CN112792798B

CN112792798B - Track robot inspection positioning device, method and equipment and readable storage medium

Info

Publication number: CN112792798B
Application number: CN202011589396.XA
Authority: CN
Inventors: 周华春
Original assignee: Chongqing College of Electronic Engineering
Current assignee: Chongqing College of Electronic Engineering
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-05-06
Anticipated expiration: 2040-12-29
Also published as: CN112792798A

Abstract

The invention discloses a positioning device, a positioning method, equipment and a readable storage medium for routing inspection of a track robot, belongs to the technical field of robot routing inspection, and provides the following scheme aiming at the problems that the precision of a motor encoder of the track robot, the error of the motor and the position cannot be fed back in real time: positioner is patrolled and examined to track robot, including setting up controller, motor drive structure and the encoder in the robot, the operation of controller driving motor transmission, the encoder is connected with the two-way electricity of controller, still includes: the encoder is used for recording the moving distance of the robot on the track in real time; the controller comprises a filtering unit, a processing unit and a control unit, wherein the filtering unit is used for calculating the position data of the encoder according to the robot moving distance recorded by the encoder in real time and carrying out filtering processing through the filtering unit; and the position adjusting unit is used for comparing the encoder position data after the filtering processing with preset encoder position data so as to adjust the position of the robot.

Description

Track robot inspection positioning device, method and equipment and readable storage medium

Technical Field

The invention relates to the technical field of robot inspection, in particular to an inspection positioning device and method for a track robot, terminal equipment and a readable storage medium.

Background

At present, the positioning modes of the track robot commonly used in the market are mainly a motor coding mode, two-dimensional code auxiliary positioning and magnetic strip positioning; the motor coding mode is that a motor coder is driven to count, the two-dimensional code auxiliary positioning is that a station is positioned by reading the two-dimensional code through a travelling mechanism, and the magnetic stripe positioning is that the magnetic stripes are fixedly arranged at intervals on a track; however, in these positioning modes, due to the problems of the accuracy of the motor encoder, the error of the motor and the inability of feeding back the position in real time, the error of the track robot is large, and the positioning accuracy is low.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the inspection positioning device, the method, the equipment and the readable storage medium for the track robot, so that the problems of the precision of a motor encoder, the error of a motor and incapability of feeding back the position in real time in the track robot are solved, and the inspection positioning precision of the track robot is improved.

The basic scheme provided by the invention is as follows:

the utility model provides a track robot patrols and examines positioning method, is including setting up controller, motor drive structure and encoder in the robot, the controller drive the operation of motor drive structure, the encoder with the two-way electricity of controller is connected, still includes:

the encoder is used for recording the moving distance of the robot on the track in real time;

the controller comprises a filtering unit, a position data acquisition unit and a position data processing unit, wherein the filtering unit is used for calculating the position data of the encoder according to the robot moving distance recorded by the encoder in real time and carrying out filtering processing through the filtering unit;

and the position adjusting unit is used for comparing the encoder position data after the filtering processing with preset encoder position data so as to adjust the position of the robot.

The principle of the basic scheme of the invention is as follows:

the robot in the track robot inspection positioning device is provided with a motor transmission structure and a controller, the motor transmission structure comprises a motor, a transmission rod and a driving wheel, an output shaft of the motor is connected with one end of the transmission rod, and the other end of the transmission rod is connected with the driving wheel; the controller outputs a control signal to control the motor to operate, and the motor rotates to drive the driving wheel connected to the transmission rod to rotate, so that the robot moves on the track. When the motor rotates, the transmission rod is driven, the robot moves forward or backward through the attachment of the driving wheel and the rail, and the robot moves on the rail.

An encoder is installed on an output shaft of the motor, the encoder can count the number of rotation turns of the motor in real time, and the count is recorded in real time when the robot leaves an initial position; and determining the moving distance of the robot, namely the position data of the robot according to the rotating number of the motor and the diameter of a driving wheel on the robot. Due to the problems of the accuracy of the encoder and the error of the motor, the encoder data is abnormal, the scheme is provided with the filtering unit, and the filtering algorithm in the filtering unit is used for filtering the position data output by the encoder so as to eliminate the abnormal data of the encoder.

Because encoder precision problem itself among the robot, when the robot moved on the track long distance, it can have great accumulative error to rotate the number of turns to the motor, and it is great to lead to the track robot to patrol and examine the positioning accuracy deviation. That is to say, the robot can not move on the track all the time, specifically, according to a plurality of preset inspection point positions, the encoder position data are calculated at the plurality of inspection point positions respectively, and the encoder data at the inspection point positions are filtered through the filtering algorithm of the filtering unit in the controller, so that after the abnormal data of the encoder are eliminated. This scheme is just further combined position control unit to revise the accumulative total error of encoder, and specific controller control position control unit further compares encoder position data after the filtering process with predetermineeing encoder data to this revises encoder accumulative total error, also eliminates the accumulative total error of encoder, has promoted the track robot and has patrolled and examined the precision of location.

The technical scheme of the invention has the following effects:

(1) in this scheme, there is not higher required precision to the encoder in the robot, adopts ordinary encoder can realize the detection to motor output shaft rotation number of turns, need not consider the precision of encoder itself to and the accumulative total error problem that brings after long distance detects. Compared with the prior art, the track robot inspection positioning device can operate in various environments, and is high in adaptability.

(2) In this scheme, set up the filtering unit and carry out filtering process to the position data of record to this eliminates the abnormal data of encoder, has promoted the accuracy nature that track robot patrolled and examined the location.

(3) In this scheme, the position control unit has memory capacity, can save preset position data, if the robot offset distance, patrol and examine some information such as coordinate of point position, when moving to the point of patrolling and examining through the robot, can feed back robot position information in real time to adjust the shift position of robot.

(4) In this scheme, the encoder position data after the position control unit will be handled through the filtering compares with the predetermined position data of storage, revises encoder position data according to the comparison result, revises for position correction among the traditional track robot, and data calculation is simple convenient, has promoted the track robot and has patrolled and examined positioner's position correction efficiency, has further promoted the track robot simultaneously and has patrolled and examined the accuracy nature of location.

(5) In this scheme, because the encoder acquires the displacement of robot on the track in real time, rotate the number of turns through the encoder to the motor and count and calculate to can combine position control unit's storage capacity, the motor that the encoder recorded when normally patrolling and examining the track robot rotates the number of turns and prestores, compare the number of turns to the motor that records in real time in view of the above, judge through the controller whether the track damages in the positioner that patrols and examines, whether the motor normally works.

Further, the position adjusting unit includes:

the two-dimensional code scanner comprises two-dimensional code labels attached to a track at intervals and a two-dimensional code scanner installed on a robot; the two-dimensional code label is provided with preset encoder position data; or

RFID radio frequency identification tags which are attached to the track at intervals and an RFID inductor which is installed on the robot.

The two-dimensional code label pasted on the track corresponds to a patrol inspection point, when the robot moves to the patrol inspection point, the two-dimensional code scanner scans the two-dimensional code label to read preset encoder data so as to compare the encoder position data after filtering with the preset encoder data, and the encoder position data after filtering is corrected according to the comparison result. For traditional only adopt encoder count or interval magnetic stripe location, this scheme adopts the supplementary position of two-dimensional code to revise the position difference that can be better sign out the target and patrol and examine the point position at present, can feed back the position data of robot in real time, has promoted the robot simultaneously and has patrolled and examined the accuracy nature of location.

In addition, the two-dimension code information needs to be acquired through the auxiliary correction of the traditional two-dimension code, the coordinate of the robot is calculated according to the corresponding unit on the robot, data processing is complex, the controller is used for controlling the two-dimension code scanner to acquire the data of the two-dimension code label preset encoder, and the data comparison correction is simple and convenient.

Or the position adjusting unit comprises RFID radio frequency tags attached to the track at intervals, and the RFID radio frequency tags are detected through an RFID sensor installed on the robot to obtain preset encoder position data stored in the RFID radio frequency tags so as to compare and correct the encoder position data after filtering processing. For traditional only adopt encoder count or interval magnetic stripe location, this scheme adopts RFID auxiliary position to revise the position data that can feed back the robot in real time, has promoted the robot simultaneously and has patrolled and examined the accuracy nature of location.

Further, still include:

and the track electricity taking structure and the uninterrupted airborne battery which are arranged on the robot are used for supplying power to the whole robot.

According to the scheme, the track electricity taking structure arranged on the robot is connected with the track, and electricity is directly taken from the track to supply power to the whole robot; or when the electricity structure is got to the track unusual outage, the uninterrupted on-board battery power supply of direct switch-over to the robot has promoted the convenience that the track robot patrolled and examined positioner, can not lead to the track robot can not work because of unusual outage simultaneously.

Further, still include:

the robot is hung on the track through the steering structure and the traction steering structure.

In the track robot inspection positioning device, the robot is hung on a track through a steering structure and a traction steering structure, and the robot is connected with the track without independently arranging a connecting mechanism, so that the cost of the track robot inspection positioning device is reduced; meanwhile, the robot can move on the rail more conveniently and quickly based on the steering structure and the traction steering structure.

Further, the method also comprises the following steps:

the communication unit is arranged in the robot and is installed in a pan-tilt camera of the robot, and the communication unit is in two-way communication connection with the pan-tilt camera and the controller respectively.

Through communication unit's setting, can communicate with terminal equipment, show the operation parameter information that positioner was patrolled and examined to the track robot, the maintainer of being convenient for patrols and examines positioner and maintains to the track robot. The cloud platform camera on the robot is connected with the controller through the communication unit, can be through the operation of controller output control signal drive cloud platform camera to and cloud platform camera shooting vehicle bottom image information feeds back to the controller through the communication unit and carries out corresponding processing, and exports to terminal equipment, realizes that maintainer overhauls the train and maintains, has improved train maintenance efficiency and maintenance quality.

Further, still include:

and the support piece is arranged on the robot and used for fixing the holder camera.

This scheme sets up support piece and fixes the cloud platform camera on the robot for the robot is at the orbit operation in-process, and the robot of being convenient for controls the angle position of cloud platform camera through support piece.

Further, the supporting piece is a hinge lifting structure.

Support piece adopts hinge elevation structure design, can be so that the cloud platform camera on the support piece can freely remove flexible to the required image is patrolled and examined to the more convenient collection of track robot of cloud platform camera, realized maintainer maintenance to the train more comprehensive.

In addition, in order to achieve the above object, the present invention further provides a method for positioning an inspection robot on a track, which includes:

generating a plurality of robot inspection points and establishing inspection tasks;

acquiring encoder position data of each inspection point of the robot in real time according to the inspection task, and calling a filtering algorithm to filter the encoder position data;

acquiring preset encoder position data of each robot inspection point;

and comparing the encoder data after filtering with preset encoder position data of the inspection point of the robot so as to adjust the position of the robot.

The present invention also provides a terminal device, which is characterized in that the terminal device includes: the system comprises a memory, a processor and a track robot inspection and positioning program which is stored on the memory and can run on the processor, wherein the track robot inspection and positioning program realizes the steps of the track robot inspection and positioning method when being executed by the processor.

The invention also proposes a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for positioning an orbital robot in patrol, as described above.

Drawings

Fig. 1 is a schematic diagram of an internal structure of a terminal device according to an embodiment of the present invention;

fig. 2 is a schematic control structure diagram of an embodiment of the inspection positioning device for the track robot according to the invention;

fig. 3 is a schematic flow chart of an embodiment of the method for positioning the track robot during the inspection process of the invention;

fig. 4 is a schematic side view of an embodiment of the positioning apparatus for inspecting a track robot according to the present invention;

fig. 5 is a schematic top view of another embodiment of the inspection positioning device for the track robot in accordance with the present invention;

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the system comprises a processor 1001, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a track 1, a motor transmission structure 2, an onboard battery 3, a hinge lifting structure 4, a pan-tilt camera 5, a position adjusting unit 6, a track power-taking structure 7, a steering structure 8, a traction steering structure 9, a controller 10, an encoder 11 and a communication unit 12.

Fig. 1 is a schematic diagram of an internal structure of a terminal device according to an embodiment of the present invention.

It should be noted that fig. 1 is a schematic structural diagram of a hardware operating environment of the terminal device. The terminal equipment of the embodiment of the invention can be terminal equipment such as a PC, a portable computer and the like.

As shown in fig. 1, the terminal device may include: a processor 1001, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection and communication among the processor 1001, the user interface 1003, the network interface 1004, and the memory 1005. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), a tablet, a stylus pen, etc., and the optional user interface 1003 may also include a standard wired interface, a wireless interface. Network interface 1004 may optionally include a standard wired interface (e.g., RJ45 interface), a wireless interface (e.g., WIFI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the terminal device configuration of fig. 1 is not limiting of terminal devices and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a distributed task processing program. Among them, the operating system is a program that manages and controls the hardware and software resources of the sample terminal device, a handler that supports distributed tasks, and the execution of other software or programs.

In the terminal device shown in fig. 1, the user interface 1003 is mainly used for data communication with each terminal; the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; and the processor 1001 may be configured to call the identification program for the inspection and positioning of the rail robot stored in the memory 1005, and perform the following operations as shown in fig. 3:

s100, generating a plurality of robot inspection points and establishing an inspection task;

step S200, acquiring encoder position data of each robot inspection point in real time according to the inspection task, and calling a filtering algorithm to filter the encoder position data;

step S300, acquiring preset encoder position data of each robot inspection point;

and S400, comparing the encoder data after filtering with preset encoder position data of the inspection point of the robot so as to adjust the position of the robot.

Embodiments of the present invention provide embodiments of a method for positioning an inspection of a rail robot, and it should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown or described herein.

In practical application, an output shaft of a motor in the motor transmission structure is connected with one end of a transmission rod, and the other end of the transmission rod is connected with a driving wheel; the controller outputs a control signal to control the motor to operate, and the motor rotates to drive the driving wheel connected to the transmission rod to rotate, so that the robot moves on the track. When the motor rotates, the transmission rod is driven, the robot moves forward or backward through the attachment of the driving wheel and the rail, and the robot moves on the rail. The track robot patrols and examines positioner need control the robot and patrols and examines in orbital different position location, because the problem of encoder precision itself, the error of motor itself, can lead to the robot to stop on the track when patrolling and examining, with predetermine and patrol and examine the point position and have the error, still can have accumulative error when long distance operation.

In one embodiment, as shown in fig. 2, which is a schematic diagram of a circuit structure of the inspection positioning device for a track robot, the controller 10 sends a control signal to control the motor transmission structure 2 to operate, so that the robot moves on the track, counts the number of turns of the motor in real time through the encoder 11, calculates the moving distance of the robot on the track through the controller 10, and combines position data of the encoder 11 preset in the position adjusting unit 6. The real-time calculated encoder 11 position data is compared with preset encoder 11 data to judge whether the robot deviates relative to a preset inspection point in the inspection process, and if the deviation exists, the position of the encoder 11 is adjusted through a comparison result to improve the detection accuracy of the rail robot inspection positioning device.

The encoder 11 may be, but is not limited to, a photoelectric encoder, an incremental encoder, or an absolute encoder. Specifically, the photoelectric encoder applies the photoelectric conversion principle, and can convert the mechanical aggregate displacement on the output shaft into a pulse or a digital quantity. Because the photoelectric coded disc is coaxial with the motor, when the motor rotates, the photoelectric coded disc (grating disc) and the motor rotate at the same speed, the current rotating speed of the motor is reflected, namely the rotating number of turns of the motor is reflected, the moving distance of the robot on the track can be recorded correspondingly, and the position data of the encoder 11 is calculated.

An incremental encoder converts the displacement into a periodic electrical signal, which is converted into counting pulses, and is rotated to output pulses when rotated, the position of which is known by the counting device. And the position is determined from the pulse number calculated by the zero mark, after power failure, the encoder 11 can not move at all, when the power is powered on again, the encoder 11 can not have interference and lose pulses in the process of outputting pulses, otherwise, the zero point memorized by the counting equipment can be shifted, the reference point can not be accurately positioned, and the position accuracy can not be ensured.

Absolute encoders, each position corresponding to a determined digital code, whose formula values are therefore only related to the start and end positions of the measurement, and not to the intermediate positions of the measurement. The position of which is determined by the reading of the output code. When the power is off, the absolute encoder is not separated from the actual position. The location information is still current when the power is re-applied. The absolute value of the angle coordinate can be directly read, no accumulated error exists, the position information is not lost after the power supply is cut off, the anti-interference performance of the encoder 11 is improved, and the reliability of data is greatly improved.

In an embodiment, as shown in fig. 2, the track robot inspection positioning device has a communication unit 12, and a pan-tilt camera 5 communicating with a controller 10 via the communication unit 12, specifically, a control signal can be output via the controller 10 to drive the operation of the pan-tilt camera 5, and the image information of the bottom of the car taken by the pan-tilt camera 5 is fed back to the controller 10 via the communication unit 12 to be correspondingly processed and output to a terminal device, so that the maintenance of a maintenance staff on the train is realized, and the maintenance efficiency and quality are improved.

In an embodiment, as shown in fig. 4 and fig. 5, the side structure schematic diagram and the top structure schematic diagram of the inspection positioning device for the rail robot are respectively shown, and the inspection positioning device for the rail robot includes a rail 1, a motor transmission structure 2, an onboard battery 3, a hinge lifting structure 4, a pan-tilt camera 5, a position adjusting unit 6, a rail electricity taking structure 7, a steering structure 8 and a traction steering structure 9. The robot is hung on the track 1 through a steering structure 8 and a traction steering structure 9, the motor transmission structure 2 is controlled by the controller 10 to drive the robot to move on the track 1, namely, the motor transmission structure 2 is controlled by the controller 10, and rubber driving wheels connected with two sides of the motor transmission structure 2 are in friction transmission with the track 1; the robot is provided with a support for fixing the pan-tilt camera 5, and the pan-tilt camera 5 is communicated with the controller 10 through a communication unit 12; be provided with the two-dimensional code scanner on the robot, it is provided with the two-dimensional code label to predetermine at each on track 1 and patrol and examine the point, scans the preset information that the two-dimensional code label obtained its storage through the two-dimensional code scanner to adjust the position of robot.

Specifically, when position adjustment unit 6 includes two-dimensional code scanner and two-dimensional code label, the track robot patrols and examines positioner before patrolling and examining: the robot is controlled to each preset inspection point through the controller 10, correct position information of the encoder 11 of each preset inspection point is stored, and meanwhile, a two-dimensional code label is attached to the lower portion of the track 1 corresponding to each preset inspection point.

The track robot patrols and examines positioner at the course of the work: the controller 10 establishes a polling task according to a plurality of preset polling points; controlling the robot to move on the track 1 according to the inspection task so as to obtain position data of the encoder 11 in real time, and performing filtering processing through a filtering algorithm in the controller 10; when the position of a patrol inspection point is located, a two-dimensional code scanner scans a two-dimensional code label corresponding to the patrol inspection point to acquire 11 position data of a preset encoder for comparison, the position of the robot is adjusted through a comparison result, the lifting hinge and the cloud platform are adjusted to collect images, and after the patrol inspection positioning of one patrol inspection point is completed, the next patrol inspection point is controlled to enter for positioning.

When position control unit 6 includes RFID inductor and RFID radio frequency label, the track robot patrols and examines positioner before patrolling and examining: the robot is controlled to each preset inspection point through the controller 10, correct position information of the encoder 11 of each preset inspection point is stored, and meanwhile, a two-dimensional code label is attached to the lower portion of the track 1 corresponding to each preset inspection point.

The track robot patrols and examines positioner at the course of the work: the controller 10 establishes a polling task according to a plurality of preset polling points; controlling the robot to move on the track 1 according to the inspection task so as to obtain position data of the encoder 11 in real time, and performing filtering processing through a filtering algorithm in the controller 10; when the position of a patrol inspection point is detected, the RFID radio frequency tag corresponding to the patrol inspection point is sensed by the RFID sensor to acquire 11 position data of the preset encoder for comparison, the position of the robot is adjusted through a comparison result, the lifting hinge and the adjusting holder acquire images, and after the patrol inspection positioning of one patrol inspection point is completed, the next patrol inspection point is controlled to enter for positioning.

It can be understood that because the RFID radio frequency tag can only store information, the position difference between the target patrol point and the current position cannot be identified well, the patrol and positioning precision of the track robot can be improved, and the positioning precision can be kept at about +/-5 mm. And this scheme is preferred to adopt the two-dimensional code label, and it can save track robots such as track 1 distance, record hinge height, 5 angles of cloud platform camera, 5 focuses on of cloud platform camera and patrol and examine positioner's parameter, and positioning accuracy can keep about 2mm, and the accuracy is higher.

It should be noted that, in the above-mentioned solution, the supporting member for fixing the pan/tilt head camera 5 may be, but is not limited to, the hinge lifting structure 4, and may also be other structures for controlling the position of the pan/tilt head camera 5, and the supporting member is set according to practical application situations. The filtering algorithm may be, but is not limited to, a kalman filtering algorithm.

In an embodiment, as shown in fig. 5, this scheme gets electric structure 7 through the track that sets up on the robot and connects track 1, directly get the electricity from track 1, for the whole power supply of robot, when the robot moves on track 1, it causes 7 unusual outage of electricity structure to get the track to probably have to jolt, just this moment can the uninterrupted airborne battery 3 power supply of automatic switch-over to the robot, the above-mentioned outage influence that adopts incremental encoder to bring has been solved, and the robot that the outage leads to patrols and examines the problem that positioner can not normally work, the reliability that positioner was patrolled and examined to the track robot has been promoted. In this embodiment, the power output by the track power-taking structure 7 and the power output by the uninterruptible airborne battery 3 are both 24V dc power supplies.

The present invention also provides a terminal device, including: the system comprises a memory, a processor, a communication bus and a track robot inspection positioning program stored on the memory:

the communication bus is used for realizing connection communication between the processor and the memory;

the processor is used for executing the inspection positioning program of the track robot so as to realize the steps of the inspection positioning method of the track robot.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, which is applied to a computer, and the computer-readable storage medium may be a non-volatile computer-readable storage medium, on which a track robot inspection positioning program is stored, and when being executed by a processor, the track robot inspection positioning program implements the steps of the track robot inspection positioning method described above.

The steps implemented when the inspection positioning program of the track robot running on the processor is executed may refer to the embodiment of the inspection positioning method of the track robot in the present invention, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a positioner is patrolled and examined to track robot, is in including setting up controller, motor drive structure and encoder in the robot, the controller drive the motor drive structure operation, the encoder with the two-way electricity of controller is connected, its characterized in that still includes:

the controller is also used for controlling the robot to each preset inspection point before the inspection of the rail robot inspection positioning device, storing the correct position information of the encoder of each preset inspection point, and simultaneously attaching a two-dimensional code label under the rail corresponding to each preset inspection point;

the position adjusting unit is used for comparing the encoder position data after filtering processing with preset encoder position data so as to adjust the position of the robot;

further comprising: the communication unit is arranged in the robot and is in bidirectional communication connection with the pan-tilt camera and the controller respectively;

further comprising: the support piece is arranged on the robot and used for fixing the holder camera; the supporting piece is a hinge lifting structure;

the position adjustment unit includes:

RFID radio frequency tags attached to the track at intervals and an RFID sensor installed on the robot;

the two-dimensional code label also stores parameters of the track robot inspection positioning device, wherein the parameters comprise track distance, hinge height, holder camera angle and holder camera focal length.

2. The orbital robot inspection positioning device according to claim 1, further comprising:

3. The inspection tour positioning apparatus for a railway robot of claim 1, further comprising:

4. A method for positioning an inspection tour of a railway robot, which is based on the device of any one of claims 1 to 3, and which comprises:

before the track robot patrols and examines the positioner, control the robot to each predetermined patrolling and examining the point through the controller, store the correct position information of the encoder of each predetermined patrolling and examining point, add under the track that corresponds to each predetermined patrolling and examining the point and paste the two-dimensional code label at the same time;

acquiring encoder position data of each robot inspection point in real time according to the inspection task, and calling a filtering algorithm to filter the encoder position data;

acquiring preset encoder position data of each robot inspection point;

comparing the encoder data after filtering with preset encoder position data of the inspection point of the robot so as to adjust the position of the robot;

lifting the hinge and adjusting the cradle head to collect images according to the parameters of the track robot routing inspection positioning device stored in the two-dimension code label; the parameters include track distance, hinge height, pan-tilt camera angle, and pan-tilt camera focal length.

5. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a railway robot inspection positioning program stored on the memory and operable on the processor, the railway robot inspection positioning program when executed by the processor implementing the steps of the railway robot inspection positioning method of claim 4.

6. A readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for positioning an inspection tour for a railway robot as claimed in claim 4.