CN114526724B - Positioning method and equipment for inspection robot - Google Patents

Positioning method and equipment for inspection robot Download PDF

Info

Publication number
CN114526724B
CN114526724B CN202210152140.5A CN202210152140A CN114526724B CN 114526724 B CN114526724 B CN 114526724B CN 202210152140 A CN202210152140 A CN 202210152140A CN 114526724 B CN114526724 B CN 114526724B
Authority
CN
China
Prior art keywords
positioning
inspection robot
determining
information
undetermined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210152140.5A
Other languages
Chinese (zh)
Other versions
CN114526724A (en
Inventor
谭强
王建华
姜荣
闫盼盼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong New Generation Information Industry Technology Research Institute Co Ltd
Original Assignee
Shandong New Generation Information Industry Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong New Generation Information Industry Technology Research Institute Co Ltd filed Critical Shandong New Generation Information Industry Technology Research Institute Co Ltd
Priority to CN202210152140.5A priority Critical patent/CN114526724B/en
Publication of CN114526724A publication Critical patent/CN114526724A/en
Application granted granted Critical
Publication of CN114526724B publication Critical patent/CN114526724B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The application provides a positioning method and equipment for a patrol robot. And under the condition that the inspection robot is in a state to be positioned, acquiring at least one Radio Frequency Identification (RFID) tag information. And determining distance data between the inspection robot and the corresponding RFID tag according to the information of at least one RFID tag. And determining a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determining positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.

Description

Positioning method and equipment for inspection robot
Technical Field
The application relates to the technical field of inspection robots, in particular to a positioning method and equipment for an inspection robot.
Background
With the development of artificial intelligence technology, in some scenarios, work that has been done by machines that has required human power in the past may be done. For example, factory manufacture, indoor exhibits or transmission line's inspection, can inspect through inspection robot, use inspection robot can use manpower sparingly resource input, and can realize high-efficient inspection, can in time discover problem and report to the police.
At present, the inspection robot mostly adopts a laser radar scanning positioning mode as a main positioning mode, and in the actual use process, the inventor discovers that the inspection robot moves manually under the condition of complete power failure, or the situation that the inspection robot cannot accurately position by utilizing laser radar scanning in time due to laser radar drift and positioning loss under a high-similarity scene possibly occurs in the moving process of the robot. After the inspection robot is lost in positioning, repositioning operation needs to be manually performed, which is time-consuming and has low efficiency.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the application provides a positioning method and equipment for a patrol robot.
In one aspect, the present application provides a positioning method for a patrol robot, the method comprising:
and determining real-time state information of the inspection robot. And determining whether the inspection robot is in a state to be positioned according to the real-time state information. And under the condition that the inspection robot is in a state to be positioned, acquiring at least one Radio Frequency Identification (RFID) tag information. And determining distance data between the inspection robot and the corresponding RFID tag according to the information of at least one RFID tag. And determining a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determining positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.
In one implementation of the application, a distance sequence of distance data is generated and a minimum distance value in the distance sequence is determined. And taking the RFID tag corresponding to the minimum distance value as a positioning tag. And determining a plurality of undetermined areas of the inspection robot according to the placement coordinates and the minimum distance value in the RFID label information of the positioning label, so as to determine the positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area. The placement coordinates are coordinates of the positioning tag in the electronic map where the positioning tag is currently located. The matching image is a point cloud image.
In one implementation of the present application, matching images for each pending area are obtained according to a preset rule. The preset rule is a preset range matched with each undetermined area. The preset range is a fan-shaped range of a preset angle of which the inner edge is matched with the edge of the image acquisition equipment of the inspection robot. And determining the current positioning matching degree based on the matching processing of the matching images of the undetermined areas and the corresponding contrast images. The contrast image is a preset historical scanning image. And sequentially matching each positioning matching degree with a preset threshold value. And under the condition that the current positioning matching degree is larger than a preset threshold value, determining the central coordinate of the corresponding area to be determined as the positioning coordinate of the inspection robot, and determining the current time as the positioning time, wherein the positioning coordinate and the positioning time are used as positioning information. Under the condition that the positioning matching degree is not larger than a preset threshold value, generating auxiliary positioning prompt information, and repositioning the inspection robot according to feedback information of the auxiliary positioning prompt information so as to determine positioning information of the inspection robot.
In one implementation of the application, the auxiliary positioning prompt information is sent to the user terminal. The auxiliary positioning prompt information is used for determining whether a shielding object and a shielding object type exist between the RFID tag and the inspection robot. And receiving feedback information based on the operation of the user on the user terminal, and determining whether the feedback information is a shielding object. And under the condition that the feedback information is determined to be the existence of the occlusion, determining the attenuation factors in the historical signal attenuation table according to the type of the occlusion. The attenuation factor is obtained according to the corresponding relation between the signal intensity and the distance when the signal sent by the RFID tag passes through the shielding object. And determining attenuation removing distance data of the inspection robot and the corresponding RFID tag according to the attenuation factors. Updating a plurality of undetermined areas of the inspection robot according to the attenuation removing distance data and the corresponding RFID label information to update the undetermined areas, repositioning the inspection robot according to the updated undetermined areas and the matched images of the updated undetermined areas, and determining positioning information of the inspection robot.
In one implementation mode of the application, under the condition that feedback information is determined to be that no shielding object exists, a preset angle of a fan-shaped range of each undetermined area is enlarged by a preset value, and a matched image obtained after the preset angle is enlarged by the preset value is determined to be an extended matched image. Determining the positioning matching degree of each expansion matching image and the corresponding contrast image as the expansion matching degree until at least one expansion matching degree is larger than a preset threshold value, determining the central coordinate of the corresponding area to be determined as the positioning coordinate of the inspection robot, and determining the current time as the positioning time, wherein the positioning coordinate and the positioning time are used as positioning information.
In one implementation of the application, the radio wave signal of at least one RFID tag is acquired by an RFID reader. And determining the identity and the signal strength of the RFID tag as RFID tag information. According to at least one RFID label information, determining distance data between the inspection robot and a corresponding RFID label, wherein the distance data specifically comprises the following steps: and determining the signal intensity of each RFID tag, and acquiring a signal distance comparison table in a preset database. And matching the signal intensity with a signal distance comparison table, determining the distance corresponding to the signal intensity of each RFID label, and generating distance data.
In one implementation of the application, after determining the minimum distance value in the distance sequence, it is determined whether the minimum distance value is a unique distance value. When the minimum distance value is determined to be not the unique distance value, the positioning circle is generated by taking the placement coordinates of each positioning label as the center and taking the minimum distance value as the radius. And determining an overlapping area of each positioning circle, and taking the overlapping area as a to-be-determined area.
In one implementation of the application, it is determined whether the last time of the inspection robot is in a shutdown state according to the real-time state information. And under the condition that the last moment of the inspection robot is in a shutdown state, determining that the inspection robot is in a state to be positioned. Or determining whether the inspection robot moves involuntarily according to the real-time state information. Wherein the non-autonomous movement comprises at least: external force movement, collision and falling. And under the condition that the inspection robot moves involuntarily, determining that the inspection robot is in a state to be positioned.
In one implementation of the application, an electronic map of positioning information is generated, and the electronic map is marked with the positioning coordinates and the running state of the inspection robot. The operating state comprises at least: orientation, travel speed. And sending the electronic map to the user terminal, and displaying the positioning coordinates and the running state of the inspection robot based on the fact that the user of the user terminal clicks the icon of the inspection robot in the electronic map.
On the other hand, the embodiment of the application also provides a positioning device for the inspection robot, which comprises:
at least one processor; and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to:
and determining real-time state information of the inspection robot. And determining whether the inspection robot is in a state to be positioned according to the real-time state information. And under the condition that the inspection robot is in a state to be positioned, acquiring at least one Radio Frequency Identification (RFID) tag information. And determining distance data between the inspection robot and the corresponding RFID tag according to the information of at least one RFID tag. And determining a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determining positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.
Through the scheme, the inspection robot can be positioned in time under the condition that the inspection robot possibly loses positioning, the positioning is realized rapidly on the basis of ensuring the saving of computing resources, and the use experience of a user on the inspection robot is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic flow chart of a positioning method for a inspection robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a positioning method for a inspection robot according to an embodiment of the present application;
FIG. 3 is another schematic diagram of a positioning method for a inspection robot according to an embodiment of the present application;
FIG. 4 is a schematic view of a positioning method for a inspection robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a positioning device for a patrol robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The accurate positioning of the inspection robot influences the working efficiency of the inspection robot, and the problem of positioning loss easily occurs in the use process of the inspection robot. In general, after the inspection robot is lost in positioning, the inspection robot needs to be repositioned manually, and the mode excessively depends on manpower, so that the use experience of a user on the inspection robot is affected.
Based on the above, the embodiment of the application provides a positioning method and equipment for a patrol robot, which are used for realizing automatic repositioning of the patrol robot.
Various embodiments of the present application are described in detail below with reference to the attached drawing figures.
The embodiment of the application provides a positioning method for a patrol robot, which assists the patrol robot to finish automatic repositioning through radio frequency identification (Radio Frequency Identification, RFID) tags distributed in the operation site of the patrol robot. As shown in fig. 1, the positioning method may include steps S101 to S105:
s101, the microcontroller determines real-time state information of the inspection robot.
In the embodiment of the application, the microcontroller can determine the real-time state information of the inspection robot in real time, wherein the real-time state information comprises, but is not limited to, the power-on time of the inspection robot, the autonomous moving distance and moving direction of the inspection robot and the sensor information of the inspection robot. The sensor of the inspection robot can comprise a pressure sensor and a sound sensor.
In the embodiment of the application, the execution main body of the positioning method for the inspection robot is a single-chip microcontroller of the inspection robot, and in the actual use process, the execution main body can also be external equipment of the inspection robot through wired or wireless connection, the external equipment can be a server and the like, and the application is not particularly limited to the specific type of the execution main body.
S102, the microcontroller determines whether the inspection robot is in a state to be positioned according to the real-time state information.
In the embodiment of the application, the microcontroller determines whether the inspection robot is in a state to be positioned according to the real-time state information, and specifically comprises the following steps:
and the microcontroller determines whether the inspection robot is in a shutdown state at the last moment according to the real-time state information.
And under the condition that the last moment of the inspection robot is in a shutdown state, the microcontroller determines that the inspection robot is in a state to be positioned.
And the microcontroller determines whether the inspection robot moves involuntarily according to the real-time state information.
Wherein the non-autonomous movement comprises at least: external force movement, collision and falling.
The autonomous movement may determine whether the autonomous movement has occurred through cooperation of an image acquisition device of the inspection robot, such as a camera, with a mobile device of the inspection robot, such as a wheel. For example, when a scene change occurs in an image acquired by a camera, and a wheel of the inspection robot does not move and a steering shaft of the inspection robot does not change in direction, the inspection robot determines that non-autonomous movement occurs. Or the inspection robot collects the received external force pressure through a sensor arranged on the inspection robot, and if the external force pressure is larger than a certain threshold value, whether the inspection robot moves involuntarily is determined.
And under the condition that the inspection robot moves involuntarily, the microcontroller determines that the inspection robot is in a state to be positioned.
By judging the to-be-positioned state of the inspection robot, the inspection robot can be automatically repositioned in time, so that repositioning is realized at the first time when the inspection robot possibly loses positioning, and the inspection robot is ensured to be positioned accurately in real time.
S103, the microcontroller acquires at least one radio frequency identification RFID tag information under the condition that the inspection robot is in a state to be positioned.
In the embodiment of the application, the microcontroller acquires at least one Radio Frequency Identification (RFID) tag information under the condition that the inspection robot is in a state to be positioned, and specifically comprises the following steps:
first, the microcontroller acquires an electric wave signal of at least one RFID tag through the RFID reader.
In the embodiment of the application, an RFID card reader is arranged in the inspection robot and is used for receiving electric wave signals sent by surrounding RFID tags.
The microcontroller then determines the identity and signal strength of the RFID tag as RFID tag information.
The microcontroller analyzes the identity and the signal strength of the RFID tag corresponding to the electric wave signal through the RFID card reader, and then takes the identity and the signal strength as RFID tag information.
And S104, the microcontroller determines the distance data between the inspection robot and the corresponding RFID tag according to the information of the at least one RFID tag.
In the embodiment of the application, the microcontroller determines the distance data between the inspection robot and the corresponding RFID tag according to at least one RFID tag information, and specifically comprises the following steps:
firstly, the microcontroller determines the signal intensity of each RFID tag, and obtains a signal distance comparison table in a preset database.
The signal distance comparison table can be obtained through historical RFID tag use data, for example, the received signal strength of the historical inspection robot at each distance and position around the RFID tag is obtained, the signal distance comparison table is generated according to the obtained corresponding relationship between the signal strength and the distance, and the signal distance comparison table is stored in a preset database.
And then, the microcontroller matches the signal intensity with the signal distance comparison table, determines the distance corresponding to the signal intensity of each RFID tag, and generates distance data.
In the embodiment of the application, the inspection robot can obtain signals sent by a plurality of RFID tags, and distance data comprising a plurality of distances can be obtained according to the signals. The distance data may be a collection of distances.
In addition, the distance in the distance data obtained by the inspection robot may be a distance with an error, for example, after the microcontroller obtains a distance corresponding to the signal intensity received by the inspection robot in the signal distance comparison table, a preset deviation value may be added to the distance, and the distance after the preset deviation value is added is taken as the real distance, so as to generate the distance data. In actual use, the distance in the distance data may include errors.
S105, the microcontroller determines a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determines positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.
In the embodiment of the application, the microcontroller determines a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determines positioning information of the inspection robot according to each undetermined area and a matching image of each undetermined area, and specifically comprises the following steps:
first, the microcontroller generates a distance sequence of distance data and determines the minimum distance value in the distance sequence.
And generating a distance sequence according to the sequence of the distance values in the distance data, and determining the minimum distance value from the generated distance sequence.
Then, the microcontroller takes the RFID tag corresponding to the minimum distance value as a positioning tag.
And then, the microcontroller determines a plurality of undetermined areas of the inspection robot according to the placement coordinates and the minimum distance value in the RFID label information of the positioning label, so as to determine the positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.
The placement coordinates are coordinates of the positioning tag in the electronic map where the positioning tag is currently located. The matching image is a point cloud image.
In the embodiment of the application, the RFID tag information can also comprise the placement coordinates of the RFID tag, the placement coordinates can be understood as the coordinates of the RFID tag in a coordinate system correspondingly established in the inspection area of the inspection robot, and the placement coordinates are coordinate points recorded by a user or the robot after the inspection area coordinate system is established.
As shown in fig. 2, the placement coordinates are (0, 0), and the minimum distance is 1 meter, so that the inspection robot may be located on a circular edge 201 with a radius of 1 meter centered on the (0, 0) point. And determining a point cloud image of a to-be-determined area of the inspection robot at each position on the round edge 201, and obtaining the specific position of the inspection image on the round edge 201 through identification of the point cloud image.
In another embodiment of the present application, the minimum distance value may not be unique, and the microcontroller may perform the following method, including in particular:
after determining the minimum distance value in the distance sequence, the microcontroller determines whether the minimum distance value is a unique distance value.
The microcontroller determines that the minimum distance value is not the unique distance value, and generates a positioning circle by taking the placement coordinates of each positioning label as the center and the minimum distance value as the radius.
The microcontroller determines the overlapping area of each positioning circle and takes the overlapping area as a pending area.
As shown in fig. 3, the present application takes two minimum distance values as an example to obtain two coordinates with placement coordinates (a, b), (c, D) and a minimum distance value D, and then two positioning circles O1, O2 are generated with (a, b), (c, D) as the center. The microcontroller takes the overlapping region P of O1 and O2 as the pending region. The microcontroller determines a matching image from the undetermined area P, and obtains specific coordinates of the inspection robot in the undetermined area P.
In the above embodiment, although the intersection points X1, X2 of the overlapping areas of the positioning circles are coordinates where the inspection robot is most likely to be located, since the signal of the RFID tag is easily affected by the external environment, the present application determines the positioning information of the inspection robot from the overlapping areas without using the intersection point X1 or X2 as the positioning coordinates of the inspection robot.
Through the scheme, the calculated amount of the inspection robot during positioning can be reduced, and the positioning efficiency of the inspection robot is ensured.
In the embodiment of the application, the microcontroller determines the positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area, and specifically comprises the following steps:
firstly, the microcontroller acquires matching images of all undetermined areas according to a preset rule.
The preset rule is a preset range matched with each undetermined area. The preset range is a fan-shaped range of a preset angle of which the inner edge is matched with the edge of the image acquisition equipment of the inspection robot.
As shown in fig. 4, the undetermined area may be an H area, and the preset range of the matching image is a sector range W acquired by a lens of an image acquisition device of the inspection robot a. The edge of the image acquisition equipment can be the edge of a camera lens, the inner edge is s, and the preset angle can be set in the actual use process. The setting of the preset angle influences the calculated amount of the inspection robot when performing image matching.
Then, the microcontroller determines the current positioning matching degree based on the matching processing of the matching images of the undetermined areas and the corresponding contrast images.
The contrast image is a preset historical scanning image.
The comparison image may be a history scan image stored in a preset database in advance, and the history scan image may be a point cloud image of an operation site of the inspection robot.
After the microcontroller obtains the matching image, the historical scanning image of the inspection robot at the position can be determined according to the position of the inspection robot corresponding to the matching image and used as a comparison image of the matching image. And calculating the similarity between each point cloud of the matching image and the point cloud of the comparison image, thereby obtaining the positioning matching degree. The similarity calculation can be performed by adopting a cosine similarity calculation mode, and the matching degree of the matching image and the contrast image can be obtained by adopting other calculation modes.
Then, the microcontroller matches each positioning matching degree with a preset threshold value in sequence.
The preset threshold value can be set according to the positioning accuracy in the actual use process, and the application is not particularly limited to this.
And then, under the condition that the current positioning matching degree is larger than a preset threshold value, the microcontroller determines that the central coordinate of the corresponding area to be determined is the positioning coordinate of the inspection robot, and determines that the current time is the positioning time, so that the positioning coordinate and the positioning time are used as positioning information.
Because the number of the undetermined areas is multiple, a plurality of positioning matching degrees are obtained, and the microcontroller can sequentially compare the positioning matching degrees with a preset threshold value, so that the undetermined areas with the positioning matching degrees larger than the preset threshold value are obtained.
If more than one positioning matching degree is greater than the preset threshold, the microcontroller takes the undetermined area corresponding to the maximum value in the positioning matching degrees as the undetermined area for determining the positioning coordinates of the inspection robot.
And finally, under the condition that the matching degree of each positioning is not greater than a preset threshold value, the microcontroller generates auxiliary positioning prompt information, and repositions the inspection robot according to the feedback information of the auxiliary positioning prompt information so as to determine the positioning information of the inspection robot.
Specifically, under the condition that the matching degree of each positioning is not greater than a preset threshold value, generating auxiliary positioning prompt information, and repositioning the inspection robot according to feedback information of the auxiliary positioning prompt information so as to determine positioning information of the inspection robot, wherein the method specifically comprises the following steps:
firstly, the microcontroller sends auxiliary positioning prompt information to the user terminal.
The auxiliary positioning prompt information can be sound, light and characters. The auxiliary positioning prompt information is used for determining whether a shielding object and a shielding object type exist between the RFID tag and the inspection robot.
And secondly, the microcontroller receives feedback information based on the operation of the user on the user terminal and determines whether the feedback information is a shielding object.
And thirdly, under the condition that the feedback information is determined to be the occlusion, the microcontroller determines the attenuation factors in the historical signal attenuation table according to the occlusion type.
The attenuation factor is obtained according to the corresponding relation between the signal intensity and the distance when the signal sent by the RFID tag passes through the shielding object.
After the signal from the RFID tag passes through the obstacle, the signal strength will decay, which can be calculated by determining the signal strength on the side of the signal that did not pass through the obstacle and on the side that passed through the obstacle, and the length of the obstacle that the signal passed through. Can pass throughThe attenuation factor is calculated, wherein alpha is the attenuation factor, n1 is the signal intensity of the side which does not pass through the obstacle, n2 is the signal intensity of the side which passes through the obstacle, and l is the length of the obstacle through which the signal passes.
In the embodiment of the application, the historical signal attenuation table can be generated according to different barrier types so as to record the attenuation factors in the historical signal attenuation table.
And then, the microcontroller determines attenuation removing distance data of the inspection robot and the corresponding RFID tag according to the attenuation factors.
The microcontroller can obtain the volume of the obstacle according to the type of the obstacle, obtain the length of the obstacle which the signal runs through according to the volume of the obstacle, and then determine the attenuation value of the obstacle to the signal, namely n1-n2 according to the attenuation factor. And calculating the attenuation-removed distance between the RFID tag and the inspection robot by adding the attenuation value to the signal intensity obtained by the inspection robot.
And then, the microcontroller updates a plurality of undetermined areas of the inspection robot according to the attenuation removing distance data and the corresponding RFID label information to update the undetermined areas so as to reposition the inspection robot according to the updated undetermined areas and the matched images of the updated undetermined areas and determine the positioning information of the inspection robot.
In the embodiment of the present application, the step in S105 may be referred to by updating the positioning information of the pending area, which is not described herein.
If no obstacle exists between the RFID tag and the inspection robot, an object which does not exist in the comparison image may temporarily appear in the matching image, and therefore, the microcontroller can perform positioning by executing the following method:
and the microcontroller expands the preset angle of the sector range of each undetermined area by a preset value under the condition that the feedback information is determined to be free of the shielding object, and determines a matched image after the preset angle is expanded by the preset value as an expanded matched image.
The microcontroller determines the positioning matching degree of each expansion matching image and the corresponding comparison image as the expansion matching degree until at least one expansion matching degree is larger than a preset threshold value, determines the central coordinate of the corresponding area to be determined as the positioning coordinate of the inspection robot, and determines the current time as the positioning time, and takes the positioning coordinate and the positioning time as positioning information.
In the embodiment of the application, the maximum value of the preset angle expansion preset value is 360 degrees.
In the embodiment of the application, after the microcontroller determines the positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area, the method further comprises the following steps:
the microcontroller generates an electronic map of the positioning information, and marks the positioning coordinates and the running state of the inspection robot on the electronic map.
The operating state comprises at least: orientation, travel speed.
And the microcontroller sends the electronic map to the user terminal, and displays the positioning coordinates and the running state of the inspection robot based on the fact that the user of the user terminal clicks the icon of the inspection robot in the electronic map.
In addition, when the positioning of the inspection robot cannot be performed through the scheme, the coordinates of the current inspection robot can be obtained from the user terminal, and the repositioning of the inspection robot is completed.
According to the scheme, the inspection robot can be automatically repositioned, the computing resources are saved, the positioning can be rapidly realized, and the computing speed is high. After the inspection robot is lost to be positioned, repositioning can be performed in time, and the use experience of a user on the inspection robot is improved.
Fig. 5 further provides a positioning device for a patrol robot according to an embodiment of the present application, where the device includes:
at least one processor; and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to:
and determining real-time state information of the inspection robot. And determining whether the inspection robot is in a state to be positioned according to the real-time state information. And under the condition that the inspection robot is in a state to be positioned, acquiring at least one Radio Frequency Identification (RFID) tag information. And determining distance data between the inspection robot and the corresponding RFID tag according to the information of at least one RFID tag. And determining a plurality of undetermined areas of the inspection robot based on the distance data and the corresponding RFID label information, and determining positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area.
The embodiments of the present application are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
The devices and the methods provided in the embodiments of the present application are in one-to-one correspondence, so that the devices also have similar beneficial technical effects as the corresponding methods, and since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices are not described here again.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (7)

1. A positioning method for a patrol robot, the method comprising:
determining real-time state information of the inspection robot;
determining whether the inspection robot is in a state to be positioned according to the real-time state information;
acquiring at least one Radio Frequency Identification (RFID) tag information under the condition that the inspection robot is in the state to be positioned;
determining distance data between the inspection robot and a corresponding RFID tag according to at least one RFID tag;
determining a plurality of undetermined areas of the inspection robot based on the distance data and corresponding RFID label information, and determining positioning information of the inspection robot according to each undetermined area and a matching image of each undetermined area;
determining a plurality of undetermined areas of the inspection robot based on the distance data and corresponding RFID tag information, and determining positioning information of the inspection robot according to each undetermined area and a matching image of each undetermined area, wherein the positioning information comprises the following specific steps:
generating a distance sequence of the distance data, and determining a minimum distance value in the distance sequence;
taking the RFID tag corresponding to the minimum distance value as a positioning tag;
determining a plurality of undetermined areas of the inspection robot according to the placement coordinates in the RFID label information of the positioning labels and the minimum distance value, so as to determine the positioning information of the inspection robot according to the undetermined areas and the matching images of the undetermined areas; the placement coordinates are coordinates of the positioning tag in the electronic map where the positioning tag is currently located; the matching image is a point cloud image;
determining positioning information of the inspection robot according to each undetermined area and the matching image of each undetermined area, wherein the positioning information comprises the following specific steps:
obtaining a matching image of each undetermined area according to a preset rule; wherein the preset rule is a preset range matching each of the undetermined areas; the preset range is a sector range of a preset angle, the inner edge of which is matched with the edge of the image acquisition equipment of the inspection robot;
determining the current positioning matching degree based on the matching processing of the matching images of the undetermined areas and the corresponding contrast images; the contrast image is a preset historical scanning image;
sequentially matching each positioning matching degree with a preset threshold value;
under the condition that the current positioning matching degree is larger than the preset threshold value, determining the center coordinate of the corresponding area to be determined as the positioning coordinate of the inspection robot, and determining the current time as the positioning time, wherein the positioning coordinate and the positioning time are used as the positioning information;
under the condition that the positioning matching degree is not larger than the preset threshold value, generating auxiliary positioning prompt information, and repositioning the inspection robot according to the feedback information of the auxiliary positioning prompt information so as to determine the positioning information of the inspection robot;
under the condition that the positioning matching degree is not larger than the preset threshold value, generating auxiliary positioning prompt information, and repositioning the inspection robot according to the feedback information of the auxiliary positioning prompt information to determine the positioning information of the inspection robot, wherein the method specifically comprises the following steps:
sending the auxiliary positioning prompt information to a user terminal; the auxiliary positioning prompt information is used for determining whether a shielding object exists between the RFID tag and the inspection robot or not and the type of the shielding object;
based on the operation of a user on the user terminal, receiving the feedback information and determining whether the feedback information is that the shielding object exists or not;
if yes, determining attenuation factors in a historical signal attenuation table according to the type of the shielding object; the attenuation factors are obtained according to the corresponding relation between the signal intensity and the distance when the signal sent by the RFID tag passes through the shielding object;
determining attenuation distance data of the inspection robot and the corresponding RFID tag according to the attenuation factors;
updating a plurality of undetermined areas of the inspection robot according to the attenuation removing distance data and the corresponding RFID label information to update the undetermined areas, repositioning the inspection robot according to the updating undetermined areas and the matched images of the updating undetermined areas, and determining positioning information of the inspection robot.
2. The method according to claim 1, wherein the method further comprises:
under the condition that the feedback information is determined to be that the shielding object does not exist, expanding a preset angle of the fan-shaped range of each undetermined area by a preset value, and determining a matched image after expanding the preset angle by the preset value as an expanded matched image;
determining the positioning matching degree of each expansion matching image and the corresponding contrast image as the expansion matching degree until at least one expansion matching degree is larger than the preset threshold value, determining the center coordinate of the corresponding area to be determined as the positioning coordinate of the inspection robot, and determining the current time as the positioning time, wherein the positioning coordinate and the positioning time are used as the positioning information.
3. The method according to claim 1, wherein, in the case that the inspection robot is in the state to be positioned, acquiring at least one radio frequency identification RFID tag information specifically includes:
acquiring electric wave signals of at least one RFID tag through an RFID card reader; and
determining the identity and the signal strength of the RFID tag as the RFID tag information;
according to the at least one RFID tag information, determining distance data between the inspection robot and a corresponding RFID tag specifically comprises:
determining the signal intensity of each RFID tag, and acquiring a signal distance comparison table in a preset database;
and matching the signal intensity with the signal distance comparison table, determining the distance corresponding to the signal intensity of each RFID tag, and generating the distance data.
4. The method according to claim 1, wherein the method further comprises:
after determining a minimum distance value in the distance sequence, determining whether the minimum distance value is a unique distance value;
if not, taking the placement coordinates of each positioning label as the center, and taking the minimum distance value as the radius to generate a positioning circle;
and determining an overlapping area of each positioning circle, and taking the overlapping area as the undetermined area.
5. The method according to claim 1, wherein determining whether the inspection robot is in a state to be positioned according to the real-time state information, specifically comprises:
determining whether the last moment of the inspection robot is in a shutdown state or not according to the real-time state information;
determining that the inspection robot is in the state to be positioned under the condition that the last moment of the inspection robot is in the power-off state; or alternatively
Determining whether the inspection robot moves involuntarily or not according to the real-time state information; wherein the non-autonomous movement includes at least: external force movement, collision and falling;
and under the condition that the inspection robot moves in a non-autonomous manner, determining that the inspection robot is in the state to be positioned.
6. The method of claim 1, wherein after determining the positioning information of the inspection robot based on each of the pending areas and the matching image of each of the pending areas, the method further comprises:
generating an electronic map of the positioning information, and marking the positioning coordinates and the running state of the inspection robot on the electronic map; the operating state comprises at least: orientation, travel speed;
and sending the electronic map to a user terminal, and displaying the positioning coordinates and the running state of the inspection robot based on the fact that a user of the user terminal clicks an icon of the inspection robot in the electronic map.
7. A positioning apparatus for a patrol robot, the apparatus comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the positioning method for a patrol robot according to any one of claims 1-6.
CN202210152140.5A 2022-02-18 2022-02-18 Positioning method and equipment for inspection robot Active CN114526724B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210152140.5A CN114526724B (en) 2022-02-18 2022-02-18 Positioning method and equipment for inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210152140.5A CN114526724B (en) 2022-02-18 2022-02-18 Positioning method and equipment for inspection robot

Publications (2)

Publication Number Publication Date
CN114526724A CN114526724A (en) 2022-05-24
CN114526724B true CN114526724B (en) 2023-11-24

Family

ID=81623252

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210152140.5A Active CN114526724B (en) 2022-02-18 2022-02-18 Positioning method and equipment for inspection robot

Country Status (1)

Country Link
CN (1) CN114526724B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115167396A (en) * 2022-06-17 2022-10-11 国网山东省电力公司鱼台县供电公司 Automatic substation inspection method, system, medium and equipment
CN115495540B (en) * 2022-11-21 2023-03-24 深圳聚邦云天科技有限公司 Intelligent route identification method, system and medium for robot inspection

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106291517A (en) * 2016-08-12 2017-01-04 苏州大学 Indoor cloud robot angle positioning method based on position and visual information optimization
CN106525025A (en) * 2016-10-28 2017-03-22 武汉大学 Transformer substation inspection robot path planning navigation method
CN106695747A (en) * 2015-11-13 2017-05-24 国网辽宁省电力有限公司检修分公司 Valve hall inspection method and inspection robot based on laser radar
CN107948955A (en) * 2017-10-20 2018-04-20 石化盈科信息技术有限责任公司 A kind of personnel positioning method based on intelligent handhold instrument
JP2018159635A (en) * 2017-03-23 2018-10-11 株式会社カイザー Tag position estimation system
CN111639568A (en) * 2020-05-19 2020-09-08 深圳供电局有限公司 Navigation patrol method for intelligent robot of transformer substation
CN112873218A (en) * 2020-12-23 2021-06-01 中国计量大学 Transformer substation inspection robot and inspection method
CN112964251A (en) * 2021-02-09 2021-06-15 中国计量大学 Positioning method of inspection robot
CN113361669A (en) * 2021-06-07 2021-09-07 广东电网有限责任公司 Real-time positioning method and device for machine room inspection personnel based on RFID technology
CN113947716A (en) * 2021-10-20 2022-01-18 上海擎朗智能科技有限公司 Closed loop detection method, closed loop detection device, robot and storage medium

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4460528B2 (en) * 2004-12-14 2010-05-12 本田技研工業株式会社 IDENTIFICATION OBJECT IDENTIFICATION DEVICE AND ROBOT HAVING THE SAME
US8847739B2 (en) * 2008-08-04 2014-09-30 Microsoft Corporation Fusing RFID and vision for surface object tracking

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106695747A (en) * 2015-11-13 2017-05-24 国网辽宁省电力有限公司检修分公司 Valve hall inspection method and inspection robot based on laser radar
CN106291517A (en) * 2016-08-12 2017-01-04 苏州大学 Indoor cloud robot angle positioning method based on position and visual information optimization
CN106525025A (en) * 2016-10-28 2017-03-22 武汉大学 Transformer substation inspection robot path planning navigation method
JP2018159635A (en) * 2017-03-23 2018-10-11 株式会社カイザー Tag position estimation system
CN107948955A (en) * 2017-10-20 2018-04-20 石化盈科信息技术有限责任公司 A kind of personnel positioning method based on intelligent handhold instrument
CN111639568A (en) * 2020-05-19 2020-09-08 深圳供电局有限公司 Navigation patrol method for intelligent robot of transformer substation
CN112873218A (en) * 2020-12-23 2021-06-01 中国计量大学 Transformer substation inspection robot and inspection method
CN112964251A (en) * 2021-02-09 2021-06-15 中国计量大学 Positioning method of inspection robot
CN113361669A (en) * 2021-06-07 2021-09-07 广东电网有限责任公司 Real-time positioning method and device for machine room inspection personnel based on RFID technology
CN113947716A (en) * 2021-10-20 2022-01-18 上海擎朗智能科技有限公司 Closed loop detection method, closed loop detection device, robot and storage medium

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Stavroula Siachalou ; Spyros Megalou ; Anastasios Tzitzis ; 等.Robotic Inventorying and Localization of RFID Tags, Exploiting Phase-Fingerprinting.2019 IEEE International Conference on RFID Technology and Applications.2019,全文. *
蔡章林,邓青青.基于RFID和IMU技术的室内定位方法研究与应用.上海汽车.2021,全文. *
适用于车间巡检定位的改进RFID定位算法;郭国法;卢运栓;张开生;;实验室研究与探索;35(12);全文 *

Also Published As

Publication number Publication date
CN114526724A (en) 2022-05-24

Similar Documents

Publication Publication Date Title
CN114526724B (en) Positioning method and equipment for inspection robot
WO2019126950A1 (en) Positioning method, cloud server, terminal, system, electronic device and computer program product
US20220198688A1 (en) Laser coarse registration method, device, mobile terminal and storage medium
KR101906329B1 (en) Apparatus and method for indoor localization based on camera
CN107742304B (en) Method and device for determining movement track, mobile robot and storage medium
CN110501036A (en) The calibration inspection method and device of sensor parameters
CN110134117B (en) Mobile robot repositioning method, mobile robot and electronic equipment
EP4246400A1 (en) Item inventory method and system, and robot control apparatus and robot
CN105865438A (en) Autonomous precise positioning system based on machine vision for indoor mobile robots
CN113111144A (en) Room marking method and device and robot movement method
CN112686951A (en) Method, device, terminal and storage medium for determining robot position
CN114102577A (en) Robot and positioning method applied to robot
CN115880673B (en) Obstacle avoidance method and system based on computer vision
CN111638715B (en) Robot control method, robot, electronic device, and storage medium
US20200183400A1 (en) Rfid-based navigation of an autonomous guided vehicle
CN114140608B (en) Photovoltaic panel marking method and device, electronic equipment and storage medium
CN110006488A (en) True value acquisition methods, the detection method of vehicle sensing device and relevant device
CN113947716A (en) Closed loop detection method, closed loop detection device, robot and storage medium
CN110705519B (en) Autonomous mobile robot, map splicing method and device thereof, and readable storage medium
CN114265083A (en) Robot position identification method and device by using laser radar
CN113515112B (en) Robot moving method, apparatus, computer device and storage medium
CN111708046A (en) Method and device for processing plane data of obstacle, electronic equipment and storage medium
CN111080703A (en) Mobile robot repositioning method based on linear matching
CN112149441A (en) Two-dimensional code positioning control method based on reflector
CN118215124B (en) Asset positioning method, device, equipment and storage medium based on Bluetooth

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A positioning method and equipment for inspection robots

Granted publication date: 20231124

Pledgee: Qilu Bank Co.,Ltd. Jinan Science and Technology Innovation Financial Center Branch

Pledgor: Shandong new generation Information Industry Technology Research Institute Co.,Ltd.

Registration number: Y2024980023411

PE01 Entry into force of the registration of the contract for pledge of patent right