CN114594769A - Walking navigation system, machine room inspection system and machine room inspection method - Google Patents
Walking navigation system, machine room inspection system and machine room inspection method Download PDFInfo
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- CN114594769A CN114594769A CN202210211062.1A CN202210211062A CN114594769A CN 114594769 A CN114594769 A CN 114594769A CN 202210211062 A CN202210211062 A CN 202210211062A CN 114594769 A CN114594769 A CN 114594769A
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- 238000007689 inspection Methods 0.000 title claims description 63
- 238000000034 method Methods 0.000 title claims description 11
- 238000002310 reflectometry Methods 0.000 claims abstract description 104
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000031700 light absorption Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The invention discloses a walking navigation system, comprising: a walking device, comprising: the power walking system is used for driving the walking device to walk; a first navigation device comprising a transmitter for transmitting light and a receiver for receiving and detecting reflected light; the control device is in signal connection with the power traveling system and the first navigation device; the navigation band is used for being matched with the first navigation device to guide the walking device to walk and comprises a first strip-shaped guide strip and a second strip-shaped guide strip, wherein the first strip-shaped guide strip is provided with a first strip-shaped area with first reflectivity for light, and the second strip-shaped area with second reflectivity for light is arranged on the second guide strip; wherein the control device is configured to: and controlling the power walking system to drive the walking device to walk according to the result of receiving and detecting the reflected light of the first guide strip to the light and the reflected light of the second guide strip to the light by the receiver. The walking navigation system has higher navigation precision.
Description
Technical Field
The invention relates to the technical field of navigation and walking, in particular to a walking navigation system, a machine room inspection system and a machine room inspection method.
Background
Many traveling devices such as vehicles and robots are provided with navigation systems, and the navigation systems plan the routes of the traveling devices when the vehicles and the robots travel, so that the traveling devices travel along appropriate routes. For example, in the daily operation and maintenance work of a machine room, the inspection robot usually employs slam (Simultaneous Localization and Mapping, an instant positioning and Mapping technology) for navigation, and the inspection robot can walk and inspect according to a proper route. However, many existing navigation systems are not high enough in accuracy, and the existing navigation systems are often difficult to meet requirements in some occasions with high requirements on route running accuracy.
Disclosure of Invention
The invention aims to provide a walking navigation system with higher navigation precision. Meanwhile, the machine room inspection system applying the walking navigation system is also provided.
The invention discloses a walking navigation system in a first aspect, comprising:
a walking device, comprising:
the power walking system is used for driving the walking device to walk;
a first navigation device comprising a transmitter for transmitting light and a receiver for receiving and detecting reflected light;
the control device is in signal connection with the power walking system and the first navigation device;
the navigation band is used for being matched with the first navigation device to guide the walking device to walk and comprises a first strip-shaped guide strip and a second strip-shaped guide strip, wherein the first strip-shaped guide strip is provided with a first strip-shaped area with first reflectivity for the light, and the second strip-shaped area with second reflectivity for the light is arranged on the second guide strip;
wherein the control device is configured to: and controlling the power walking system to drive the walking device to walk according to the result of receiving and detecting the reflected light of the first guide strip to the light and the reflected light of the second guide strip to the light by the receiver.
In some embodiments, at least one identification point is disposed on the navigation band, and a first identification area and a second identification area are disposed on the first guide strip and the second guide strip respectively corresponding to each identification point, where the first identification area and the first bar-shaped area have different reflectivities to the light, and/or the second identification area and the second bar-shaped area have different reflectivities to the light.
In some embodiments, the first guide strip is provided with a plurality of the first bar-shaped regions and a plurality of the first identification regions alternately arranged along the extending direction thereof, and the second guide strip is provided with a plurality of the second bar-shaped regions and a plurality of the second identification regions alternately arranged along the extending direction thereof.
In some embodiments, the first guide strip and the second guide strip are arranged in parallel.
In some embodiments, the first and second stripe-shaped regions each extend in a linear direction.
In some embodiments, the navigation band further includes a third guide strip having a strip shape, a third strip-shaped region having a first reflectivity to the light is disposed on the third guide strip, and the second guide strip is disposed between the first guide strip and the third guide strip.
In some embodiments, a plurality of identification points are disposed on the navigation band, and corresponding to each identification point, a first identification area, a second identification area, and a third identification area are disposed on the first guide strip, the second guide strip, and the third guide strip, respectively, where the first identification area and the first strip-shaped area have different reflectivities to the light, the second identification area and the second strip-shaped area have different reflectivities to the light, and/or the third identification area and the third strip-shaped area have different reflectivities to the light.
In some embodiments, the first guide strip is provided with a plurality of the first bar-shaped areas and a plurality of the first identification areas which are alternately arranged along the extending direction of the first guide strip, the second guide strip is provided with a plurality of the second bar-shaped areas and a plurality of the second identification areas which are alternately arranged along the extending direction of the second guide strip, the third guide strip is provided with a plurality of the third bar-shaped areas and a plurality of the third identification areas which are alternately arranged along the extending direction of the third guide strip, and the first identification area, the second identification area and the third identification area corresponding to each identification point are all located on the same straight line perpendicular to the extending direction of the first guide strip.
In some embodiments, the first reflectance is greater than the second reflectance, and the plurality of identification points include a first identification point, a plurality of second identification points, and a third identification point arranged along an extending direction of the first guide strip; at the first identification point, the reflectivity of the first identification area to the light ray is a first reflectivity, the reflectivity of the second identification area to the light ray is a first reflectivity, and the reflectivity of the third identification area to the light ray is a first reflectivity; at the second identification point, the reflectivity of the first identification area to the light ray is a second reflectivity, the reflectivity of the second identification area to the light ray is a first reflectivity, and the reflectivity of the third identification area to the light ray is a second reflectivity; at the third identification point, the reflectivity of the first identification area to the light ray is a second reflectivity, the reflectivity of the second identification area to the light ray is a second reflectivity, and the reflectivity of the third identification area to the light ray is a second reflectivity.
In some embodiments, the navigation band is provided on the ground for the walking means to walk.
The invention discloses a machine room inspection system in a second aspect, which comprises any one of the walking navigation systems, wherein the walking device is an inspection robot used for inspecting a plurality of cabinets in a machine room.
In some embodiments, the running gear further comprises a second navigation device, the plurality of cabinets form a wide channel and a narrow channel used for the inspection robot to run in the machine room, the navigation band is arranged on the ground of the narrow channel, the second navigation device is used for navigating the inspection robot when the wide channel passes through, and the first navigation device is used for navigating the inspection robot when the narrow channel passes through.
In some embodiments, the second navigation device comprises a slam navigation device.
The invention discloses a machine room inspection method, which is applied to the machine room inspection system and comprises the following steps: patrol and examine the robot and be in when the wide passageway passes through, use the second navigation head navigates, works as the second navigation head will patrol and examine the robot navigation extremely first navigation head can discern during the region in navigation area, patrol and examine the robot and switch to the use first navigation head with the navigation area is right patrol and examine the robot and navigate, work as first navigation head discerns and locates when the first navigation on the navigation area finishes the identification point, patrol and examine the robot and switch to the use the second navigation head navigates.
Based on the walking navigation system provided by the invention, the control device, the first navigation device with the functions of emitting light rays and receiving reflected light rays and the navigation belt with the first strip-shaped area and the second strip-shaped area with different reflectivity are arranged, after the first navigation device receives the reflected light rays from the first strip-shaped area and the second strip-shaped area, the control device can calculate the walking route of the walking device according to the detection result of the first navigation device, and the control device can control the walking device to walk according to the walking route. When walking, because first guide strip and second guide strip are the bar setting, can provide more accurate navigation to running gear's route. The invention can provide a walking navigation system with high navigation precision.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a prior art walking navigation system;
FIG. 2 is a schematic structural diagram of a walking navigation system according to an embodiment of the present invention;
FIG. 3 is a partial structural diagram of the walking navigation system shown in FIG. 2;
FIG. 4 is a signal diagram of a navigation band of the walking navigation system shown in FIG. 2;
fig. 5 is a schematic bottom view of a walking device with a first navigation device of a walking navigation system according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …", "above … …", "above … …", "above", and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the walking navigation system of the prior art shown in fig. 1, when the walking device as the inspection robot shown in fig. 1 inspects the cabinet 5 in the machine room, for example, a conventional navigation system, such as a slam navigation system, may be used when the inspection robot walks in a wide passage. However, when a narrow passage is encountered, for example, a passage below the bottommost cabinet 5 shown in fig. 1, it is difficult for the inspection robot to pass through the narrow passage in a proper route due to the navigation accuracy of the conventional navigation system.
In view of this, the present embodiment discloses a walking navigation system. The walking navigation system shown in fig. 2 to 4 includes a walking means 4 and a navigation band 100.
The traveling device 4 includes a power traveling system, a first navigation device 41, and a control device. The running gear may include various kinds of running-capable devices such as vehicles, robots, etc., for example, automatic running gear, automatic driving vehicles, etc.
The power walking system is used for driving the walking device 4 to walk. The power traveling system comprises a traveling system such as wheels and the like and a power system such as an engine or a motor, wherein the power system provides power for driving the traveling system to move, and the traveling system drives the traveling device 4 to travel.
As shown in fig. 3, the first navigation device 41 includes a transmitter 411 for emitting light and a receiver 412 for receiving and detecting reflected light. The emitter 411 is used for emitting detection light such as visible light or invisible light, the navigation band 100 reflects the detection light after receiving the detection light, and the receiver 412 receives and detects the reflection light of the navigation band 100. For example, the first navigation device 41 may comprise a linear array infrared sensor, the transmitter 411 comprises a light emitting array emitting infrared light, and the receiver 412 comprises a receiving array receiving infrared light.
The control device is in signal connection with the powered walking system and the first navigation device 41.
The navigation band 100 is used to cooperate with the first navigation device 41 to guide the walking device 4 to walk. The navigation band 100 includes a first guide strip 1 having a strip shape and a second guide strip 2 having a strip shape, the first guide strip 1 is provided with a first strip region 11 having a first reflectivity to light, and the second guide strip 2 is provided with a second strip region 21 having a second reflectivity to light.
The first reflectivity is different from the second reflectivity, for example, the first reflectivity is greater than the second reflectivity, the first stripe regions 11 are high reflectivity regions, i.e., high reflective regions, e.g., reflective regions with a reflectivity of greater than 60% for light, the second stripe regions 12 are low reflectivity regions, i.e., high light absorption regions, e.g., reflective regions with a reflectivity of less than 20% for light, the high reflectivity regions can be reflective stripes, and the low reflectivity regions can be black low reflective films, etc. When the light emitted from the emitter 411 reaches the first stripe region and the second stripe region, the reflectivity of the light is different between the first stripe region and the second stripe region, so that the receiver 412 can receive and detect different reflected light signals to identify and distinguish the first stripe region and the second stripe region. In some embodiments, the navigation belt may be disposed on the ground, directly contacting with the walking device, or directly used as a walking track route of the walking device, and in some other embodiments, the navigation belt may also be disposed on other objects, not directly contacting with the walking device, and only used for the walking device to non-contact recognition and navigate the walking device.
Wherein the control device is configured to: and controlling the power walking system to drive the walking device 4 to walk according to the result of the receiver 412 receiving and detecting the reflected light of the first guide strip 1 and the reflected light of the second guide strip 2.
Since the first strip-shaped area and the second strip-shaped area are strip-shaped, the control device can judge to obtain the defined alignment points of the first strip-shaped area and the second strip-shaped area according to the receiving result of the receiver 412, in this embodiment, the midpoint between the first guide strip and the second guide strip, that is, the midpoint between the first strip-shaped area and the second strip-shaped area at the initial position, so that the control device can control the walking device to start navigation walking after being aligned with the alignment points; in some embodiments, not shown, the alignment point may be provided as a point of other proportions, such as a trisection point between the first guide strip and the second guide strip. In addition, the first strip-shaped area and the second strip-shaped area are more easily formed into a more accurate strip-shaped navigation route, so that the control device controls the traveling device to travel according to the traveling route, and the navigation accuracy is higher. In the embodiment shown in the figures, the first and second bar-shaped areas run in the same direction as the navigation route, i.e. the first and second bar-shaped areas are parallel to the navigation route. In some embodiments, the first bar area or the second bar area itself may also be used as a navigation route along which the walking device directly walks.
In the walking navigation system of the present embodiment, by providing the control device, the first navigation device 41 having the functions of emitting light and receiving reflected light, and the navigation belt 100 including the first strip-shaped area 11 and the second strip-shaped area 21 having different reflectivities, after the first navigation device 41 receives the reflected light from the first strip-shaped area 11 and the second strip-shaped area 21, the control device can calculate the walking route of the walking device 4 according to the detection result of the first navigation device 41, and the control device can control the walking device 4 to walk according to the walking route. When walking, because first guide strip 1 and second guide strip 2 are the bar setting, can provide more accurate navigation to running gear 4's route. The invention can provide a walking navigation system with high navigation precision.
In some embodiments, as shown in fig. 5, the first navigation device 41 is provided at the bottom of the walking device.
In some embodiments, as shown in fig. 2 and 4, the navigation band 100 is provided with at least one identification point, and the first identification area 12 and the second identification area 22 are respectively provided on the first guide strip 1 and the second guide strip 2 corresponding to each identification point, wherein the first identification area 12 and the first bar-shaped area 11 have different reflectivities for light rays, and/or the second identification area 22 and the second bar-shaped area 21 have different reflectivities for light rays.
As shown in the figure, the identification point may be set on the navigation band 100 as a signal point, and when the first navigation device of the traveling device identifies the identification point on the navigation band 100, other operations such as starting the traveling of the traveling device, stopping the traveling device, and performing work may be performed. This embodiment is through setting up the identification point on the navigation band promptly, can go out walking navigation to running gear, can also carry out multiple location such as operating position location to running gear, and navigation content is abundanter. The present embodiment establishes the identification point by setting the first identification area 12 and the second identification area 22, and the establishment is simple and effective, and the control device can determine that the identification point is set at the position when detecting the detection result of the receiver and when detecting the detection result different from the detection result of the first bar-shaped area 11 and the second bar-shaped area 21.
In some embodiments, as shown in fig. 1 and 4, the first guide strip 1 is provided with a plurality of first bar-shaped regions 11 and a plurality of first identification regions 12 alternately arranged along the extending direction thereof, and the second guide strip 2 is provided with a plurality of second bar-shaped regions 21 and a plurality of second identification regions 22 alternately arranged along the extending direction thereof. The bar-shaped areas and the identification areas are alternately arranged, namely the bar-shaped areas and the identification areas appear in turn, the bar-shaped areas are connected behind the identification areas, and the identification areas are connected behind the bar-shaped areas. This setting can make identification point and bar region appear in turn to can realize that running gear walks when discerning the bar region, when discerning the identification point, carry out other operations, continue to walk when discerning the bar region, can set up a plurality of job tasks at a plurality of identification points promptly, make running gear at the in-process of walking along the guidance tape navigation, after every identification points department carries out work, can continue to walk along the guidance tape. In the embodiment shown in the figures, the first strip-shaped area 11 is connected to an adjacent first identification area 12 and the second strip-shaped area 21 is connected to an adjacent second identification area 22.
In some embodiments, as shown in fig. 2 to 4, the first guide strip 1 and the second guide strip 2 are disposed in parallel. This arrangement makes it possible to calculate the midpoint between the first guide strip 1 and the second guide strip 2 more accurately, and to use the midpoint more accurately as the alignment point of the running gear. In addition, the first guide strip 1 and the second guide strip 2 which are arranged in parallel can be more accurate and reliable when a navigation route is formed for navigating the walking device.
In some embodiments, the first stripe-shaped area 11 and the second stripe-shaped area 21 each extend in a straight direction. The walking device needing to walk straight lines can walk along the first strip-shaped area 11 and the second strip-shaped area 21, and the navigation precision of the walking device needing to walk straight lines is improved.
In some embodiments, as shown in fig. 2 to 4, the navigation band 100 further includes a third guide strip 3 having a strip shape, a third strip region 31 having a first reflectivity to light is provided on the third guide strip 3, and the second guide strip 2 is provided between the first guide strip 1 and the third guide strip 3. In this embodiment, the reflectivity of the third stripe region 31 to light is the same as that of the first stripe region, the receiver 412 detects that the detection results of the first stripe region 11 and the third stripe region 31 are the same or substantially the same when receiving and detecting the reflected light, the second guide stripe 2 is disposed between the first guide stripe 1 and the third guide stripe 3, and the alignment point can be obtained by calculating the midpoint between the first stripe region 11 and the third stripe region 31.
In some embodiments, as shown in fig. 2 and 4, the navigation band 100 is provided with a plurality of identification points, and corresponding to each identification point, the first identification area 12, the second identification area 22 and the third identification area 32 are respectively provided on the first guide strip 1, the second guide strip 2 and the third guide strip 3, wherein the first identification area 12 and the first bar-shaped area 11 have different reflectivity for light, the second identification area 22 and the second bar-shaped area 21 have different reflectivity for light, and/or the third identification area 32 and the third bar-shaped area 31 have different reflectivity for light. In the present embodiment, by setting different combinations of the reflectance types of the first recognition area 12, the second recognition area 22, and the third recognition area 32, more types of recognition points can be formed, and thus, more types of navigation can be provided to the traveling apparatus.
In some embodiments, as shown in fig. 2 and 4, the first guide strip 1 is provided with a plurality of first strip-shaped regions 11 and a plurality of first identification regions 12 alternately arranged along the extending direction thereof, the second guide strip 2 is provided with a plurality of second strip-shaped regions 21 and a plurality of second identification regions 22 alternately arranged along the extending direction thereof, the third guide strip 3 is provided with a plurality of third strip-shaped regions 31 and a plurality of third identification regions 32 alternately arranged along the extending direction thereof, and the first identification regions 12, the second identification regions 22 and the third identification regions 32 corresponding to each identification point are all located on the same straight line perpendicular to the extending direction of the first guide strip 1. The first identification area 12, the second identification area 22 and the third identification area 32 corresponding to one identification point are positioned on the same straight line, the straight line is perpendicular to the first guide strip 1, the signals of the identification points are more regular and tidy, the walking device can identify the identification points more quickly and accurately, the interference with the signals of the strip-shaped areas is reduced, and the walking device can execute tasks after identifying the signals of the identification points more timely and accurately.
In some embodiments, the first reflectance is greater than the second reflectance, and the plurality of recognition points include a first recognition point 110, a plurality of second recognition points 120, and a third recognition point 130 arranged along the extending direction of the first guide strip 1; at the first recognition point 110, the reflectivity of the first recognition area 12 to light is a first reflectivity, the reflectivity of the second recognition area 22 to light is a first reflectivity, and the reflectivity of the third recognition area 32 to light is a first reflectivity; at the second recognition point 120, the reflectivity of the first recognition area 12 to the light is the second reflectivity, the reflectivity of the second recognition area 22 to the light is the first reflectivity, and the reflectivity of the third recognition area 32 to the light is the second reflectivity; at the third recognition point 130, the reflectance of the first recognition area 12 with respect to the light is the second reflectance, the reflectance of the second recognition area 22 with respect to the light is the second reflectance, and the reflectance of the third recognition area 32 with respect to the light is the second reflectance.
In some embodiments, the navigation band 100 is provided on the ground for the walking means 4 to walk.
In some embodiments, the machine room inspection system further comprises any one of the walking navigation systems, and the walking device 4 is an inspection robot for inspecting the plurality of cabinets 5 in the machine room.
In some embodiments, the traveling device 4 further includes a second navigation device, the plurality of cabinets 5 form a wide passage and a narrow passage for the inspection robot to travel in the machine room, the navigation belt 100 is provided on the ground of the narrow passage, the second navigation device is used for navigating the inspection robot when the wide passage passes through, and the first navigation device 41 is used for navigating the inspection robot when the narrow passage passes through. The second navigation device may comprise a slam navigation device, as shown in fig. 2, in the room inspection system, the inspection robot may pass through using the second navigation device when passing through a wide passage near the first cabinet array 51, pass through using the first navigation device when passing through a narrow passage near the second cabinet array 52, and switch back to the second navigation device to navigate through when passing through a wide passage near the third cabinet array 53.
In some embodiments, a machine room inspection method using any one of the machine room inspection systems is further disclosed, and the machine room inspection method includes: and when the second navigation device navigates the inspection robot to the area where the first navigation device can identify the navigation belt 100, the inspection robot switches to use the first navigation device and the navigation belt to navigate the inspection robot. The area that navigation area 100 set up can be discerned to the navigation area that can be discerned to first navigation head to the navigation of second navigation head such as slam navigation head in its navigation precision within range and can be with patrolling and examining the robot navigation, and after second navigation head will patrol and examine the robot navigation to this area, first navigation head opened, navigates to patrolling and examining the robot with the navigation area cooperation, and second navigation head closes. The first navigation device and the navigation belt are matched to navigate the inspection robot when the inspection robot passes through the narrow channel, when the first navigation device identifies the first navigation end identification point arranged on the navigation belt, the inspection robot is switched to use the second navigation device to navigate, and the first navigation device is closed. The first navigation end identification point is an identification point provided on the navigation belt, and represents that the inspection robot is ending in navigation by using the first navigation device, that is, is about to switch to an identification point navigated by the second navigation device, and the first navigation end identification point may be set to be the third identification point 130.
In some embodiments, the control device described above can be a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described herein.
The invention is illustrated below in a specific embodiment:
as shown in fig. 2 to 4, the walking navigation system includes an inspection robot that inspects the cabinet 5 in the machine room, and a navigation belt 100. The inspection robot is provided with a first navigation device and a second navigation device, the second navigation device comprises a slam navigation device, a plurality of cabinets 5 form a wide channel and a narrow channel used for the inspection robot to walk in a machine room, a navigation belt 100 is arranged on the ground of the narrow channel, the second navigation device is used for navigating the inspection robot when passing through the wide channel near the first cabinet array 51 and the wide channel near the third cabinet array 53, and the first navigation device 41 is used for navigating when passing through the narrow channel near the second cabinet array 52. The navigation band 100 includes a first guide strip 1, a second guide strip 2, and a third guide strip 3 in the shape of strips arranged in parallel. The second guide strip 2 is arranged between the first guide strip 1 and the third guide strip 3. The first guide strip 1 is provided with a first strip-shaped area 11 having a first reflectivity to light, the second guide strip 2 is provided with a second strip-shaped area 21 having a second reflectivity to light, and the third guide strip 3 is provided with a third strip-shaped area 31 having a first reflectivity to light. The first reflectivity is much greater than the second reflectivity. The first strip-shaped area 11, the second strip-shaped area 21 and the third strip-shaped area 31 all extend in a straight direction. The navigation band 100 is provided with a plurality of identification points, and a first identification area 12, a second identification area 22 and a third identification area 32 are respectively arranged on the first guide strip 1, the second guide strip 2 and the third guide strip 3 corresponding to each identification point. The plurality of recognition points include a first recognition point 110, a plurality of second recognition points 120, and a third recognition point 130 arranged along the extending direction of the first guide bar 1. The first guide strip 1 is provided with a plurality of first strip-shaped areas 11 and a plurality of first identification areas 12 which are alternately arranged along the extending direction of the first guide strip, the second guide strip 2 is provided with a plurality of second strip-shaped areas 21 and a plurality of second identification areas 22 which are alternately arranged along the extending direction of the second guide strip, the third guide strip 3 is provided with a plurality of third strip-shaped areas 31 and a plurality of third identification areas 32 which are alternately arranged along the extending direction of the third guide strip, and the first identification areas 12, the second identification areas 22 and the third identification areas 32 corresponding to each identification point are all positioned on the same straight line which is perpendicular to the extending direction of the first guide strip 1.
The inspection robot uses slam navigation when inspecting a regular lane, first when passing through a wide lane near the first cabinet array 51. When the inspection robot passes through the narrow passage and the slam navigation detects the navigation band 100, the first navigation device 41 starts to work, the transmitter 411 emits infrared rays, and the receiver 412 receives the reflected light rays reflected by the navigation band 100. The control device judges the midpoint of the navigation band 100 in the width direction according to the reception and detection results of the receiver 412, and controls and adjusts the posture of the inspection robot according to the midpoint, so that the inspection robot is aligned with the midpoint, and the second guide bar 2 is aligned with the inspection robot. The first navigation device 41 is used for navigation when passing through a narrow passage near the second cabinet array 52 and when passing through a wide passage near the third cabinet array 53, and the first navigation device 41 is used for navigation when passing through a narrow passage near the second cabinet array 52. When the inspection robot walks along the navigation band 100, as shown in fig. 4, a is a signal result of reflected light of the first guide bar detected by the receiver 412, B is a signal result of reflected light of the second guide bar detected by the receiver 412, and C is a signal result of reflected light of the third guide bar detected by the receiver 412. When the signal result of the reflected light of the first guide bar, the second guide bar, and the third guide bar detected by the receiver 412 is "high", that is, the bar-shaped area of the first guide bar of the current identification point is a high-reflectivity bar-shaped area, the bar-shaped area of the second guide bar of the current identification point is a high-reflectivity bar-shaped area, the bar-shaped area of the third guide bar of the current identification point is a high-reflectivity bar-shaped area, the first guide bar reflects the reflected light with a high light intensity value to the receiver 412, the second guide bar reflects the reflected light with a high light intensity value to the receiver 412, and the third guide bar reflects the reflected light with a high light intensity value to the receiver 412, the control device determines that the first identification point is detected, that is, the starting point of the narrow channel, the inspection robot continues to travel along the navigation belt 100, and when the signal result of "low high low", that is, the bar-reflectivity bar-shaped area of the first guide bar-shaped area of the current identification point, the bar region of the second guide strip of current identification point is high reflectivity bar region, the bar region of the third guide strip of current identification point is low reflectivity bar region, first guide strip is to the reverberation of the low light intensity value of receiver 412 reflection, the reverberation of the high light intensity value of second guide strip to receiver 412 reflection, the third guide strip is to the reverberation of the low light intensity value of receiver 412 reflection, controlling means judges and detects the second identification point, also, patrol and examine the point, patrol and examine the robot and stop a period of time in this department, it detects to the rack to utilize the image identification system of self and inspection systems such as environmental monitoring system. After the inspection is finished, the inspection robot continues to walk along the navigation band 100, when the next inspection point is detected, the inspection robot continues to stay and inspect, and then continues to walk until a signal result is detected to be low, namely, when the bar-shaped area of the first guide bar of the current identification point is a low-reflectivity bar-shaped area, the bar-shaped area of the second guide bar of the current identification point is a low-reflectivity bar-shaped area, the bar-shaped area of the third guide bar of the current identification point is a low-reflectivity bar-shaped area, the first guide bar reflects the reflected light with a low light intensity value to the receiver 412, the second guide bar reflects the reflected light with a low light intensity value to the receiver 412, the control device judges that the third identification point is detected when the reflected light with a low light intensity value is reflected by the third guide bar to the receiver 412, that is, the end point of the narrow channel, at this time, the inspection robot closes the second navigation device through the narrow channel, continue to walk using slam navigation.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (14)
1. A walking navigation system, comprising:
running gear (4), comprising:
the power walking system is used for driving the walking device (4) to walk;
a first navigation device (41) comprising a transmitter (411) for emitting light and a receiver (412) for receiving detected reflected light;
the control device is in signal connection with the power walking system and the first navigation device (41);
the navigation band (100) is matched with the first navigation device (41) to guide the walking device (4) to walk and comprises a first guide strip (1) and a second guide strip (2), a first strip-shaped area (11) with a first reflectivity for the light is arranged on the first guide strip (1), and a second strip-shaped area (21) with a second reflectivity for the light is arranged on the second guide strip (2);
wherein the control device is configured to: and controlling the power walking system to drive the walking device (4) to walk according to the result of receiving and detecting the reflected light of the first guide strip (1) to the light and the reflected light of the second guide strip (2) to the light by the receiver (412).
2. A walking guidance system according to claim 1, characterized in that at least one identification point is provided on the navigation band (100), and for each identification point, a first identification area (12) and a second identification area (22) are provided on the first guide strip (1) and on the second guide strip (2), respectively, wherein the first identification area (12) and the first strip-shaped area (11) have different reflectivity for the light and/or the second identification area (22) and the second strip-shaped area (21) have different reflectivity for the light.
3. Walking navigation system according to claim 2, characterised in that said first guide bar (1) is provided with a plurality of said first strip-shaped areas (11) and a plurality of said first identification areas (12) alternately arranged along its extension direction, and said second guide bar (2) is provided with a plurality of said second strip-shaped areas (21) and a plurality of said second identification areas (22) alternately arranged along its extension direction.
4. Walking navigation system according to any one of claims 1 to 3, characterised in that the first guide strip (1) and the second guide strip (2) are arranged in parallel.
5. Walking navigation system according to claim 4, characterized in that the first strip-shaped area (11) and the second strip-shaped area (21) each extend in a straight direction.
6. A walking navigation system according to claim 4, characterized in that said navigation band (100) further comprises a third guide strip (3) in the shape of a strip, said third guide strip (3) being provided with a third strip-shaped area (31) having a first reflectivity for said light, said second guide strip (2) being provided between said first guide strip (1) and said third guide strip (3).
7. The walking navigation system of claim 6, characterized in that a plurality of identification points are provided on the navigation band (100), and for each identification point, a first identification area (12), a second identification area (22) and a third identification area (32) are provided on the first guide strip (1), the second guide strip (2) and the third guide strip (3), respectively, wherein the first identification area (12) and the first strip-shaped area (11) have different reflectivity for the light, the second identification area (22) and the second strip-shaped area (21) have different reflectivity for the light, and/or the third identification area (32) and the third strip-shaped area (31) have different reflectivity for the light.
8. The walking navigation system of claim 7, characterized in that said first guide strip (1) is provided with a plurality of said first strip-shaped areas (11) and a plurality of said first identification areas (12) alternately arranged along its extension direction, said second guide strip (2) is provided with a plurality of said second strip-shaped areas (21) and a plurality of said second identification areas (22) alternately arranged along its extension direction, said third guide strip (3) is provided with a plurality of said third strip-shaped areas (31) and a plurality of said third identification areas (32) alternately arranged along its extension direction, and each identification point corresponding to a first identification area (12), a second identification area (22) and a third identification area (32) are all located on the same straight line perpendicular to the extension direction of said first guide strip (1).
9. The walking navigation system of claim 8, wherein the first reflectivity is greater than the second reflectivity, and the plurality of identification points include a first identification point (110), a plurality of second identification points (120), and a third identification point (130) arranged along the extending direction of the first guide bar (1); -at the first identification point (110), the reflectivity of the first identification area (12) to the light is a first reflectivity, the reflectivity of the second identification area (22) to the light is a first reflectivity, and the reflectivity of the third identification area (32) to the light is a first reflectivity; -at the second identification point (120), the reflectivity of the first identification area (12) to the light ray is a second reflectivity, the reflectivity of the second identification area (22) to the light ray is a first reflectivity, and the reflectivity of the third identification area (32) to the light ray is a second reflectivity; at the third recognition point (130), the reflectivity of the first recognition area (12) to the light ray is a second reflectivity, the reflectivity of the second recognition area (22) to the light ray is a second reflectivity, and the reflectivity of the third recognition area (32) to the light ray is a second reflectivity.
10. Walking navigation system according to claim 4, characterized in that the navigation band (100) is provided on the ground for the walking means (4) to walk on.
11. A machine room inspection system, characterized by comprising a walking navigation system according to any one of claims 1 to 10, wherein the walking device (4) is an inspection robot for inspecting a plurality of cabinets (5) located in a machine room.
12. The machine room inspection system according to claim 11, wherein the traveling device (4) further includes a second navigation device, the plurality of cabinets (5) form a wide passage and a narrow passage for the inspection robot to travel in the machine room, the navigation band (100) is provided on the ground of the narrow passage, the second navigation device is used to navigate the inspection robot when the wide passage passes, and the first navigation device (41) is used to navigate the inspection robot when the narrow passage passes.
13. The room inspection system according to claim 12, wherein the second navigation device includes a slam navigation device.
14. A machine room inspection method using the machine room inspection system according to claim 12 or 13, the machine room inspection method comprising: the robot of patrolling and examining is in when the wide passageway passes through, use the second navigation head navigates, works as the second navigation head will the robot of patrolling and examining navigate to first navigation head can discern when the region of navigation area (100), it switches to the use to patrol and examine the robot first navigation head with the navigation area is right patrol and examine the robot and navigate, works as first navigation head discerns and locates when the first navigation on navigation area (100) finishes the identification point, it switches to the use to patrol and examine the robot the second navigation head and navigate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210211062.1A CN114594769A (en) | 2022-03-03 | 2022-03-03 | Walking navigation system, machine room inspection system and machine room inspection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210211062.1A CN114594769A (en) | 2022-03-03 | 2022-03-03 | Walking navigation system, machine room inspection system and machine room inspection method |
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| Publication Number | Publication Date |
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| CN114594769A true CN114594769A (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210211062.1A Pending CN114594769A (en) | 2022-03-03 | 2022-03-03 | Walking navigation system, machine room inspection system and machine room inspection method |
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| Country | Link |
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| CN (1) | CN114594769A (en) |
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- 2022-03-03 CN CN202210211062.1A patent/CN114594769A/en active Pending
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