CN112034855A - Method and device for improving positioning speed of inspection robot - Google Patents
Method and device for improving positioning speed of inspection robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- 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
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Abstract
The application provides a method and a device for improving the positioning speed of an inspection robot, wherein the method comprises the following steps: the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by a laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position; if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data; when the inspection robot system breaks down and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory, and the current position of the inspection robot is rapidly positioned after the inspection robot system crashes and restarts.
Description
Technical Field
The application relates to the technical field of automatic positioning and navigation of inspection robots of transformer substations, in particular to a method and a device for improving positioning speed of an inspection robot.
Background
For a long time, the inspection work of the transformer substation is mostly carried out in a manual mode, the traditional manual inspection mode has the defects of high labor intensity, low working efficiency, dispersed detection quality, single means and the like, and data detected manually cannot be accurately and timely transmitted to a management information system for use in work afterwards.
At present, various power equipment in a transformer substation can be inspected intelligently by using an inspection robot. The inspection robot can position the inspection position of the inspection robot based on the prestored electronic map by using a laser and mileometer mode, so that the inspection robot can automatically perform inspection after completing automatic positioning calculation. In the prior art, because the pre-stored electronic map occupies a large memory, when the inspection robot processes the pre-stored electronic map and the laser map obtained in real time, a large amount of memory and a large amount of a CPU are consumed, so that the processing of the inspection robot is delayed and even halted and restarted.
Disclosure of Invention
The application aims to provide a method and a device for improving the positioning speed of an inspection robot, which are used for effectively improving the technical defect that the inspection robot in the prior art cannot automatically inspect because an electronic map occupies a large memory to cause that the inspection robot processes the jam or even is halted and restarted.
In a first aspect, an embodiment of the present application provides a method for increasing a positioning speed of an inspection robot, where the method includes: the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by a laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position; if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data; when the inspection robot system breaks down and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory.
With reference to the first aspect, in a first possible implementation manner, obtaining position data of the inspection robot at the current position, and determining whether a current map matching rate of the inspection robot is greater than a first preset threshold includes: obtaining the position data of the inspection robot at the current position based on a laser radar scanner, comparing the position data of the current position with the position data corresponding to the current position on a pre-stored electronic map, and obtaining the map matching degree of the inspection robot at the current position; and judging whether the map matching degree of the inspection robot at the current position is more than 60%, if not, not storing the position data of the current position.
With reference to the first aspect, in a second possible implementation manner, the presetting a data format includes: the data head is a positioning picture obtained by scanning the inspection robot at the current position by using a laser radar scanner, and the positioning picture is stored in a binary mode; the data segment includes in order: the data type of the stored time data is Double type data, the data type of the coordinate data of the inspection robot is long type data, the data type of the course angle data of the inspection robot is Double type data, and the data type of the speed data of the inspection robot is Double type data.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, the step of storing the location data of the current location in a specific directory in a preset data format in an overlaid manner to obtain a location file of the current location includes: judging whether the number of the positioning files stored in the specific directory is larger than a second preset value or not; if so, covering the position data corresponding to the storage time data closest to the current moment with the position data corresponding to the storage time data farthest from the current moment, and storing the position data in a specific directory to obtain a positioning file of the current position.
With reference to the first aspect, in a fourth possible implementation manner, when the inspection robot system fails and restarts, determining the current location of the inspection robot according to the location file corresponding to the storage time data closest to the current time in the specific directory includes: when the inspection robot system fails and restarts, acquiring a positioning file corresponding to the storage time data closest to the current moment under a specific directory; determining the basic position and the matching direction of the inspection robot in a prestored electronic map based on the acquired coordinate data of the inspection robot and the course angle data of the inspection robot in the positioning file; and matching the positioning picture of the current position obtained by the laser radar scanner at the current position of the inspection robot with a pre-stored electronic map, and performing positioning calculation on the current position based on a matching result so as to determine the current position of the inspection robot.
In a second aspect, the embodiment of the present application provides a device for improving the positioning speed of an inspection robot, and the device includes: the control mechanism is used for obtaining the position data of the inspection robot at the current position and judging whether the current map matching degree of the inspection robot is greater than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by the laser radar scanner at the current position of the inspection robot and the position data corresponding to the electronic map prestored at the current position; the storage module is used for storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position if the position data of the current position is in the specific directory, wherein the preset data format comprises storage time data; and the control mechanism is also used for determining the current position of the inspection robot according to the positioning file corresponding to the storage time data which is closest to the current moment under the specific directory when the inspection robot system is restarted due to a fault.
With reference to the second aspect, in a first possible implementation manner, the control mechanism is further configured to obtain position data of the inspection robot at the current position based on the laser radar scanner, compare the position data of the current position with position data corresponding to the current position on a pre-stored electronic map, and obtain the map matching degree of the inspection robot at the current position; and judging whether the map matching degree of the inspection robot at the current position is more than 60%, if not, not storing the position data of the current position.
With reference to the second aspect, in a second possible implementation manner, the control mechanism is further configured to determine whether the number of the positioning files stored in the specific directory is greater than a second preset value; and the storage module is also used for covering the position data corresponding to the storage time data closest to the current moment with the position data corresponding to the storage time data farthest from the current moment, storing the position data in the specific directory and acquiring the positioning file of the current position if the position data corresponds to the storage time data closest to the current moment.
With reference to the second aspect, in a third possible implementation manner, the control mechanism is further configured to, when the inspection robot system is restarted due to a fault, obtain a location file corresponding to storage time data closest to the current time in a specific directory; determining the basic position and the matching direction of the inspection robot in a prestored electronic map based on the acquired coordinate data of the inspection robot and the course angle data of the inspection robot in the positioning file; and matching the positioning picture of the current position obtained by the laser radar scanner at the current position of the inspection robot with a pre-stored electronic map, and performing positioning calculation on the current position based on a matching result so as to determine the current position of the inspection robot.
Compared with the prior art, the invention has the beneficial effects that: on one hand, the method adopts the laser map obtained by scanning the storage inspection robot by using the laser radar, firstly judges whether the map matching degree of the obtained laser map and the electronic map reaches a first preset threshold value, and stores the laser map if the judgment result is yes. On the other hand, the laser map is stored in a mode including storage time and current position data, so that when the inspection robot is restarted due to processing faults, the position of the inspection robot can be quickly positioned according to the position data corresponding to the storage time closest to the current moment, and automatic inspection of the inspection robot can be carried out again.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for increasing the positioning speed of an inspection robot according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a structure of a device for increasing a positioning speed of an inspection robot according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for increasing a positioning speed of an inspection robot according to an embodiment of the present disclosure. In the embodiment of the application, the method for improving the positioning speed of the inspection robot comprises the following steps: step S11, step S12, and step S13.
Step S11: the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by a laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position;
step S12: if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data;
step S13: when the inspection robot system breaks down and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory.
The execution flow of the method will be described in detail below.
Step S11: the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by the laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position.
Before step S11, the inspection robot scans the laser point cloud data of the current operating environment by controlling the laser scanner, and the point cloud data can obtain the accurate topology and geometry of the object with low storage cost. In the actual acquisition process, because the size of the measured reference object is too large, the surface of the reference object is blocked, or the scanning angle of the three-dimensional scanning device is equal, the complete geometric information of the object cannot be obtained in a single scanning. Therefore, in order to obtain complete geometric information of the detected reference object, two or more groups of point clouds at different viewing angles, namely different reference coordinates, need to be unified to a unified coordinate system for point cloud registration, and finally, an electronic map for laser navigation of the inspection robot is automatically formed.
In detail, in the process of automatically routing inspection according to the planned shortest routing inspection route, the inspection robot needs to perform automatic positioning work all the time, and the positioning frequency at least needs to reach over 9Hz, namely, the inspection robot performs automatic positioning every 1/9 seconds. On the basis of a pre-stored electronic map, obtaining position data of the inspection robot at the current position based on a laser radar scanner, comparing the position data of the current position with position data corresponding to the current position on the pre-stored electronic map, and obtaining the map matching degree of the inspection robot at the current position; and judging whether the map matching degree of the inspection robot at the current position is more than 60%, if not, not storing the position data of the current position.
The method includes the steps that a laser map obtained by scanning a laser radar is used for the storage inspection robot, whether the map matching degree of the obtained laser map and an electronic map reaches a first preset threshold value or not is judged, and if the judgment result is yes, the laser map is stored, so that the laser image of the storage inspection robot deviating the inspection route at the wrong position can be avoided, and unnecessary storage space is reduced.
Step S12: if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data.
In detail, the preset data format includes: the data head is a positioning picture obtained by scanning the inspection robot at the current position by using a laser radar scanner, and the positioning picture is stored in a binary mode; the data segment includes in order: the data type of the stored time data is Double type data, the data type of the coordinate data of the inspection robot is long type data, the data type of the course angle data of the inspection robot is Double type data, and the data type of the speed data of the inspection robot is Double type data. Note that the data in the data segment is also stored in a binary manner.
In the preset data format, the laser positioning picture information in the JPEG format is firstly stored, and then the current positioning coordinate information of the robot is stored in the attachment data section of the JPEG file, so that the inspection robot can be conveniently positioned automatically in real time. The file stores the base map of the laser map, and meanwhile, the file adopts a standard JPEG format file, so that the laser positioning map can be conveniently displayed, and later-period automatic operation and comparison are facilitated.
Judging whether the number of the positioning files stored in the specific directory is larger than a second preset value or not; if so, covering the position data corresponding to the storage time data closest to the current moment with the position data corresponding to the storage time data farthest from the current moment, and storing the position data in a specific directory to obtain a positioning file of the current position.
Specifically, the number of the positioning files stored in the specific directory is preset as a second preset value, and the second preset value can be adjusted according to actual needs. In the embodiment of the present application, the second preset value is 200. When the map matching degree of the current position is more than 60%, storing the position data of the current position in a specific directory in a preset data format, and before forming a corresponding positioning file, judging whether the number of the stored positioning files in the current specific directory is more than 200, if so, storing the position data of the current position in the specific directory in a covering manner to obtain the corresponding positioning file, and storing the position data corresponding to the storage time data which is farthest from the current time in the specific directory in the covering manner and not in the specific directory.
Step S13: when the inspection robot system breaks down and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory.
In detail, when the inspection robot system is restarted due to a fault, a positioning file corresponding to the storage time data which is closest to the current moment under a specific directory is obtained; determining the basic position and the matching direction of the inspection robot in a prestored electronic map based on the acquired coordinate data of the inspection robot and the course angle data of the inspection robot in the positioning file; and matching the positioning picture of the current position obtained by the laser radar scanner at the current position of the inspection robot with a pre-stored electronic map, and performing positioning calculation on the current position based on a matching result so as to determine the current position of the inspection robot.
After the inspection robot system is restarted, firstly, the basic position and the matching direction of the robot are determined in an electronic map according to the position data corresponding to the storage time data closest to the current moment, namely the coordinate information and the course angle information in the last stored positioning file, then, automatic positioning calculation is carried out according to a laser matching map currently acquired by the inspection robot so as to determine the position of the body of the inspection robot, and the inspection can be automatically carried out after the inspection robot carries out positioning calculation on the current position.
Referring to fig. 2, an embodiment of the present application provides a device 10 for increasing a positioning speed of an inspection robot, including:
the control mechanism 110 is configured to obtain position data of the inspection robot at the current position, and determine whether a current map matching degree of the inspection robot is greater than a first preset threshold, where the map matching degree is used to represent a matching degree between position data scanned by the laser radar scanner at the current position of the inspection robot and position data corresponding to an electronic map prestored at the current position;
the storage module 120 is configured to, if yes, store the location data of the current location in a specific directory in a preset data format, and obtain a location file of the current location, where the preset data format includes storage time data;
and the control mechanism 110 is further configured to determine the current position of the inspection robot according to the positioning file corresponding to the storage time data closest to the current time in the specific directory when the inspection robot system is restarted due to a fault.
To sum up, the embodiment of the application provides a method and a device for improving the positioning speed of an inspection robot, and the method comprises the following steps: the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by a laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position; if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data; when the inspection robot system breaks down and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory, and the current position of the inspection robot is rapidly positioned after the inspection robot system crashes and restarts.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method for improving the positioning speed of an inspection robot is characterized by comprising the following steps:
the method comprises the steps of obtaining position data of the inspection robot at the current position, and judging whether the current map matching degree of the inspection robot is larger than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by a laser radar scanner at the current position of the inspection robot and the position data corresponding to an electronic map prestored at the current position;
if so, storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position, wherein the preset data format comprises storage time data;
and when the inspection robot system fails and restarts, determining the current position of the inspection robot according to the positioning file corresponding to the storage time data which is closest to the current moment under the specific directory.
2. The method for improving the positioning speed of the inspection robot according to claim 1, wherein the obtaining the position data of the inspection robot at the current position and judging whether the current map matching rate of the inspection robot is greater than a first preset threshold value comprises:
obtaining the position data of the inspection robot at the current position based on a laser radar scanner, comparing the position data of the current position with the position data corresponding to the current position on a pre-stored electronic map, and obtaining the map matching degree of the inspection robot at the current position;
and judging whether the map matching degree of the inspection robot at the current position is greater than 60%, if not, not storing the position data of the current position.
3. The method for increasing the positioning speed of an inspection robot according to claim 1, wherein the predetermined data format includes: the data head is a positioning picture obtained by scanning the inspection robot at the current position by using the laser radar scanner, and the positioning picture is stored in a binary mode;
the data segment sequentially comprises: the data type of the stored time data is Double type data, the data type of the coordinate data of the inspection robot is long type data, the data type of the course angle data of the inspection robot is Double type data, and the data type of the speed data of the inspection robot is Double type data.
4. The method for improving the positioning speed of the inspection robot according to claim 3, wherein the step of storing the position data of the current position in a specific directory in a preset data format in an overlaying manner to obtain a positioning file of the current position comprises the following steps:
judging whether the number of the positioning files stored in the specific directory is larger than a second preset value or not;
if so, covering the position data corresponding to the storage time data closest to the current moment with the position data corresponding to the storage time data farthest from the current moment, and storing the position data in the specific directory to obtain the positioning file of the current position.
5. The method for improving the positioning speed of the inspection robot according to claim 1, wherein when the inspection robot system fails and restarts, the current position of the inspection robot is determined according to the positioning file corresponding to the storage time data closest to the current time under the specific directory, and the method comprises the following steps:
when the inspection robot system fails and restarts, acquiring a positioning file corresponding to the storage time data closest to the current moment under the specific directory;
determining the basic position and the matching direction of the inspection robot in a prestored electronic map based on the coordinate data of the inspection robot and the course angle data of the inspection robot in the obtained positioning file;
and matching the positioning picture of the current position obtained by the laser radar scanner at the current position of the inspection robot with a pre-stored electronic map, and performing positioning calculation on the current position based on a matching result so as to determine the current position of the inspection robot.
6. The utility model provides an improve device of patrolling and examining robot positioning speed which characterized in that, the device includes:
the control mechanism is used for obtaining the position data of the inspection robot at the current position and judging whether the current map matching degree of the inspection robot is greater than a first preset threshold value, wherein the map matching degree is used for representing the matching degree of the position data scanned by the laser radar scanner at the current position of the inspection robot and the position data corresponding to the electronic map prestored at the current position;
the storage module is used for storing the position data of the current position in a specific directory in a preset data format to obtain a positioning file of the current position if the position data of the current position is stored in the specific directory in the preset data format, wherein the preset data format comprises storage time data;
and the control mechanism is also used for determining the current position of the inspection robot according to the positioning file corresponding to the storage time data which is closest to the current moment under the specific directory when the inspection robot system is restarted due to a fault.
7. The apparatus for improving the positioning speed of the inspection robot according to claim 6, wherein the control mechanism is further configured to obtain position data of the inspection robot at the current position based on the lidar scanner, compare the position data of the current position with position data corresponding to the current position on a pre-stored electronic map, and obtain the map matching degree of the inspection robot at the current position;
and judging whether the map matching degree of the inspection robot at the current position is greater than 60%, if not, not storing the position data of the current position.
8. The apparatus for increasing the positioning speed of the inspection robot according to claim 6, wherein the control mechanism is further configured to determine whether the number of positioning files stored in the specific directory is greater than a second preset value; and the storage module is further configured to,
if so, covering the position data corresponding to the storage time data closest to the current moment with the position data corresponding to the storage time data farthest from the current moment, and storing the position data in the specific directory to obtain the positioning file of the current position.
9. The apparatus for improving the positioning speed of the inspection robot according to claim 6, wherein the control mechanism is further configured to obtain a positioning file corresponding to the storage time data closest to the current time under the specific directory when the inspection robot system is restarted due to a fault;
determining the basic position and the matching direction of the inspection robot in a prestored electronic map based on the coordinate data of the inspection robot and the course angle data of the inspection robot in the obtained positioning file;
and matching the positioning picture of the current position obtained by the laser radar scanner at the current position of the inspection robot with a pre-stored electronic map, and performing positioning calculation on the current position based on a matching result so as to determine the current position of the inspection robot.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729302A (en) * | 2020-12-15 | 2021-04-30 | 深圳供电局有限公司 | Navigation method and device for inspection robot, inspection robot and storage medium |
| CN114326752A (en) * | 2022-01-17 | 2022-04-12 | 河南牧原智能科技有限公司 | Method and device for positioning inspection trolley and readable storage medium |
| CN114684198A (en) * | 2022-04-02 | 2022-07-01 | 合众新能源汽车有限公司 | Course angle determining method and device, controller and vehicle |
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