CN111813119B - High-precision navigation method for inspection robot - Google Patents
High-precision navigation method for inspection robot Download PDFInfo
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- CN111813119B CN111813119B CN202010665372.1A CN202010665372A CN111813119B CN 111813119 B CN111813119 B CN 111813119B CN 202010665372 A CN202010665372 A CN 202010665372A CN 111813119 B CN111813119 B CN 111813119B
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- 238000007689 inspection Methods 0.000 title claims abstract description 130
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 230000001351 cycling effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A high-precision navigation method of a patrol robot, the method comprising the steps of: determining alternative navigation coordinates in a preset space around the inspection robot; measuring the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment; calculating the predicted distance between the inspection robot and all the alternative navigation coordinates at the next adjacent moment; subtracting the corresponding actual distances from the predicted distances corresponding to all the alternative navigation coordinates to obtain a distance difference; and selecting the alternative navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment. According to the method and the device, the actual navigation coordinates adopted are dynamically selected and adjusted according to the movement direction of the inspection robot on the route, so that the distance between the actual navigation coordinates and the inspection robot can be kept in the navigation signal action area of the inspection robot at any time, and the signal intensity between the actual navigation coordinates and the inspection robot is kept in a higher range.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to a high-precision navigation method of an inspection robot.
Background
The inspection robot is often arranged to inspect objects along a predetermined route, during which the inspection robot needs a navigation coordinate to direct itself along the predetermined route. However, the current navigation coordinates are usually coordinates of a fixed position, such as a base station or a navigation seat used in cooperation with the inspection robot, and as the inspection robot moves forward along a predetermined line, the distance between the inspection robot and the navigation coordinates becomes longer and longer, and meanwhile, the signal strength between the inspection robot and the navigation coordinates becomes lower, so that the navigation accuracy is correspondingly reduced, and the inspection robot may deviate from the predetermined line.
Disclosure of Invention
In order to solve the problems, the invention provides a high-precision navigation method of a patrol robot, which comprises the following steps:
determining alternative navigation coordinates in a preset space around the inspection robot;
measuring the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment;
calculating the predicted distance between the inspection robot and all the alternative navigation coordinates at the next adjacent moment;
subtracting the corresponding actual distances from the predicted distances corresponding to all the alternative navigation coordinates to obtain a distance difference;
and selecting the alternative navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment.
Preferably, the determining the candidate navigation coordinates in the preset space around the inspection robot includes the steps of:
acquiring the current position coordinates of the inspection robot;
acquiring the action distance of a navigation signal of the inspection robot;
taking the current position coordinate as a circle center and the navigation signal acting distance as a radius as a sphere to construct a navigation signal acting region of the inspection robot;
and selecting a building which accords with a preset height in the navigation signal acting area as the alternative navigation coordinate.
Preferably, the selecting, as the candidate navigation coordinates, a building conforming to a preset height in the navigation signal application area includes the steps of:
acquiring the heights of all the buildings in the navigation signal acting area;
judging whether any one of the heights is larger than or equal to the preset height;
if yes, reserving the building corresponding to the height which is larger than or equal to the preset height as the alternative navigation coordinate;
if not, expanding the navigation signal action area, and cycling the operation.
Preferably, the expanding the navigation signal application area includes:
a control unit in the inspection robot raises the voltage or current of the navigation unit.
Preferably, said measuring the actual distance of said inspection robot from all said alternative navigation coordinates at the current moment comprises the steps of:
the inspection robot sends a directional measurement signal to each alternative navigation coordinate;
and calculating the actual distance between each alternative navigation coordinate and the inspection robot according to the sending time, the returning time and the movement speed of the measurement signals of each orientation measurement signal.
Preferably, the calculating the predicted distance between the inspection robot and all the candidate navigation coordinates at the next adjacent moment includes the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the included angle and the time difference.
Preferably, the calculation formula of the predicted distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and alpha is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
Preferably, the calculating the predicted distance between the inspection robot and all the candidate navigation coordinates at the next adjacent moment includes the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed and the acceleration of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the acceleration, the included angle and the time difference.
Preferably, the calculation formula of the predicted distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, a is the acceleration of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and a is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
Preferably, the selecting the candidate navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment includes the steps of:
sorting all the distance differences;
comparing all the distance differences with the adjacent distance differences to select the smallest distance difference;
and reserving the alternative navigation coordinate corresponding to the minimum distance difference as an actual navigation coordinate.
According to the high-precision navigation method for the inspection robot, the adopted actual navigation coordinates are dynamically selected and adjusted according to the movement direction of the inspection robot on the route, so that the distance between the actual navigation coordinates and the inspection robot can be kept in the navigation signal action area of the inspection robot at any time, the signal intensity between the actual navigation coordinates and the inspection robot is kept in a higher range, and the situation that the distance between the actual navigation coordinates and the inspection robot is too large and the signal intensity is reduced so that the inspection robot moves forwards away from the preset route can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of a method for high-precision navigation of a patrol robot provided by the invention;
FIG. 2 is a schematic diagram of a high-precision navigation method of a patrol robot provided by the invention;
FIG. 3 is a schematic diagram of a high-precision navigation method of a patrol robot provided by the invention;
FIG. 4 is a schematic diagram of a high-precision navigation method of a patrol robot provided by the invention;
fig. 5 is a schematic diagram of a high-precision navigation method of a patrol robot provided by the invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1, in an embodiment of the present application, the present application provides a high-precision navigation method for a patrol robot, where the method includes the steps of:
s101: determining alternative navigation coordinates in a preset space around the inspection robot;
s102: measuring the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment;
s103: calculating the predicted distance between the inspection robot and all the alternative navigation coordinates at the next adjacent moment;
s104: subtracting the corresponding actual distances from the predicted distances corresponding to all the alternative navigation coordinates to obtain a distance difference;
s105: and selecting the alternative navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment.
As shown in fig. 2, in the embodiment of the present application, the determining the candidate navigation coordinates in the preset space around the inspection robot in step S101 includes the steps of:
acquiring the current position coordinates of the inspection robot;
acquiring the action distance of a navigation signal of the inspection robot;
taking the current position coordinate as a circle center and the navigation signal acting distance as a radius as a sphere to construct a navigation signal acting region of the inspection robot;
and selecting a building which accords with a preset height in the navigation signal acting area as the alternative navigation coordinate.
As shown in fig. 2, in the embodiment of the present application, a navigation signal action area may be obtained in a sphere space around the inspection robot, where objects in the sphere area may all perform navigation signal action with the inspection robot, and theoretically, the inspection robot may select any object in the area as an alternative navigation coordinate, for example, may select a travelling trolley, or may select a big tree, a building, etc. at a fixed position. Because the height of the object in the area is not constant, when an object with a height lower than a preset height is selected as an alternative navigation coordinate, the object can be blocked by a higher object, so that a navigation signal is lost; meanwhile, if the moving object is selected as the alternative navigation coordinate, the difficulty of navigation is increased, so that the building which accords with the preset height is selected as the alternative navigation coordinate by comprehensively considering, for example, the building with the height of 10m and above is selected as the alternative navigation coordinate.
As shown in fig. 3, in the embodiment of the present application, the selecting, as the candidate navigation coordinates, a building conforming to a preset height in the navigation signal application area includes the steps of:
acquiring the heights of all the buildings in the navigation signal acting area;
judging whether any one of the heights is larger than or equal to the preset height;
if yes, reserving the building corresponding to the height which is larger than or equal to the preset height as the alternative navigation coordinate;
if not, expanding the navigation signal action area, and cycling the operation.
In the embodiment of the present application, as shown in fig. 3, the heights of all the buildings in the navigation signal application area are first obtained, and then it is determined whether at least one building is higher than a preset height, for example, only one building in the navigation signal application area is building a, the height of building a is 2m, and obviously the height does not conform to the preset height 10m, at this time, the navigation signal application area of the inspection robot is enlarged, so that the navigation signal application area includes two buildings, namely, buildings a and B. And then judging whether the height of the building B meets the preset height of 10m, wherein the height of the building B is 12m and is larger than 10m, so that the condition of serving as an alternative navigation coordinate is met.
In an embodiment of the present application, the expanding the navigation signal application area includes:
a control unit in the inspection robot raises the voltage or current of the navigation unit.
In the embodiment of the application, when the action distance of the navigation signal of the inspection robot is enlarged, the action area of the navigation signal of the inspection robot can be enlarged. And the navigation signal acting distance of the inspection robot needs to be enlarged correspondingly, so that the voltage or current of the navigation unit is increased, and the strength of the transmitted signal of the navigation unit is enhanced.
In this embodiment, the measuring the actual distance between the inspection robot and all the candidate navigation coordinates at the current time in step S102 includes the steps of:
the inspection robot sends a directional measurement signal to each alternative navigation coordinate;
and calculating the actual distance between each alternative navigation coordinate and the inspection robot according to the sending time, the returning time and the movement speed of the measurement signals of each orientation measurement signal.
In the embodiment of the application, after the alternative navigation coordinates are determined, the inspection robot can send the orientation measurement signals to the alternative navigation coordinates, and then the actual distance between the alternative navigation coordinates and the inspection robot is calculated according to the sending time, the returning time and the signal movement speed of the signals.
As shown in fig. 4, in the embodiment of the present application, the calculating the predicted distances between the inspection robot and all the candidate navigation coordinates at the next adjacent time in step S103 includes the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the included angle and the time difference.
In the embodiment of the present application, as shown in fig. 4, the inspection robot at the current moment is at the position a, the speed is v at this moment, and the inspection robot at the position a' after the time t (the next moment adjacent to the moment) can be considered to be in uniform linear motion at this moment. The predicted distance between the a' and the alternative navigation coordinates B can thus be found from the knowledge of the mathematics associated with the triangle.
Specifically, the calculation formula of the prediction distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and alpha is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
As shown in fig. 5, in the embodiment of the present application, the calculating the predicted distances between the inspection robot and all the candidate navigation coordinates at the next adjacent time in step S103 includes the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed and the acceleration of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the acceleration, the included angle and the time difference.
In the embodiment of the present application, as shown in fig. 5, the inspection robot at the current moment is at the position a, the speed is v, the acceleration is a, and the inspection robot at the position a' after the time t (the next moment adjacent to the time) can be considered as the inspection robot uniformly accelerating the linear motion. The predicted distance between the a' and the alternative navigation coordinates B can thus be found from the knowledge of the mathematics associated with the triangle.
Specifically, the calculation formula of the prediction distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, a is the acceleration of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and a is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
In this embodiment of the present application, step S105 of selecting the candidate navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment includes the steps of:
sorting all the distance differences;
comparing all the distance differences with the adjacent distance differences to select the smallest distance difference;
and reserving the alternative navigation coordinate corresponding to the minimum distance difference as an actual navigation coordinate.
In the embodiment of the present application, by sorting all the distance differences, the candidate navigation coordinate corresponding to the smallest distance difference may be selected from a plurality of candidate navigation coordinates as the actual navigation coordinate.
According to the high-precision navigation method for the inspection robot, the adopted actual navigation coordinates are dynamically selected and adjusted according to the movement direction of the inspection robot on the route, so that the distance between the actual navigation coordinates and the inspection robot can be kept in the navigation signal action area of the inspection robot at any time, the signal intensity between the actual navigation coordinates and the inspection robot is kept in a higher range, and the situation that the distance between the actual navigation coordinates and the inspection robot is too large and the signal intensity is reduced so that the inspection robot moves forwards away from the preset route can be avoided.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (9)
1. The high-precision navigation method for the inspection robot is characterized by comprising the following steps:
determining alternative navigation coordinates in a preset space around the inspection robot;
measuring the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment;
calculating the predicted distance between the inspection robot and all the alternative navigation coordinates at the next adjacent moment;
subtracting the corresponding actual distances from the predicted distances corresponding to all the alternative navigation coordinates to obtain a distance difference;
selecting the alternative navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment;
the step of determining the alternative navigation coordinates in a preset space around the inspection robot comprises the following steps:
acquiring the current position coordinates of the inspection robot;
acquiring the action distance of a navigation signal of the inspection robot;
taking the current position coordinate as a circle center and the navigation signal acting distance as a radius as a sphere to construct a navigation signal acting region of the inspection robot;
and selecting a building which accords with a preset height in the navigation signal acting area as the alternative navigation coordinate.
2. The method for high-precision navigation of a patrol robot according to claim 1, wherein said selecting a building conforming to a preset height in said navigation signal application area as said alternative navigation coordinates comprises the steps of:
A. acquiring the heights of all the buildings in the navigation signal acting area;
B. judging whether any one of the heights is larger than or equal to the preset height;
C. if yes, reserving the building corresponding to the height which is larger than or equal to the preset height as the alternative navigation coordinate; and if not, expanding the navigation signal action area, and cycling the operation of the steps A-C.
3. The method of high-precision navigation of a patrol robot according to claim 2, wherein said expanding said navigation signal action area comprises:
a control unit in the inspection robot raises the voltage or current of the navigation unit.
4. The method for high-precision navigation of a patrol robot according to claim 1, wherein said measuring the actual distance between the patrol robot and all the candidate navigation coordinates at the present time comprises the steps of:
the inspection robot sends a directional measurement signal to each alternative navigation coordinate;
and calculating the actual distance between each alternative navigation coordinate and the inspection robot according to the sending time, the returning time and the movement speed of the measurement signals of each orientation measurement signal.
5. The method for high-precision navigation of a patrol robot according to claim 1, wherein said calculating the predicted distance between the patrol robot and all the candidate navigation coordinates at the next adjacent time comprises the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the included angle and the time difference.
6. The method for high-precision navigation of a patrol robot according to claim 5, wherein the calculation formula of the predicted distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and alpha is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
7. The method for high-precision navigation of a patrol robot according to claim 1, wherein said calculating the predicted distance between the patrol robot and all the candidate navigation coordinates at the next adjacent time comprises the steps of:
acquiring actual distances between the inspection robot and all the alternative navigation coordinates at the current moment;
acquiring the motion speed and the acceleration of the inspection robot at the current moment;
acquiring an included angle between a connecting line between the inspection robot and all the alternative navigation coordinates and the movement speed;
acquiring a time difference between the next adjacent time and the current time;
and calculating the predicted distance according to the actual distance, the movement speed, the acceleration, the included angle and the time difference.
8. The method for high-precision navigation of a patrol robot according to claim 7, wherein the calculation formula of the predicted distance is:
wherein l is the predicted distance, m is the actual distance between the inspection robot and all the alternative navigation coordinates at the current moment, v is the moving speed of the inspection robot at the current moment, a is the acceleration of the inspection robot at the current moment, t is the time difference between the next adjacent moment and the current moment, and a is the included angle between the connecting line between the inspection robot and all the alternative navigation coordinates and the moving speed.
9. The high-precision navigation method of the inspection robot according to claim 1, wherein the selecting the alternative navigation coordinate corresponding to the smallest distance difference as the actual navigation coordinate of the inspection robot at the next moment comprises the steps of:
sorting all the distance differences;
comparing all the distance differences with the adjacent distance differences to select the smallest distance difference;
and reserving the alternative navigation coordinate corresponding to the minimum distance difference as an actual navigation coordinate.
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