that described default
Path includes: the real time position of the environmental map and the robot that obtain the environment where the robot；Using most short
Routing algorithm determines the preset path in conjunction with the environmental map and the real time position, wherein the preset path is
The robot reaches the most short polling path of target inspection position.
Optionally, obtain the environment where the robot environmental map include: the robot clock value be 1
When, laser data frame and the initial position when being 1 to the clock value are handled, and obtain the initial of the robot
Environmental map；The mileage of the odometer of the robot is acquired, and to the mileage corresponding laser data frame benefit
The predicted motion position for obtaining the robot with odometer motion model algorithm and the robot motion are to the prediction
The probability of movement position；The clock value for acquiring the robot is greater than corresponding laser acquisition data frame when 1, utilizes scan
Match algorithm optimizes the predicted motion position in conjunction with the initial environment map, obtains optimization position；Using feeling relieved
The observation that algorithm for estimating obtains the optimization position to the optimization position and laser acquisition data frame is felt relieved；Utilize grain
Sub- filtering algorithm is felt relieved and the probability of the predicted motion position in conjunction with the observation, obtain filtered optimal path and
The environmental map.
Another aspect according to an embodiment of the present invention, additionally provides a kind of determining device of target inspection position, wraps
It includes: acquiring unit, for obtaining the initial position of robot, wherein the initial position indicates the start bit of the robot
It sets；Positioning unit, for being positioned to the robot, to obtain the robot in the robot kinematics
Real time position；First determination unit, for determining the real time position according to the real time position and the initial position
With the deviation of preset path, wherein the preset path is that plan in advance be used to indicate the path of the robot motion；
Updating unit, for updating the motion state of the robot using the deviation binding site correct algorithm, so that described
Robot reaches target inspection position.
Optionally, the acquiring unit includes: locating module, for opening the locating module of the robot, to institute
The initial position for stating robot is positioned；First obtains module, for obtaining institute according to the positioning result of the locating module
State the initial position of robot.
Optionally, the determining device of the target inspection position further include: the second determination unit, for according to described real-time
Before position and the initial position determine the deviation of the real time position and preset path, the preset path is determined；
Wherein, second determination unit includes: the second acquisition module, for obtaining the environmental map of the environment where the robot
And the real time position of the robot；Determining module, for utilizing shortest path first in conjunction with the environmental map and institute
It states real time position and determines the preset path, wherein the preset path is that the robot reaches target inspection position
Most short polling path.
Optionally, the second acquisition module includes: the first acquisition submodule, for being in clock value in the robot
When 1, laser data frame and the initial position when being 1 to the clock value are handled, and obtain the first of the robot
Beginning environmental map；Second acquisition submodule, the mileage of the odometer for acquiring the robot, and to the mileage number
The predicted motion position of the robot and described is obtained using odometer motion model algorithm according to corresponding laser data frame
Probability of the robot motion to the predicted motion position；Optimize submodule, the clock value for acquiring the robot is greater than 1
When corresponding laser acquire data frame, using scan match algorithm in conjunction with the initial environment map to the predicted motion position
It sets and optimizes, obtain optimization position；Third acquisition submodule, for using algorithm for estimating of feeling relieved to the optimization position and
The observation that the laser acquisition data frame obtains the optimization position is felt relieved；4th acquisition submodule, for utilizing particle filter
Algorithm is felt relieved in conjunction with the observation and the probability of the predicted motion position, obtains filtered optimal path and the ring
Condition figure.
Another aspect according to an embodiment of the present invention, additionally provides a kind of electric inspection process robot, the electric power patrols
It examines robot and uses described in any item target inspection method for determining position among the above.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, the storage medium includes
The program of storage, wherein described program execute it is any one of above-mentioned described in target inspection method for determining position.
Another aspect according to an embodiment of the present invention, additionally provides a kind of processor, the processor is for running
Program, wherein described program run when execute it is any one of above-mentioned described in target inspection method for determining position.
In embodiments of the present invention, using the initial position for obtaining robot, wherein initial position indicates rising for robot
Beginning position；In robot kinematics, robot is positioned, to obtain the real time position of robot；According to real-time position
It sets and initial position determines the deviation of real time position and preset path, wherein preset path is planned in advance for referring to
Show the path of robot motion；The motion state that robot is updated using deviation binding site correct algorithm, so that robot
The mode for reaching target inspection position, may be implemented by the target inspection method for determining position provided in the embodiment of the present application
Robot during the motion, robot is positioned to obtain the real time position of robot, and according to real time position with
And initial position determines the deviation of real time position and preset path, to be carried out more using motion state of the deviation to robot
New purpose, has reached the technical effect of the safety of the efficiency and personnel equipment that improve substation inspection, and then solves phase
For the technical problem lower to the mode reliability of substation's progress inspection in the technology of pass.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of target inspection method for determining position according to an embodiment of the present invention；
Fig. 2 is the functional block diagram of electric inspection process robot according to an embodiment of the present invention；
Fig. 3 is the flow chart that SLAM according to an embodiment of the present invention builds nomography；
Fig. 4 is the flow chart of particle filter algorithm Modified Particle Filter according to an embodiment of the present invention；
Fig. 5 is the schematic diagram of the determining device of target inspection according to an embodiment of the present invention position.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
For Intelligent Mobile Robot in the related technology mainly by being laid with upper track in advance on polling path, and
RFID label tag mark is placed in inspection target position to carry out autonomous localization and navigation.Using aforesaid way track laying project
Measure huge with cost, substation is since particular surroundings execution conditions are very harsh, and difficulty of construction is also larger, personnel and power equipment
Security performance cannot be guaranteed；And polling path setting is not flexible, must be again on respective paths upper berth if newly-increased inspection point
If track and respective point place RFID.It is crucial to carry out substation that a kind of more convenient and fast mode is provided in the embodiment of the present application
The monitoring of point.Specifically, nomography can be built by the slam of improved grid mapping, it is only necessary in substation
A slam robot is placed, it completes to establish map by efficiently autonomous；Pass through the Markov clustering MCL based on enhancing
And improved Di Jiesitela dijkstra algorithm realizes positioning and navigation, without carrying out high-cost laying track etc., other are big
The construction of workload improves the efficiency of substation inspection and the safety of personnel equipment.It is carried out below with reference to following embodiment
It is described in detail.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for target inspection method for determining position is provided, is needed
Bright, step shown in the flowchart of the accompanying drawings can be held in a computer system such as a set of computer executable instructions
Row, although also, logical order is shown in flow charts, and it in some cases, can be to be different from sequence herein
Execute shown or described step.
Fig. 1 is the flow chart of target inspection method for determining position according to an embodiment of the present invention, as shown in Figure 1, the mesh
Mark inspection method for determining position includes the following steps:
Step S102 obtains the initial position of robot, wherein the initial position of initial position expression robot.
In step s 102, it can use locating module first to position the initial position where robot, that is, machine
The movement starting point of device people.It should be noted that the Monte Carlo of locating module in embodiments of the present invention using enhancing
(augmented_MCL) location algorithm.
Step S104 positions robot in robot kinematics, to obtain the real time position of robot.
Step S106 determines the deviation of real time position and preset path according to real time position and initial position, wherein
Preset path is that plan in advance be used to indicate the path of robot motion.
Step S108 updates the motion state of robot using deviation binding site correct algorithm, so that robot arrives
Up to target inspection position.
Through the above steps, the initial position of available robot, wherein the start bit of initial position expression robot
It sets；Then in robot kinematics, robot is positioned, to obtain the real time position of robot；Further according to real-time
Position and initial position determine the deviation of real time position and preset path, wherein preset path is being used for of planning in advance
Indicate the path of robot motion；And the motion state of robot is updated using deviation binding site correct algorithm, so that
Robot reaches target inspection position.Relative to when carrying out electric inspection process, needing in the related technology by polling path
It is laid with upper track in advance, and places RFID label tag mark in inspection target position to carry out autonomous localization and navigation to environmental requirement
It is higher, and difficulty of construction is big, causes lower in the mode reliability for carrying out inspection to substation.By in the embodiment of the present application
The target inspection method for determining position of offer may be implemented robot during the motion, to robot positioned with
To the real time position of robot, and determine according to real time position and initial position the deviation of real time position and preset path,
With the purpose being updated using motion state of the deviation to robot, the efficiency for improving substation inspection and personnel are reached
The technical effect of the safety of equipment, so solve in the related technology for substation carry out inspection mode reliability compared with
Low technical problem.
In step s 102, the initial position for obtaining robot may include: the locating module for opening robot, to machine
The initial position of device people positions；The initial position of robot is obtained according to the positioning result of locating module.
Preferably, before the deviation for determining real time position and preset path according to real time position and initial position,
The target inspection method for determining position can also comprise determining that preset path；Wherein it is determined that preset path includes: acquisition machine
The environmental map of environment where device people and the real time position of robot；Using shortest path first combining environmental map and
Real time position determines preset path, wherein preset path is the most short polling path that robot reaches target inspection position.
As a kind of optional embodiment, the environmental map for obtaining the environment where robot may include: in robot
When clock value is 1, laser data frame and initial position when being 1 to clock value are handled, and obtain the initial of robot
Environmental map；The mileage of the odometer of robot is acquired, and odometer is utilized to the corresponding laser data frame of mileage
Motion model algorithm obtain robot predicted motion position and robot motion to predicted motion position probability；Harvester
The clock value of device people is greater than corresponding laser when 1 and acquires data frame, utilizes scan match algorithm combination initial environment map pair
Predicted motion position optimizes, and obtains optimization position；Data are acquired to optimization position and laser using algorithm for estimating is felt relieved
The observation that frame obtains optimization position is felt relieved；Felt relieved and the probability of predicted motion position using particle filter algorithm in conjunction with observation,
Obtain filtered optimal path and environmental map.
In addition, another aspect according to an embodiment of the present invention, additionally provides a kind of electric inspection process robot, the electric power
Crusing robot uses any one of above-mentioned target inspection method for determining position.Wherein, which is logical
Improved SLAM algorithm is crossed to realize, mainly include following 4 modules: build module, locating module, path planning module with
And navigation module.
Fig. 2 is the functional block diagram of electric inspection process robot according to an embodiment of the present invention, as shown in Fig. 2, the electric power patrols
Examining robot is mainly included following 4 modules: being built module, locating module, road based on improved SLAM algorithmic system
Diameter planning module and navigation module.These modules are described in detail below.
(1) build module: it is SLAM (positioning immediately and ground based on Improved Grid Mapping that this, which builds module,
Figure building (simultaneous localization and mapping, abbreviation SLAM)) build nomography.Specifically build figure stream
Journey is as shown in Figure 3, wherein Fig. 3 is the flow chart that SLAM according to an embodiment of the present invention builds nomography, as shown in Figure 3:
1.1. firstly, acquiring this moment laser data (2D when start time t=1 (that is, clock value is 1)
LaserData) frame and initial position carry out the initialization of the required population of Improved Particle Filter, obtain
One initial OptimizedMap (that is, initial environment map).
As t > 1, below step is carried out:
1.2. acquisition mileage counts (OdomData), and utilizes Odometry Motion Mode to this time data frame
Algorithm obtains some conjecture pose (GuessPose) (that is, predicted motion position) and probability of motion (MotionModel Prob)
(that is, the probability of robot motion to predicted motion position).
1.3. acquire this moment laser data frame, with Scan Match algorithm and with the OptimizedMap of last moment
GuessPose is optimized, optimization position (OptimalPose) is obtained.
1.4. with Likelihood Fields for Range Finders algorithm synthesis step 1.3
OptimalPose and the laser data frame at this moment, the observation for obtaining the OptimalPose are felt relieved
(MeasureLikelihood)。
1.5. finally with Modified Particle Filter algorithm synthesis step 1.4
The MotionModel Prob data of MeasureLikelihood data and step 1.2, the road of the optimization after being filtered
Path position (OptimizedPose) and environmental map (OptimizedMap).
It should be noted that particle filter algorithm in embodiments of the present invention can include but is not limited to: Modified
Particle Filter.Wherein, Modified Particle Filter can have in the multifarious situation of not lost particle
The small speed for guaranteeing particle filter.Fig. 4 is particle filter algorithm ModifiedParticle according to an embodiment of the present invention
It is larger or not to judge whether robot current location is in turning as shown in figure 4, after operation starts for the flow chart of Filter
Know that sensing point crosses many places, where it has, increasing the population of particle filter particle filter；Conversely, reducing particle
The population for filtering particle filter subsequently into particle filter algorithm particle filter, and obtains processing knot
Fruit.
(2) locating module: locating module here is that Monte Carlo (augmented_MCL) positioning based on enhancing is calculated
Method.Wherein basic procedure is as follows:
2.1. odometer and laser observations data are acquired, respectively with Odometry Motion Mode algorithm and
Likelihood Fields for Range Finders algorithm obtains conjecture pose and corresponding observation is felt relieved.
2.2. felt relieved by the observation of step 2.1 calculate short-term and long-term observation feel relieved it is average.
2.3. it uses the conjecture pose of Particle Filter algorithm process step 2.1 and observes data of feeling relieved, need simultaneously
Average divergence is felt relieved to increase the probability of the stochastical sampling of particle with short-term and long-term observation, finally obtain filtered
Optimal path.
(3) path planning module: when assigning target inspection point to robot, it will call shortest path first (example
Such as, improved dijkstra algorithm) it combines and builds the environmental map that module provides and the optimal location that locating module provides planning
Obtain optimal path, that is, most short polling path.
(4) navigation module:
4.1. robot carries out initial alignment using locating module first.
4.2. after orienting the position where oneself, start to navigate, during the motion, with certain frequency
Locating module is called to be positioned in real time.
4.3. itself real-time pose obtained according to previous step, estimated location (are obtained with preset path by path planning module
) between deviation, call pose correction algorithm to update itself motion state.
4.4. step 4.2 and 4.3 is constantly repeated, until reaching target inspection point, that is, target inspection position.
The target inspection method for determining position and electric inspection process robot provided through the embodiment of the present invention, Ke Yishi
It builds during figure now, the optimization of position and environmental map, Yi Jili is carried out by improved grid mapping algorithm
Guarantee particle diversity and filtering speed by increasing or reducing number of particles with Modified Particle Filter algorithm
The purpose of degree.
Embodiment 2
A kind of determining device of target inspection position is additionally provided according to embodiments of the present invention, it should be noted that this hair
The determining device of the target inspection position of bright embodiment can be used for executing target inspection position provided by the embodiment of the present invention
Determination method.The determining device of target inspection provided in an embodiment of the present invention position is introduced below.
Fig. 5 is the schematic diagram of the determining device of target inspection according to an embodiment of the present invention position, as shown in figure 5, the mesh
The determining device for marking inspection position includes: acquiring unit 51, positioning unit 53, the first determination unit 55 and updating unit 57.
The determining device of the target inspection position is described in detail below.
Acquiring unit 51, for obtaining the initial position of robot, wherein the start bit of initial position expression robot
It sets.
Positioning unit 53, for being positioned to robot, to obtain the real-time of robot in robot kinematics
Position.
First determination unit 55, for determining the inclined of real time position and preset path according to real time position and initial position
Difference, wherein preset path is that plan in advance be used to indicate the path of robot motion.
Updating unit 57, for updating the motion state of robot using deviation binding site correct algorithm, so that machine
Device people reaches target inspection position.
In this embodiment it is possible to obtain the initial position of robot using acquiring unit, wherein initial position indicates machine
The initial position of device people；Then robot is positioned, in robot kinematics to obtain machine using positioning unit
The real time position of people；The first determination unit is recycled to determine real time position and preset path according to real time position and initial position
Deviation, wherein preset path is that plan in advance be used to indicate the path of robot motion；And using updating unit benefit
The motion state of robot is updated with deviation binding site correct algorithm, so that robot reaches target inspection position.Relatively
In when carrying out electric inspection process, being needed in the related technology by being laid with upper track in advance on polling path, and in inspection target
It is higher to environmental requirement to carry out autonomous localization and navigation that RFID label tag mark is placed in position, and difficulty of construction is big, causes
The mode reliability for carrying out inspection to substation is lower.It is filled by the determining for target inspection position provided in the embodiment of the present application
Set may be implemented robot during the motion, robot is positioned to obtain the real time position of robot, and according to
Real time position and initial position determine the deviation of real time position and preset path, with the movement using deviation to robot
The purpose that state is updated has reached the technical effect of the safety of the efficiency and personnel equipment that improve substation inspection, into
And it solves in the related technology for the technical problem lower to the mode reliability of substation's progress inspection.
As a kind of optional embodiment, above-mentioned acquiring unit may include: locating module, for opening determining for robot
Position module, is positioned with the initial position to robot；First obtains module, for being obtained according to the positioning result of locating module
Take the initial position of robot.
As a kind of optional embodiment, the determining device of the target inspection position can also include: the second determination unit,
For before the deviation for determining real time position and preset path according to real time position and initial position, determining default road
Diameter；Wherein, the second determination unit includes: the second acquisition module, for obtain the environment where robot environmental map and
The real time position of robot；Determining module, it is pre- for being determined using shortest path first combining environmental map and real time position
If path, wherein preset path is the most short polling path that robot reaches target inspection position.
As a kind of optional embodiment, the second acquisition module may include: the first acquisition submodule, in robot
When clock value is 1, laser data frame and initial position when being 1 to clock value are handled, and obtain the initial of robot
Environmental map；Second acquisition submodule, the mileage of the odometer for acquiring robot, and swash to mileage is corresponding
Light data frame using odometer motion model algorithm obtain robot predicted motion position and robot motion to prediction transport
The probability of dynamic position；Optimize submodule, the clock value for acquiring robot is greater than corresponding laser acquisition data frame, benefit when 1
Predicted motion position is optimized with scan match algorithm combination initial environment map, obtains optimization position；Third obtains
Submodule, for being released using the observation that algorithm for estimating obtains optimization position to optimization position and laser acquisition data frame of feeling relieved
So；4th acquisition submodule is obtained for being felt relieved and the probability of predicted motion position using particle filter algorithm in conjunction with observation
Filtered optimal path and environmental map.
The determining device of above-mentioned target inspection position includes processor and memory, above-mentioned acquiring unit 51, positioning unit
53, the first determination unit 55 is equal to be stored in memory as program unit, is executed by processor stored in memory
Above procedure unit realizes corresponding function.
Include kernel in above-mentioned processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set
One or more updates the motion state of robot by adjusting kernel parameter using deviation binding site correct algorithm, with
Robot is set to reach target inspection position.
Above-mentioned memory may include the non-volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein program executes any one of above-mentioned target inspection method for determining position.
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
Wherein, any one of above-mentioned target inspection method for determining position is executed when program is run.
A kind of equipment is additionally provided in embodiments of the present invention, which includes processor, memory and be stored in storage
On device and the program that can run on a processor, processor perform the steps of the initial bit for obtaining robot when executing program
It sets, wherein the initial position of initial position expression robot；In robot kinematics, robot is positioned, with
To the real time position of robot；The deviation of real time position and preset path is determined according to real time position and initial position,
In, preset path is that plan in advance be used to indicate the path of robot motion；More using deviation binding site correct algorithm
The motion state of new engine people, so that robot reaches target inspection position.
A kind of computer program product is additionally provided in embodiments of the present invention, when being executed on data processing equipment,
It is adapted for carrying out the program of initialization there are as below methods step: obtaining the initial position of robot, wherein initial position indicates machine
The initial position of people；In robot kinematics, robot is positioned, to obtain the real time position of robot；According to
Real time position and initial position determine the deviation of real time position and preset path, wherein preset path is planned in advance
It is used to indicate the path of robot motion；The motion state of robot is updated using deviation binding site correct algorithm, so that
Robot reaches target inspection position.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of target inspection method for determining position characterized by comprising
Obtain the initial position of robot, wherein the initial position indicates the initial position of the robot；
In the robot kinematics, the robot is positioned, to obtain the real time position of the robot；
The deviation of the real time position and preset path is determined according to the real time position and the initial position, wherein
The preset path is that plan in advance be used to indicate the path of the robot motion；
The motion state of the robot is updated using the deviation binding site correct algorithm, so that the robot reaches
Target inspection position.
2. the method according to claim 1, wherein the initial position for obtaining robot includes:
The locating module of the robot is opened, is positioned with the initial position to the robot；
The initial position of the robot is obtained according to the positioning result of the locating module.
3. the method according to claim 1, wherein true according to the real time position and the initial position
Before the deviation of the fixed real time position and preset path, further includes: determine the preset path；
Wherein it is determined that the preset path includes:
Obtain the environmental map of the environment where the robot and the real time position of the robot；
The preset path is determined in conjunction with the environmental map and the real time position using shortest path first, wherein institute
Stating preset path is the most short polling path that the robot reaches target inspection position.
4. according to the method described in claim 3, it is characterized in that, obtaining the environmental map packet of the environment where the robot
It includes:
The robot clock value be 1 when, to the clock value be 1 when laser data frame and the initial position into
Row processing, obtains the initial environment map of the robot；
The mileage of the odometer of the robot is acquired, and mileage is utilized to the corresponding laser data frame of the mileage
Predicted motion position that meter motion model algorithm obtains the robot and the robot motion are to the predicted motion position
The probability set；
The clock value for acquiring the robot is greater than corresponding laser acquisition data frame when 1, is combined using scan match algorithm
The initial environment map optimizes the predicted motion position, obtains optimization position；
The sight of the optimization position is obtained to the optimization position and laser acquisition data frame using algorithm for estimating is felt relieved
Survey is felt relieved；
Felt relieved and the probability of the predicted motion position using particle filter algorithm in conjunction with the observation, obtain it is filtered most
Shortest path and the environmental map.
5. a kind of determining device of target inspection position characterized by comprising
Acquiring unit, for obtaining the initial position of robot, wherein the initial position indicates the start bit of the robot
It sets；
Positioning unit, for being positioned to the robot, to obtain the robot in the robot kinematics
Real time position；
First determination unit, for determining the real time position and default road according to the real time position and the initial position
The deviation of diameter, wherein the preset path is that plan in advance be used to indicate the path of the robot motion；
Updating unit, for updating the motion state of the robot using the deviation binding site correct algorithm, so that
The robot reaches target inspection position.
6. device according to claim 5, which is characterized in that the acquiring unit includes:
Locating module is positioned for opening the locating module of the robot with the initial position to the robot；
First obtains module, for obtaining the initial position of the robot according to the positioning result of the locating module.
7. device according to claim 5, which is characterized in that further include: the second determination unit, for according to the reality
When position and the initial position determine the real time position and preset path deviation before, determine the default road
Diameter；
Wherein, second determination unit includes:
Second obtains module, for obtaining the environmental map of the environment where the robot and the real-time position of the robot
It sets；
Determining module, it is described default for being determined using shortest path first in conjunction with the environmental map and the real time position
Path, wherein the preset path is the most short polling path that the robot reaches target inspection position.
8. device according to claim 7, which is characterized in that described second, which obtains module, includes:
First acquisition submodule, for the laser data in the robot when clock value is 1, when being 1 to the clock value
Frame and the initial position are handled, and the initial environment map of the robot is obtained；
Second acquisition submodule, the mileage of the odometer for acquiring the robot, and it is corresponding to the mileage
Laser data frame using odometer motion model algorithm obtain the robot predicted motion position and the robot
Move to the probability of the predicted motion position；
Optimize submodule, the clock value for acquiring the robot is greater than corresponding laser acquisition data frame when 1, utilizes scan
Match algorithm optimizes the predicted motion position in conjunction with the initial environment map, obtains optimization position；
Third acquisition submodule, for being obtained using algorithm for estimating is felt relieved to the optimization position and laser acquisition data frame
Observation to the optimization position is felt relieved；
4th acquisition submodule, for being felt relieved using particle filter algorithm in conjunction with the observation and the predicted motion position
Probability obtains filtered optimal path and the environmental map.
9. a kind of electric inspection process robot, which is characterized in that the electric inspection process robot uses any in Claims 1-4 4
Target inspection method for determining position described in.
10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 4 described in target inspection method for determining position.
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